Delta RMC101 User Manual download pdf (Page 667)

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Appendix A: Command Reference

A-15

Command Value: 0 = Disable AMP, 1 = Enable AMP

Note: This command is only available in RMC100 CPU firmware dated 19991124 or later.

This command is for Quadrature and Stepper axes only. It controls the Amp Enable output for the

axis that receives this command. If the Command Value is 0, then this output goes low. If the

Command Value is 1, then this output goes high.

A.1.12 Clear Spline Segments Command

Character: C

Decimal: 67

Hexadecimal: 0x43

Command Value: Described below

Because the RMC can store multiple spline segments at a time, it may be necessary to clear one

or more of these segments from the RMC’s memory. Use the command value to control how

many spline segments you want to delete:

Command

Value

Effect

Deletes all segments.

n (1 to 16)

Deletes the oldest n segments.

-n (-1 to -16)

Delete all but the most recently downloaded n

segments. The actual number of segments deleted

depends on how many segments were available. It

is common to use a value of -1 to keep only the

most-recently-downloaded spline segment.

Note: Negative command values are supported only in RMC CPU firmware dated 20000421 or

later.

This command may not finish immediately. That is, it will clear one spline segment per control

loop. Therefore, if you are clearing three segments on a module with a one-millisecond control

loop time, this command will take three milliseconds to finish. The Acknowledge bit of the Status

word will toggle when this command is completed.

Note: The Acknowledge bit toggles only if the command was issued over the communication

module (PROFIBUS-DP, Modbus Plus, etc.) and not if it was issued from the Event Step table or

RMCWin.

This command will fail for the following reasons, as indicated by the Parameter Error bit in the

Status word:

• A spline is being followed at the time this command is issued. No segments will be deleted, and

the Parameter Error bit will be set in the Status word.

• An invalid command value was specified; it must be between -16 and +16. No segments will be

deleted, and the Parameter Error bit will be set in the Status word.

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