Delta RMC101 User Manual download pdf (Page 657)

100

101

Appendix A: Command Reference

A-5

Suppose that Axis1 needs to go to a position that is 90% of Axis0's Actual Position. This can be done

using two Event Steps. The first will calculate 90% of the Axis0 Actual Position and store it in the

second step's Command Value. The second step will issue a Go (G) command to the newly-

calculated position. A step sequence that accomplishes this is shown below:

Step 18

Step

Mode

0x0012

0x0081

Accel

(2)

100

Decel

900

100

Speed

1000

10000

Command

Value

(412)

Command

Commanded

Axes

Default

Link Type

MathERR

BitsON

Link Value

0x0001

Link Next

Step 18:

We use a MulDiv command to compute 90% of the Axis0 Actual Position and store it in Step 19

Command Value. We first need to find the source and destination register addresses. We

recommend using the Address Tool to bookmark the Axis0 Actual Position and Step 19 Command

Value on screen, although the RMC Register Map (PROFIBUS-DP Message Mode) help topic can be

used to manually look up the addresses. Both methods show that address 2 (Axis0 Actual Position)

should be entered in the Accel field, and address 412 (Step 19 Command Value) should be entered

in the Command Value field.

Note: If these steps were moved around in the Event Step table (say to steps 20 and 21), the

address that pointed to Step 19 Command Value (#412) would be automatically adjusted to point to

Step 21 Command Value (#428).

The constants in the Decel and Speed fields are used to give 90%. That is 900/1000 is 0.9 or 90%.

We could also have used 90 and 100 or 9 and 10. Because Mode bit 0 is zero, these values are

signed, although for positive values under 32,767, this makes no difference.

Finally, notice that the range of the register values has been selected by Mode bits 0-1 and 4-6 to be

the position range for Axis1. Therefore, if the result of the multiply and divide does not fall in the

position range for Axis1, then the Math Error bit will be set. Notice that the value read from the Axis0

Actual Position is also treated as being in the Axis1 position range. Therefore, these axes must have

similar position ranges.

As you can see, the MathERR link type is used to detect an overflow and jump to step 40 if there is

such an error. If there is no error, then the MathERR link type links to the next step (step 19).

1 2 ... 652 653 654 655 656 657 658 659 660 661 662 ... 950 951

Comments to this Manuals

No comments

Delta RMC101 User Manual Page 657

Comments to this Manuals

Related products and manuals for Sensors Delta RMC101