Delta RMC101 User Manual download pdf (Page 540)

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Spline Download Procedure

1. Write to the Interval Table Format register to indicate the format of the Interval Table.

2. Write to the Interval Table. If the Interval Table Format register is zero (0), you will only need to

write to the first register in the table. If the Interval Table Format is one (1), you will need to write

to as many registers are there are points minus one (that is, for n points, there are n-1 intervals

between them).

3. Write to the Point Count register. This will be the count of the points to be downloaded in the

spline segment.

4. Write to the Point Table. When the last point in the spline (determined by the value of the Point

Count register) is written, the spline segment will become part of the axis’s spline table. When this

operation is complete, the Acknowledge bit in the Status word for that axis will toggle.

5. If you wish to download another spline segment, only step 4 needs to be repeated. Any of steps

1, 2, and 3 can be repeated, but only need to be if their values are going to change. For example,

you wish to change the number of points in the next segment, or you wish to change the intervals

between points.

When writing the above registers, neither timing nor number of writes used are critical. For

example, step 1 can precede step 2 by a few milliseconds or a few minutes. Or, every register

can be written separately, or more commonly, steps 1 and 2 will be accomplished in a single

write, and steps 3 and 4 will be accomplished in a second write. Of course, there may be cases

where you are downloading more points than your PLC allows registers to be written at once. In

these cases, it is perfectly acceptable to use multiple writes.

Important Notes

• The spline is actually added to the RMC axis’s spline table when the last spline point has been

downloaded.

• If there is an error while downloading the spline, a parameter error will be triggered. This means

that the parameter error bit will be set in the Status word for the axis, and the Parameter Error

value will be stored for retrieval by RMCWin or by reading the ”r;Last Parameter Error” registers.

See the RMC Register Map and Parameter Error Values topics for details on these registers.

• When the spline has been added to the RMC axis’s spline table successfully, the Acknowledge

bit in the Status word will be toggled.

• If there is already a spline segment in the axis’s spline table, then the following rules will apply

(these are the same rules that apply when downloading using X and T commands). If there is

more than one spline segment in the spline table, the new spline segment will be added to the

end. If there are no spline segments in the spline table, the new spline segment will be added and

made the next spline. If there is exactly one spline segment already in the spline table, then the

new spline will be added after the existing spline segment if the existing spline segment is being

currently followed or never has been followed; otherwise, the old spline segment will be deleted

and the new spline segment will be added and made the next spline.

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