Delta RMC101 User Manual download pdf (Page 880)

100

101

RMC100 and RMCWin User Manual

D-18

Open

Loop

bit

(1)

(Bit

Note: When an axis is halted (Halt bit ON, State A bit OFF and State B bit OFF) then the integral

drive is automatically set to Null Drive and the Integrator stops updating. This is done so a Halt

command can be given to the axes when the hydraulic system is turned off or the valves are

disconnected so the module no longer can control the position. If the Integrator was allowed to

update, the integral drive could become quite large and cause the axis position to jump when the

hydraulic system was turned back on.

Bit 1 - Stopped

This bit is set when the actual speed for the axis—as computed and indicated by the Actual

Speed status register—drops below 50 position units per second. This bit is cleared when the

actual speed goes above 130 position units per second. The Stopped bit is not latched. Refer to

the Actual Speed topic for details on how this value is computed. This bit can be used as an axis

obstruction indication without having to monitor the Actual Speed register.

Bit 0 - In Position

This bit will be set when the difference between the Actual Position and Command Position is

less than the value in the In Position field and the target generator is in a closed-loop stopped

state. The axis must be in a closed-loop stopped state, which includes the following situations:

• At the end of a point-to-point move, such as those invoked by the Relative Move (J and j), Go (G

and g, except for speed control and gearing), Move Relative to an Axis (0xC0-0xCF), and Sine

Move (~) commands.

• When an axis follows a spline to the end following a Follow Spline (f) command.

• When the axis is stopped explicitly using a Set Parameters (P) or Reset Position (q) command.

• When the Target Speed reaches zero (0) after a speed control Go (G or g) command with a

requested speed of zero.

• When the Target Position stops after a closed loop halt (caused by an Auto Stop or the Halt (H)

command). Notice that the Command Position does not change in either of these cases, and

therefore, unlike the above cases, the Target Position may not match the Command Position.

This bit is not latched. It will clear when the Actual Position moves outside the In Position window,

or a command is issued that brings the axis out of the closed-loop stopped state.

Note: The control program can monitor this bit to determine when an axis has arrived at the

commanded position or if the axis is holding position when a load is applied.

D.2.6 Status Word Bit Map (MDT, SSI, Analog, Resolver)

The axis Status word contains 16 bits of information about the status of the axis. The

hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns.

1 2 ... 875 876 877 878 879 880 881 882 883 884 885 ... 950 951

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Delta RMC101 User Manual Page 880

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