Delta RMC101 User Manual download pdf (Page 876)

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101

RMC100 and RMCWin User Manual

D-14

• A spline has been successfully downloaded to this axis through the Spline Download Area. The

Spline Download Area is available over Ethernet, PROFIBUS-DP Message Mode, Serial (RS-

232/422/485 Module), and Modbus Plus.

• In PROFIBUS-DP Compact Mode without Sync, the Command register changes, or the Data

Out register changes for a command that uses this register. This includes changes to the Status

Area Request bits (bits 8-11 of the command).

• In PROFIBUS-DP Compact Mode with Sync, the Acknowledge bit functions as in Compact

Mode without Sync, except that the Sync Register has to change before a new command will be

registered and the Acknowledge bit is toggled, as described in Using the PROFIBUS-DP

Compact Mode.

Notice that commands received from RMCWin, the Step Table, the RMCLink ActiveX Control and

.NET Assembly Component, or from discrete inputs do not affect the Acknowledge bit.

Why Bother?

This bit must be used when getting parameters, profiles, status bit and graph data so the program

knows that the data being requested is valid. The In Position status bit is not valid after a move

command is issued until the Acknowledge Bit toggles.

Bit 6 - Initialized

This bit is set after a Set Parameters (P) command is successfully executed. This bit is only

cleared when the module is reset.

Until this bit is set, the axis cannot enter closed loop. Therefore, the following commands are not

allowed until the Set Parameters (P) command has been issued to the axis:

• Go (G and g)

• Relative Move (J and j)

• Move Relative to an Axis (0xC0-0xCF)

• Follow Spline Segment (f)

• Set Position/Pressure (c)

• Sine Move (~)

Bit 4-5 - State Bits

Bits 4 and 5 show the state of the target generator. The exact definition varies depending on the

current move type. Each move type is described below:

Trapezoidal or S-curve Moves

Trapezoidal and S-curve moves are invoked using the Go (G and g) commands, without the Quick

Mode, Gear, or Rotational mode bits set, or through the Relative Move (J and j) and Move Relative to

an Axis (0xC0-0xCF) commands. During these moves, the state bits reflect the current stage of the

move:

Bit #

Description

The target is stopped.

The target is accelerating.

The target is moving at constant velocity.

The target is decelerating.

Quick Moves

1 2 ... 871 872 873 874 875 876 877 878 879 880 881 ... 950 951

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Delta RMC101 User Manual Page 876

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