Delta RMC101 User Manual download pdf (Page 203)

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101

Rotational Mode 4.7

Controller Features 4-17

Only speeds between 0 and 32,767 can be set with this command. Also, this command cannot set

the Rotational bit in the Mode word, so another command must do this.

3. Set Speed (Unsigned) Command

This command works the same as the Set Speed (Signed) command except that only the

requested speed is changed; the requested direction cannot be changed with this command.

Therefore, the Command Value is an unsigned number between 0 and 65,535 and holds the

requested speed. The Rotational bit in the Mode word must be set prior to issuing this command.

Advantages:

Allows the speed to be set to any valid value (0 to 65,535 position units/second).

Disadvantages:

The direction cannot be changed with this command. Also, this command cannot set the Rotational

bit in the Mode word, so another command must do this.

Speed Control with Cyclic Operations

In speed control the positions will increment or decrement until the position wraps. However,

position can be reset on the fly. This is desired if there is a machine cycle that is less than 65536

position units long. If a machine cycle is 30000 units long it would be nice to reset the position to

0 when the axis gets above 29999. This way the same positions will occur at the same place in

the cycle. This can be accomplished using either a Home Input to reset the positions or an Offset

Positions command. The Home Input must be used if the absolute positions must always be the

same or if the cycle distance is not an integer number of position units. For other cases, the

Offset Positions command provides a cheaper and easier to implement way of maintaining the

relative distance between events. In either case the Event Step Table must be used to either re-

arm the Home Input or to reset the positions.

4.7 Rotational Mode

Rotational mode is specifically designed for cyclic axes. When an axis is in this mode, the

positions wrap around from the Retract Limit to the Extend Limit. One of the most common uses

for Rotational mode is speed control.

To enter or exit rotational mode, use the Set Mode (M) command or issue any of the following

motion commands with the Rotational Bit (bit 9) set or cleared:

• Go (G)

• Follow Spline Segment (f)

• Open Loop (O)

• Sine Move (~)

Note: Only the following commands can exit rotational mode: Go (G) command for Quick,

Synchronized, and Point-to-Point Moves, or a Sine Move (~).

Attempts to change the Rotational mode bit through the Set Mode (M) command will be ignored if

the axis is doing a Point-to-Point, Quick, Synchronized, or Speed Control move.

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Delta RMC101 User Manual Page 203

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