Delta RMC151 - Manual (Page 847)

8 Command Reference
Firmware Requirement: 1.45 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
This command has no command parameters.
Description
This command disarms the home, if it was armed. This command clears the Home Armed
status bit.
See the Homing topic for details on homing.
8.7.3. Command: Arm Registration (52)
Supported Axes: Quadrature
Firmware Requirement: 1.45 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Registration Number 0 or 1
2 Registration Input:
#
RMC70 RMC150
Q1
Input
QAx Input Quad Input UI/O Quad
Input
0 Reg RegX/PosLim RegX/PosLim R0
1 n/a RegY/NegLim RegY/NegLim R1
0 or 1
3 Input Edge: Falling (0), Rising(1) 0 or 1
Description
This command enables a position registration to occur on the specified input on the
specified edge. The Registration Number parameter specifies which registration this will
apply to, either 0 or 1.
When this command is issued the following will occur:
• The armed status bit of the selected Registration Number (0 or 1) will be set
(Registration 0 Armed or Registration 1 Armed).
• The latched status bit of the selected Registration Number (0 or 1) will be cleared
(Registration 0 Latched or Registration 1 Latched).
If the registration is armed and a registration event occurs, the exact position at the
registration event will be latched and recorded in the Registration 0 Position or
Registration 1 Position status register.
For details on registration, see the Registration topic.
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