Delta RMC151 - Manual (Page 771)

8 Command Reference
axis is stopped—as defined by the axis Target Velocity being less than the Stop Threshold
parameter—for more than 10 loop times.
When the axis is stopped, the deadband will cause the axis to not follow the master until
the master moves the specified deadband value from its (the master's) stopped location.
When that occurs, the axis will begin to track the master. If the velocity, acceleration,
and jerk limits are large, this initial motion can cause the axis to jerk suddenly. To
minimize the initial sudden jerk, use the smallest Deadband value necessary.
Rotary Axes
When this command is sent to a rotary axis, the direction of motion will be in the
Absolute Direction.
When the Master Register is a position from a rotary axis, the slave axis Target Position
will continue in its current direction when the master position wraps. If you need the
opposite behavior, that is, the slave axis attempts to always be at the same value as the
rotary position, and moves back when the master wraps, you can make a user program
that continuously copies the rotary position to a variable, then use the variable as the
Master Register.
Other Notes
Changes in the master value can effect the Target Position, even if the Target Position is
far from the master value. Reducing the jerk and acceleration limits can help minimize
this should it be a problem. Or, use the Track Position (I-PD) (58) command.
If you do not need any velocity, acceleration, or jerk limits, consider the Gear Absolute
(25) command.
Specifying a Register Address
When issuing this command from anywhere other than RMCTools, the addresses in the
Master Register command parameter must be entered as an integer value.
RMC addresses are represented in IEC format as:
%MDfile.element, where file = file number, and element = element number.
Use the following equation to convert a register address to integer format, N:
N = file * 4096 + element
Example:
Register address %MD8.33 is 8*4096 + 33 = 32801.
Status Bits
In Position Bit
Indicates the axis is in position. This bit is set when the Target Generator Done bit is set
and the Actual Position is within the In Position Tolerance of the Target Position. This bit
does not apply to virtual axes.
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
Indicates that the Target Position is stopped and stable. This bit is set if the slave axis
Target Position is stopped—as defined by the slave axis Target Velocity being less than
the Stop Threshold parameter—and the slave axis Target Position is within the In
Position Tolerance of the master value. This bit is not valid for virtual axes.
Target Generator State A Bit
Indicates the Target Position is closely matched to the Master Register. This bit is set if
the slave axis Target Position is within the In Position Tolerance of the master value,
regardless of what the velocities are. This bit is not valid for virtual axes.
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