Delta RMC151 - Manual (Page 775)

8 Command Reference
Hardware Limitations: RMC75S: versions 2.1D or newer only
RMC75P: versions 2.1E or newer only
RMC75E: No limitations
RMC150E: No limitations
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
# Parameter Description Range
1 Offset (position-units) any
2 Amplitude (position-units) ≥ 0
3 Frequency (Hz) 0* to 1/4 of the
loop frequency
4 Cycles 0 to 16 million in
0.25 steps (0 =
continuous)
5 Start Location
• Auto (0)
• Mid-Pos (1)
• Pos Peak (2)
• Mid-Neg (3)
• Neg Peak (4)
a valid integer as
described
6 Status Block (address)
Note: See Specifying a Register Address below.
Address or none
(0)
*See the Frequency section below for details on the lower limit.
Description
This command starts a continuous sinusoidal move on a position axis. If the number of
cycles is specified, the sine move will end after completing the cycles and will hold
position. For pressure or force, use the Sine Start (Prs/Frc) (76) command.
Before issuing this command, the Target Position must be at the location specified by the
Start Location command parameter, or, a Transition command must previously have
been issued to specify how the axis should move to get to the sine curve. A transition
command will allow you to start a sine curve even though the axis is not at the correct
starting point.
If you want the axis to follow the sine curve exactly starting from the beginning, do not
use a transition; instead, make sure the axis is at the starting point before issuing the
Sine Start command.
Offset
The Offset specifies the position of the center of the sine wave.
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