Delta RMC101 User Manual download pdf (Page 873)

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Appendix D: Status Field Reference

D-11

The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto

Stop parameter.

Because this error bit is used for many types of errors, RMCWin has the ability to display the last

several parameter errors in more detail. This list of errors is compiled only while RMCWin is

running, so it is recommended that it be left running while configuring the system.

To display this list, select Parameter Error List from the Window menu. For RMC CPU firmware

versions dated 19971016 or later, this list should include brief descriptions of the last twenty

parameter errors to occur on the motion controller. To receive help on a particular error, in the

error list, click on the error, and then click Help on Error.

Bit 10 (MDT, SSI, Analog, Resolver) - Position Overflow

This bit is set when the actual position has exceeded the range that can be displayed with a 16-

bit number. See Valid 16-bit Positions for details on this limitation. This bit is also set ifwhen

recirculations are usedTransducer Counts is calculated to less than zero. Actual Position will be

displayed as 65535 in the overflow case, and as zero (0) in the underflow case.

This error bit is cleared when any of the commands listed above is issued, and the underlying

error condition is no longer present.

The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto

Stop parameter.

To recover from this error condition you must move the axis, either manually or with an Open

Loop Command, until the Actual Position becomes valid again.

This error occurs for one of two reasons:

1. The overflow case (Actual Position displayed as 65535) happens because the transducer is

longer than can be accommodated by the 16 bit Actual Position Field given the scaling of the

transducer counts. To fix this, you can either reduce the Scale parameter; increase the Prescale

Divisor in the Configuration Word; or, if you are using a PWM type transducer, increase the

number of recirculations specified in the Configuration Word (without increasing the number of

recirculations in the transducer).

2. The Underflow case (Actual Position displayed as 0) happens because the number of

recirculations specified in the Configuration Word is too large. To fix this, decrease the number

of recirculations specified in the Configuration Word (without changing the number of

recirculations in the transducer).

Bit 10 (QUAD or STEP) - Home Input

The Home Input status bit operation is programmable by using the Level/Edge bit in the Config

parameter:

• Latched Edge Mode: In this mode, the Home Input status bit is set when either the Index (Z) or

Home input becomes inactive after both had been active. It remains latched until any of the

commands that clear error bits are issued (listed above), or the Arm Home (@) command is

issued. This mode is selected by clearing the Level/Edge configuration bit.

Example:

1 2 ... 868 869 870 871 872 873 874 875 876 877 878 ... 950 951

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Delta RMC101 User Manual Page 873

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