Delta RMC101 - Manual (Page 875)

Appendix D: Status Field Reference
D-13
This error bit is cleared when any of the commands listed above is issued, and the underlying
error condition is no longer present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
The integrator will wind up under the following conditions:
• Axis is out of null and requires a large drive to stay in position while stopped. Notice that some
null drift is common in hydraulic systems, but this should not be as high as the 20% or 80%
integrator limit.
• The axis' feed forward values are not tuned correctly. The feed forward values should be
adjusted to reduce following errors.
• The axis is obstructed from moving.
• The drive or hydraulic power is not on and the axis is still in closed loop mode.
Bit 9 (STEP) - Compensation Timeout
This bit is set on stepper axes when the Compensation Timeout is enabled and the axis cannot
get in position within the time specified by the Compensation Timeout parameter.
This error bit is cleared when any of the commands listed above is issued, and the underlying
error condition is no longer present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 8 - Following Error
This bit is set when the difference between the Target Position and the Actual Position is greater
than the Following Error parameter. If the Following Error occurs by itself during the move, the
corrective action is to tune the axis or to reduce the acceleration, deceleration, or speed of the
move.
This error bit is cleared when any of the commands listed above is issued, and the underlying
error condition is no longer present.
The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto
Stop parameter.
Bit 7 - Acknowledge
This bit is intended to be used to synchronize communication of commands and status between
the PLC and RMC. This bit toggles when any of the following events occur:
• A non-zero command is written to this axis's command register through one of the following
means:
• PROFIBUS-DP Message Mode
• Modbus Plus Module
• Serial (RS-232/422/485) Module
• Ethernet (includes commands issued through messaging, EtherNet/IP I/O, the RMCLink
ActiveX control, but not RMCWin)