Delta RMC101 - Manual (Page 753)

Appendix B: Command Field Reference
B-5
• Halt
Bits 2-3 - Integrator Mode Select
These two bits define four integrator modes:
Bit # 3 2
Mode 0 - Integrator always active - Default 0 0
Mode 1 - Integrator active only during deceleration and
in position 0 1
Mode 2 - Integrator active only during in position 1 0
Mode 3 - Integrator never active 1 1
Why Bother?
The integrator can be disabled so that it doesn’t wind up. This can be handy in applications where the
Actual Position can’t reach the Target Position. Even-ending or clamping applications should use
these bits.
Bits 0-1 - Acceleration and Deceleration Mode Select
These two bits define four acceleration/deceleration modes:
Bit # 1 0
Mode 0 - Ramp Rate
(Default) 0 0
Mode 1 - Ramp Rate *
1000 0 1
Mode 2 - Distance to
specified speed 1 0
Mode 3 - Time to
specified speed 1 1
In Mode 0, the Acceleration and Deceleration parameters define the ramp rate in position units
per second per second.
In Mode 1, the Acceleration and Deceleration parameters define the ramp rate in 1000 position
units per second per second. For example, with position units of 0.001 inches, an Acceleration of
50 will cause the axis to accelerate at 50 inches per second per second.
In Mode 2, the parameters define the distance in position units to accelerate or decelerate to the
specified Speed.
In Mode 3, the parameters define the time in milliseconds to accelerate or decelerate to the
specified Speed.
Refer to the appropriate section in Gearing or Open Loop for details on the use of these bits in
these modes.