Delta RMC101 User Manual download pdf (Page 687)

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Appendix A: Command Reference

A-35

This command is used to set the Target Position to any value. This command also changes the

Command Position and Actual Position by the difference between the new target position and the

old target position.

When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog,

the Offset parameter is adjusted in order to make the position match the requested position. On

resolver axes, the Count Offset parameter is adjusted to make the position match the requested

position. If you wish to store the Count Offset or Offset to non-volatile memory, you must issue

the Update Flash Command.

If the axis is in motion when the ’r;Z’ command is issued, it will continue moving to the same

physical location it was originally going to, but the indicated position will be different.

This command requires firmware 20000918 or newer, but for best results, use only in versions

20011015 or newer.

A.1.49 Offset Positions Command

Character: z

Decimal: 122

Hexadecimal: 0x7A

Command Value: Target Position Offset

Command Value (Resolver): Offset in Turns

For non-resolver axes, this command is used to offset the Command, Target and Actual Positions

by the amount specified in the Command Value (-32767 to +32768). Normally this command is

used when indexing to reset the target position back to 0 before repeating a sequence of steps in

the step table.

When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog,

the Offset parameter is adjusted in order to make the position match the requested position.

Resolver Axes

For Resolver axes, this command is used to offset the Command, Target, and Actual Positions by

the number of turns specified in the Command Value. This command will not change the Count

Offset.

This command is intended for use on axes that rotate continuously in one direction as the

machine goes through its cycle. After each machine cycle, issuing this command would set the

positions back by the number of revolutions the resolver made in each cycle.

If the axis is in Rotational Mode when this command is issued, it is possible to set the positions

outside the limits established by the Extend and Retract limits. The positions will be moved back

within limits the next loop time. Axis control will not be affected.

A.1.50 Reset Outputs Command

Character: ]

Decimal: 93

Hexadecimal: 0x5D

Command Value: Mask of Digital Output Bits to Clear

1 2 ... 682 683 684 685 686 687 688 689 690 691 692 ... 950 951

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