Delta RMC151 - Manual (Page 783)

8 Command Reference
• Frequency (2)
• Cycles (3)
2 New Value Depends on
selected
Parameter
3 Ramp Type
• Time (0)
• Cycles (1)
• Rate (2)
• Time (log) (3)
• Cycles (log) (4)
A valid integer as
described
4 Ramp Value Depends on
selected Ramp
Type
Description
This command changes a target parameter for certain types of position moves that are in
progress. For example, this command can be used to perform frequency sweeps by
ramping the frequency of a sine move in a certain amount of time. For pressure or force,
see the Change Target Parameter (Prs/Frc) (81) command.
Target parameters can be ramped independently of each other. That is, each parameter
can be ramped whether or not other parameters are ramping. Multiple Change Target
Parameter commands can be issued from a single step in a user program, allowing them
to be ramped together.
This command applies to motion started by the following commands:
• Sine Start (72)
Sine Start Parameters
When this command is used for changing target parameters of motion started with a Sine
Start (72) command, the following parameters can be changed:
Offset
When ramping the offset, there will be a discontinuity in the velocity at the beginning and
end of the ramp. This can cause the axis to jump.
Valid Ramp
Types
Time Ramp the Offset linearly in the number of seconds specified by the
Ramp Value.
Cycles Ramp the Offset linearly in the number of cycles specified by the
Ramp Value.
Rate Ramp the Offset linearly at the rate (units/sec) specified by the
Ramp Value.
Amplitude
The amplitude can be ramped to any positive value, or zero.
Valid Ramp
Types
Time Ramp the Amplitude linearly in the number of seconds specified by
the Ramp Value.
Cycles Ramp the Amplitude linearly in the number of cycles specified by the
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