Delta RMC101 User Manual download pdf (Page 656)

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RMC100 and RMCWin User Manual

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addresses. See Address Tool for details.

This command uses the command fields as follows:

Mode: The Mode field controls how the 16-bit source, destination, and constant values are sign-

extended. Its bits are defined as follows:

Bits 7-15 Reserved. Must be 0.

Bits 4-6 Position Range Axis. These bits are used only if bit 1 (Register Sign Extension) is

set. They then determine which axis's position range is used for the source

and destination registers.

Bits 2-3 Reserved. Must be 0.

Bit 1 Register Sign Extension. If this bit is 1, then the source and destination registers are

sign extended to fit the position range for the axis selected by Mode bits 4-6.

If this bit is 0, then the source and destination registers are sign extended the

same way as the constants.

Bit 0 Constant Sign Extension. If this bit is 0, then the constants in the Deceleration and

Speed fields are signed. Otherwise, these constants are unsigned.

Tip: To simplify computing and entering the Mode value, use the pop-up editor. First enter

the command so that RMCWin knows which Mode dialog box to display. Then either

double-click the mode value or press ENTER when the cursor is in the Mode field. You will

then be able to select the options you want, and the Mode will be computed for you.

Acceleration: Source Address. This is the address (see above) of the register to start with. The

Deceleration: This is a constant value that is multiplied by the register specified by the Acceleration

field before being divided by the constant in the Speed field. This constant can be signed or

unsigned as determined by Mode bit 0.

Speed: This is a constant value that is divided into the product of the register specified by the

Acceleration field and the constant in the Deceleration field. This constant can be signed or

unsigned as determined by Mode bit 0.

Command Value: Destination Address. This is an address (see above) of the register to store the

result in. Before the result is stored, it is rounded to the nearest integer and checked if it falls

in the range selected by Mode bits 0-1 (signed, unsigned, or a position value). If the result

does not fall within this range, the result is limited to this range and an internal error bit is set,

which can be tested with the MathOK (0x12) and MathERR (0x13) link types.

Command: ' (39 decimal, 0x27 hexadecimal)

Although this command is limited to multiplying and dividing by constants, it is possible to multiply

and divide by computed values by stringing other math commands together whose destinations

are the Deceleration and/or Speed fields of this command. For example, the first event step might

be an Add command with a 0 in the Speed command field to copy a field from the original RMC

perform a "constant" MulDiv command, but because this constant had just been set to another

Example:

1 2 ... 651 652 653 654 655 656 657 658 659 660 661 ... 950 951

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Delta RMC101 User Manual Page 656

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