Delta RMC101 User Manual Page 757

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Appendix B: Command Field Reference
B-9
',' (Function) Destination Step 0 to 255
'?' (Poll) Extended Link Value Depends on usage
'@' (Arm Home Input) Home position Valid 16-bit Position
'A' (Change Accel) Acceleration value 0 to 65,535
’r;a’ (Amp Enable/Disable) Enable/Disable 0=disable, 1=enable
’r;B’ (Set Bias Drive) Millivolts of Drive -10000 to 10000
'D' (Change DECEL) Deceleration value 0 to 65,535
'E' (Start Events) Event number 0 to 255
'G' (Position Mode)
'G' (Rotational Mode)
'G' (Geared Mode)
Requested position
Requested direction
Requested numerator
Valid 16-bit Position
0 or -1
-32,768 to 32,767
'I' (Set Integral Drive) Integral drive value -10,000 to 10,000
'J' (Go Relative) Relative position -32,768 to 32,767
'L' (Limit Drive) Drive Limit in millivolts -10,000 to 10,000
'l' (Set Extended Link Value) Extended Link Value Depends on usage
'M' (Set Mode) Mode 0 to 0xFFFF
'N' (Set Null Drive) New null value -2000 to 2000
'O' (Open Loop Output)
Requested millivolts of
drive
-12,000 to 12,000
’r;q’ (Quadrature Reset)
New position
Valid 16-bit Position
’r;t’ (Teach Step)
Step number to teach
0 to 255
'V' (Set Speed-Unsigned)
Speed
0 to 65,535
'v' (Set Speed-Signed)
Speed
-32,768 to 32,767
'W' (Reference)
Filter Time Constant in ms
0 to 65,535
'Z' (Set Target Position)
New target position
Valid 16-bit Position
'z' (Offset Positions)
Target position offset
-32,768 to 32,767
’r;[’r; (Set output bits)
Bit mask of outputs to set
0 to 0xFFFF
’r;]’ (Reset output bits)
Bit mask of outputs to
reset
0 to 0xFFFF
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