Delta RMC101 User Manual
Page 751
Appendix B: Command Field Reference
B-3
Bit 9 - Rotational Bit
This bit needs to be set for most applications where the axis will be rotating multiple times.
Setting this bit causes the following:
1. The Extend and Retract Limits do not limit the motion. Instead they are used to control the wrap
of the position: when the position exceeds the extend limit, the difference between the two limits
is subtracted from the position, and likewise when the position exceeds the retract limit, the
difference is added to the position. Generally, these limits will be set to indicate one rotation (such
as 0 and 36,000 for hundredths of a degree).
2. The Go, Set Speed (Unsigned), and Set Speed (Signed) act in Speed Control mode, as
described in the Speed Control topic.
Bit 8 - Monitor Pressure
Only axes which have pressure axes assigned to them use this bit. If this bit is set on such an
axis, the pressure will be monitored to see if it reaches the minimum pressure threshold at which
point the axis will begin regulating pressure. For details on using this bit to regulate pressure,
refer to Controlling Pressure or Force.
Bit 7 - S-Curve
When this bit is set the RMC calculates a s-shaped target, resulting in smoother motion with more
gradual starts and stops and higher peak speeds. In a s-curve move, the maximum acceleration
is 1.53 times the straight-line acceleration (used by a trapezoidal motion profile). If another move
command is given before the s-curve is finished, there may be a discontinuity (jerk) at the
transition.
This mode bit can apply to the following commands:
• Go (G)
• Move Relative (J)
Bit 4-6 - Gear Master Select (When Gear Mode bit is set)
When the Gear Mode bit (13) is set, these bits are used together to select the gear master for this
axis. Refer to Gearing Axes for details on gearing. We highly recommend that you use the Pop-
up Editor for the Mode word to edit this field rather than enter the value directly. However, if this is
necessary, the following table shows how to select a master axis using these bits:
Master
Axis
Bit
#
6
5
4
Axis 0
0
0
0
Axis 1
0
0
1
Axis 2
0
1
0
Axis 3
0
1
1
Axis 4
1
0
0
Axis 5
1
0
1
Axis 6
1
1
0
Axis 7
1
1
1
These mode bits can apply to the following commands: