Delta RMC101 - Manual (Page 858)

RMC100 and RMCWin User Manual
C-88
Range: 0 to 65535
This parameter specifies the size of a window around the Command Position. When the Actual
Position gets within this window, the In Position bit is set in the Status word. Notice that the In
Position bit is not latched and therefore could go off again if the axis moves back outside the In
Position window.
Example:
If an axis Command Position is 10,000 and the In Position parameter is 30, the In Position bit will
be set when the axis is stopped and its Actual Position is between 9,971 and 10,029. The bit will
be cleared whenever the Actual Position is outside the range.
C.6.13 Following Error
Default: 250
Range: 0 to 65535
The Following Error determines how large the difference between the Target Position and Actual
Position can get before the Following Error bit is set in the Status word.
C.6.14 Auto Stop
Default: 0x1FE0 (Soft Stops enabled, Hard Stops enabled for Transducer Errors)
Click here for the Auto Stop Bit Map
The Auto Stop parameter controls the action taken on the rising edge of any of the axis' error bits
(the eight (8) most-significant bits in the Status word listed below). The user has control over
which error bits cause which levels of stop, or whether an error will cause a stop at all. The
default setting of all the AutoStops is Hard Stop, as described below.
During startup and tuning, you will typically need to set some AutoStops to Status Only to keep
halts from interfering with the tuning. After completeing the startup procedure, make sure to set
the AutoStops to setting that are safe for the machine operation.
Auto Stops are always active unless the axis is in Open Loop, in which case no Auto Stops will be
triggered even though error bits may be set.
Note: AutoStops will not occur if the axis is in Open Loop!
The eight (8) most-significant bits in the Status word, as listed below, are the error bits, with the
exception of the Home Input status bit for Quadrature axes with Analog (QUAD) or Stepper
(STEP) output:
Fault QUAD STEP All Others
7 Encoder Error/Fault Encoder Error/Fault No Transducer
6 Extend Limit Extend Limit Transducer Noise
5 Retract Limit Retract Limit Transducer
Overflow
4 Overdrive Overdrive Overdrive
3 Parameter Error Parameter Error Parameter Error