Delta RMC151 User Manual
Page 724
RMC70/150 and RMCTools User Manual
* These options are intended for use with rotary axes.
However, all options are available on linear axes, but have
no effect. For more details, see the Using Rotary Motion
topic.
Description
This command first puts the axis in open loop. Then, it maps the Control Output as a
function of the Actual Position of the axis. As the Actual Position moves, the Control
Output ramps from its value at the time the command was issued to the Requested
Output. It reaches the Requested Output at the Requested Position. The Control
Output is not ramped in a linear fashion; rather, it is ramped such that the position of the
axis is ramped somewhat linearly.
This command sets up a mapping of the Control Output as a function of position. This
mapping is valid until another command is issued. If the Actual Position reaches the
Requested Position, the mapping is still valid. If the Actual Position moves backward, the
Control Output will still follow the mapping.
Limitations
•
The Requested Output must be of the same sign as the Control Output at the
time the command is issued. The Control Output cannot change sign during the
ramping. An incorrect Requested Output will cause a command error.
•
The Requested Position must be set such that the move direction in position
units matches the sign of the Control Output. That is, if the Requested Output is
positive, the Requested Position must be set such that the axis will move in the
position direction.
Note the following:
•
This command does not ramp the Control Output based on time.
•
If the axis does not move, the Control Output will not change.
•
This command cannot be used for starting from a stop because no Control Output will
be applied since the position does not move, and conversely, the position does not
move because there is no Control Output.
•
This command is for velocity drive axes only. This command should not be used for a
The following diagram illustrates how this command maps the Control Output from the
position:
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