Delta RMC101 User Manual download pdf (Page 751)

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Appendix B: Command Field Reference

B-3

Bit 9 - Rotational Bit

This bit needs to be set for most applications where the axis will be rotating multiple times.

Setting this bit causes the following:

1. The Extend and Retract Limits do not limit the motion. Instead they are used to control the wrap

of the position: when the position exceeds the extend limit, the difference between the two limits

is subtracted from the position, and likewise when the position exceeds the retract limit, the

difference is added to the position. Generally, these limits will be set to indicate one rotation (such

as 0 and 36,000 for hundredths of a degree).

2. The Go, Set Speed (Unsigned), and Set Speed (Signed) act in Speed Control mode, as

described in the Speed Control topic.

Bit 8 - Monitor Pressure

Only axes which have pressure axes assigned to them use this bit. If this bit is set on such an

axis, the pressure will be monitored to see if it reaches the minimum pressure threshold at which

point the axis will begin regulating pressure. For details on using this bit to regulate pressure,

refer to Controlling Pressure or Force.

Bit 7 - S-Curve

When this bit is set the RMC calculates a s-shaped target, resulting in smoother motion with more

gradual starts and stops and higher peak speeds. In a s-curve move, the maximum acceleration

is 1.53 times the straight-line acceleration (used by a trapezoidal motion profile). If another move

command is given before the s-curve is finished, there may be a discontinuity (jerk) at the

transition.

This mode bit can apply to the following commands:

• Go (G)

• Move Relative (J)

Bit 4-6 - Gear Master Select (When Gear Mode bit is set)

When the Gear Mode bit (13) is set, these bits are used together to select the gear master for this

axis. Refer to Gearing Axes for details on gearing. We highly recommend that you use the Pop-

up Editor for the Mode word to edit this field rather than enter the value directly. However, if this is

necessary, the following table shows how to select a master axis using these bits:

Master

Axis

Bit

Axis 0

Axis 1

Axis 2

Axis 3

Axis 4

Axis 5

Axis 6

Axis 7

These mode bits can apply to the following commands:

1 2 ... 746 747 748 749 750 751 752 753 754 755 756 ... 950 951

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Delta RMC101 User Manual Page 751

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