Delta RMC151 - Manual (Page 154)

RMC70/150 and RMCTools User Manual
Offset Register Description
0 Status See Above
1 Format (1) Single Curve - Variable-Spaced Points
2 PointCount Number of points in the curve (N). The minimum number of
points is 2.
3 InterpOpt Interpolation Options. See the Curve Interpolation Methods
and Options topic for details.
+0: Zero-Velocity Endpoints
+1: Natural-Velocity Endpoints
+2: Cyclic Curve
+8: Overshoot Protection
+16: Auto Constant Velocity
4 X
0
Point 0 X value
This value is only used when following a curve with absolute
master alignment (only available with the Curve Start
Advanced (88) command).
This value is not used when following a curve using the
Curve Start (86) or Curve Start (Prs/Frc) (87) comamnds;
the X
0
point is the current value of the master at the time
the command is issued. The remaining X-axis points are
computed relative the master position when the Curve Start
command is issued.
5 Y
0
Point 0 Y value
6 X
1
Point 1 X value
7 Y
1
Point 1 Y value
: :
4+(N-
1)·2
X
N-1
Point N-1 X value
5+(N-
1)·2
Y
N-1
Point N-1 Y value
Single Curve - Advanced Points (2)
In this format, points are each given independent X and Y values—allowing variable
spacing—and may be given fixed velocities. Also, segments can be designated as having
a constant velocity. The X values must be increasing (X
i+1
> X
i
).
Note: Data types are all REAL.
Offset Register Description
0 Status See Above
1 Format (2) Single Curve - Advanced Points
2 PointCount Number of points in the curve (N). The minimum number of
points is 2.
3 InterpOpt Interpolation Options. See the Curve Interpolation Methods
and Options topic for details.
+0: Zero-Velocity Endpoints
+1: Natural-Velocity Endpoints
+2: Cyclic Curve
+8: Overshoot Protection
134 Delta Computer Systems, Inc.