Delta RMC151 - Manual (Page 829)

8 Command Reference
frequency is the inverse of the Loop Time). For example, if the loop time is 1000 µsec,
the maximum frequency is 250 Hz.
Loop Time Max Frequency
250 µsec
1000 Hz
500 µsec 500 Hz
1000 µsec 250 Hz
2000 µsec 125 Hz
4000 µsec 62.5 Hz
Fractional frequencies are valid, such as 0.345 or 5.84. Issuing this command with a
frequency of zero is typically only done when it will be followed by the Change Target
Parameter (Prs/Frc) (81) to ramp the frequency from 0 to some value. A frequency of
zero is not allowed if the Start Location is at one of the peaks, and the cycle count is
0.25.
Frequencies below 0.00001 on the RMC75 or RMC150E, and below 0.05 on the RMC75S
and RMC75P, may cause an irregular Target Force/Pressure when used with the Start
Locations Mid-Pos or Mid-Neg. Test any very low frequencies before using them.
Start Location
The Start Location specifies where on the sine wave the motion should start. When this
command is issued, the Target Pressure/Force must be at that location, unless a
Transition command has previously been issued to specify how the axis should move to
get to the sine curve. The Start Location options are given below. Notice that each cycle
will start at the location specified by the Start Location.
Start
Location
Description
Auto If the Target Pressure or Force is at the positive peak, negative peak, or the
center, then the sine move will start there. If it starts at the center, it will
move in the positive direction. See Mid-Pos and Mid-Neg Details below.
Mid-Pos The sine wave will start at the center (zero degrees) and move in the positive
direction. See Mid-Pos and Mid-Neg Details below.
Pos Peak The sine wave will start at the positive peak (90 degrees).
Mid-Neg
The sine wave will start at the center (180 degrees) and move in the negative
direction. See Mid-Pos and Mid-Neg Details below.
Neg Peak The sine wave will start at the negative peak (270 degrees).
For example, if the Start Location is Auto, the Offset is 3, and the Amplitude is 1, then
the Target Pressure/Force must be at 2, 3, or 4 when this command is issued. If the
Start Location is Pos Peak, the Offset is 10, and the Amplitude is 2, then the Target
Pressure/Force must be at 12 when this command is issued.
The diagrams below show what the start of the sine wave looks like for a the starting
locations.
Mid-Pos Mid-Neg
Neg Peak Pos Peak
deltamotion.com 809