Delta RMC151 - Manual (Page 707)

8 Command Reference
This is a complete list of the commands currently available on the RMC, grouped by type. Each
command is represented by an integer number in floating point format. This number is given
in parentheses. For general command information, see the Command topic.
Immediate Commands
Certain commands in the RMC are immediate commands. There is no limit to the number of
immediate commands that can be issued to an axis per loop time, whereas a maximum of one
non-immediate command per loop time can be issued to each axis.
Immediate commands are usually not motion commands. The ability to issue multiple
immediate commands in one loop time affects primarily the user programs, since it is difficult
to issue many simultaneous commands via the external communications.
Command List
Command
Immediate Closed
Loop
Open
Loop
General
No-op (0)
Clear Faults (4)
Enable Controller (7)
Fault Controller (8)
Set Enable Output (67)
Enable/Disable Axis (97)
RUN Mode (98)
PROGRAM Mode (99)
Motion - Stops
Stop (Closed Loop) (6)
Stop (Open Loop) (22)
Hold Current Position (5)
Closed Loop Halt (1)
Open Loop Halt (2)
Direct Output Halt (3)
Motion - Open Loop
Direct Output (9)
Open Loop Rate (10)
Open Loop Absolute (11)
Open Loop Relative (12)
Motion - Synchronized
Sync Move Absolute (13)
Sync Move Relative (14)
Sync Stop (17)
Motion - Point-to-Point
Move Absolute (20)
Move Relative (21)
Quick Move Absolute (15)
Quick Move Relative (16)
Time Move Absolute (23)
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