Delta RMC101 User Manual download pdf (Page 702)

100

101

RMC100 and RMCWin User Manual

A-50

requested value. Acceleration is used when the drive output is moving away from 0 and

deceleration is used when drive output is moving toward 0. The actual meaning of the values

depends on the Acceleration/Deceleration mode bits in the Mode word. Notice that only modes 1,

2 and 3 are used:

Mode 1

Acceleration and deceleration are given in millivolts per millisecond. For example, if the current drive

output is 0 millivolts, and the Command value is 1000 millivolts, and the Acceleration is 50, then it will

take 20 milliseconds for the drive output to reach 1000 millivolts.

Mode 2

Acceleration and deceleration are given as distances. That is, the drive will be ramped over the

distance specified. This mode is most useful when stopping on poor performing hydraulics. This

mode cannot be used for starting from a stop because no drive will be applied since the position does

not move, and conversely, the position does not move because there is no drive. For example, if the

current drive output is 1000 millivolts, and the Command value is 0 millivolts, and the Deceleration is

4000, then the axis will ramp the drive down to 0 in the time it takes the axis to move 4000 position

units.

Mode 3

Acceleration and deceleration are given in milliseconds. For example, if the current drive output is 0

millivolts, the Command value is 1000 millivolts, and the Acceleration is 50, then it will take 50

milliseconds for the drive output to reach 1000 millivolts, as the drive will increase 20 millivolts each

millisecond.

Note: If a move crosses 0 drive, then Deceleration will be used until the drive reaches 0, and

then Acceleration will be used until the final drive is reached.

Tip: If you are going to be changing from closed loop to open loop, you must be aware of the following.

While in closed loop and holding a position, the drive may be switching back and forth between small

positive and negative drives. If an open loop command is given to go to a non-zero drive, the starting

drive may have a sign opposite of the requested drive. In this case, the drive will decelerate down to

zero millivolts and then accelerate up to the new drive. For example, if the current drive is -10 millivolts

and an open loop command requests a drive of 2000 millivolts (2V), the drive will ramp from -10 to 0

and then accelerate from 0 to 2000mV. To ensure that this deceleration happens quickly, the

deceleration must be set properly (by setting it to 0 in Mode 3, and to a high number (1000 or greater)

in Mode 1).

Stepper Axes (QST Modules)

Stepper axes do not have an analog output so the Open Loop command generates pulses on the

Step+ and Step- Outputs. It also sets the polarity on the Direction+ and Direction- signals.

The pulse frequency is specified in the Command Value register as the number of pulses per

millisecond.

The Acceleration and Deceleration parameters specify the rate at which the Open Loop output

value is changed. See the discussion above for a description of the modes available.

A.2.5 Set Parameters Command

Character: P or p

Decimal: 80 or 112

Hexadecimal: 0x50 or 0x70

1 2 ... 697 698 699 700 701 702 703 704 705 706 707 ... 950 951

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Delta RMC101 User Manual Page 702

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