Delta RMC101 - Manual (Page 878)

RMC100 and RMCWin User Manual
D-16
Sine Moves
Sine moves are started using the Sine Move (~) command. In this state, the state bits indicate
whether the move is accelerating, decelerating, or done:
Bit #
5 4 Description
0 0 The sine move is complete.
0 1 The sine move is currently accelerating.
1 1 The sine move is currently decelerating.
Sine Move Continuous
Continuous sine moves are started using the Sine Move Continuous (0x30) command. In this state,
the state bits indicate whether the move is between 0 and 180 degrees or between 180 and 360
degrees:
Bit #
5 4 Description
0 0 The sine move continuous is complete.
0 1 The sine move continuous is between 0 and 180 degrees.
1 1 The sine move continuous is between 180 and 360 degrees.
Spline Moves
Spline moves are initiated using the Follow Spline (f) command. The state bits are not used for this
move type, and therefore both remain set to zero.
Closed Loop Halt
When the axis halts in closed loop as a result of an Auto Stop or the Halt (H) command, the state bits
will be defined as follows:
Bit #
5 4 Description
0 0 The Target Speed has reached zero.
1 1 The Target Speed is decelerating to zero.
Stopped (Closed Loop)
At the end of all of the above moves, the state bits are both set to 0 to indicate that the target
generator is complete. This will also be true after a Set Parameters (P) or Reset Position (q)
command.
For example, to detect when an axis's Target Position has come to a halt after a Halt (H)
command, monitor for the following status bit combination: