Delta RMC101 User Manual
Page 752
RMC100 and RMCWin User Manual
B-4
• Go (G)
• Move Relative (J)
• Sine Move (~)
• Follow Spline (f)
• Follow Spline Relative
Bit 6 - Quick Mode (When Gear Mode bit is not set)
When this bit is set, a move will ramp the drive up in Open Loop Mode to the value specified (in
millivolts) in the Speed field and maintain it there until it reaches the deceleration point. It will then
ramp down to the requested position (specified by the Command Value) in Closed Loop Mode .
The Acceleration and Deceleration fields specify the ramp based on Mode bits 0 and 1.
For this mode to work properly the Extend Feed Forward and Retract Feed Forward parameters
should be adjusted correctly. They are use to calculate the drive given to the axis at the moment
ramp down begins.
If the speed achieved by the axis during the open loop portion of the move is greater than 65,535,
when the ramp down starts, the target speed will be limited to 65,535.
This mode bit can apply to the following commands:
• Go (G)
• Move Relative (J)
Why Bother?
If the application requires quick positioning without the need to synchronize or gear with other
axes, use the Quick Mode. With Quick Mode, the Drive output can be saturated for maximum
speed without worrying about the PID’s integrator winding up. When the axis transitions from
Open Loop Mode to Closed Loop Mode the Target Speed is set to the Actual Speed, the Target
Position is set to the Actual Position and the integrator is set to zero.
Bits 4-5 - Sync Group A or B (When Gear Mode bit is not set)
These two bits are used for axis synchronization. If the Gear Mode bit is cleared, these bits select
which synchronization group this axis belongs to; see Synchronizing Axes for details.
Therefore, two independent groups of axes can be synchronized using these two bits. At no time
should both of these bits be set at the same time.
A side benefit is that if an error occurs that stops an axis with a sync bit on, other axes with the
same sync bit set will also stop.
These mode bits can apply to the following commands:
• Go (G)
• Move Relative (J)