Delta RMC151 - Manual (Page 729)

8 Command Reference
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Requested Distance (position-units) any
2 Requested Speed (position-units/s) >0
3 Acceleration Rate (position-units/s 2 ) >0
4 Deceleration Rate (position-units/s 2 ) >0
5 Relative To:
• Command Position (0)
• Actual Position (1)
• Target Position (2)
a valid integer as
described
6 Sync Group 0 to 10
Description
This command is identical to the Sync Move Absolute (13), except that the final
Command Position is computed by adding the Requested Distance to the current value
of the quantity specified in the Relative To parameter. The current value is the value at
the time the RMC received the command.
Relative To Options:
• Command Position (0)
The final Command Position is computed by adding the Requested Distance to the
current Command Position.
• Actual Position (1)
The final Command Position is computed by adding the Requested Distance to the
current Actual Position.
• Target Position (2)
The final Command Position is computed by adding the Requested Distance to the
current Target Position.
For more details, see the Sync Move Absolute (13) command.
Status Bits
In Position Bit
When the Target Positions of all axes in the sync group reach their final positions, and the
Actual Position is within the In Position Tolerance window, the In Position Status bit will
be set. This bit indicates that the move is complete and the axis is at position.
Target Generator Bits
The Target Generator bits in the Status Bits register indicate which portion of the move
the axis is currently in. These bits are useful when programming complex motion
sequences.
Target Generator Done bit
This bit indicates that the Target Positions of all axes in the sync group have reached
their final positions. Notice that this bit does not indicate whether the Actual Position has
reached the Requested Position.
Target Generator State A and B bits
B
A Description
0 0 The target generator is complete
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