Delta RMC101 Uživatelský manuál stáhnout pdf (Strana 671)

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101

Appendix A: Command Reference

A-19

includes superimposed mode. The above description of this command is appended in the

following ways:

• The Geared Mode bit is used, despite the note about firmware versions.

• The Superimposed Mode bit is used as follows:

o If set, the move may be superimposed on top of a Geared move, a Speed Control move, a

Sine Move, or another Spline. If cleared, the spline will be the only move. Notice, that if the

axis is stopped, the Superimposed bit may still be used without harm.

o If set, the Status word’s State A and B bits will not be affected. However, the In Position bit

will be affected. If cleared, the State A and B bits will be cleared during the spline.

o If set, the entire spline is performed as relative to the current position. Therefore, the entire

spline is adjusted to start at zero position, and then the curve is added to any other motion

being performed on the axis. If cleared, the spline is assumed to be absolute and the axis

must be at the first spline position before beginning the spline. This can be ensured by first

issuing a Go (G) command to the first spline location.

A.1.18 Go Command

Character: G or g

Decimal: 71 or 103

Hexadecimal: 0x47 or 0x67

Command Value: Requested Position, in position units

The Go command will initiate a position move, a speed control move, or a new gear ratio. The

user must make sure that all parameter words are valid when the Go command is issued.

Normally, once the Mode, Acceleration, Deceleration, and Speed are set, only the Command

Value needs to be changed.

Note: The ’r;G’ command can be given while the axis is in motion. If you do this, the RMC will

ramp to the new speed at the rate specified by the Acceleration and Deceleration parameters.

Bits in the Mode word select the type of move:

Position Control (Rotational bit cleared):

This command moves the axis to the position specified in the Command Value field.

Speed Control with Position Loop (Rotational bit set):

This command requests the axis to ramp up or down to the new requested speed in the Speed

field. The Command Value field indicates the direction the axis should move: 0 represents the

direction of increasing counts (extend or clockwise), -1 represents the direction of decreasing

counts (retract or counter-clockwise). See Speed Control for details on this mode.

The direction can be changed while the axis is moving; the axis will ramp down to a stop and then

immediately ramp up to the new speed in the new direction.

1 2 ... 666 667 668 669 670 671 672 673 674 675 676 ... 950 951

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