Delta RMC151 User Manual
Page 831
8 Command Reference
Each parameter can be ramped independently, that is, each parameter can be ramped
whether or not other parameters are ramping. See the Change Target Parameter
(Prs/Frc) (81) command for details.
Example
A testing application requires that the amplitude be ramped from 0 to 10 over 20
cycles. To do this, first issue the Sine Start (Prs/Frc) (76) command with an Amplitude
of 0. Then, issue the Change Target Parameter (Prs/Frc) (81) command to ramp the
Amplitude to 10 during 20 cycles.
Sine Move Status
Axis Status Registers for a Sine Move
The Cycles (Pressure/Force) Axis Status register gives the current number of cycles
completed for the pressure or force sine move in progress. It is listed in Axis Tools, in the
Axis Status Registers pane, on the All tab, in the Target section. The Cycles Axis Status
register is a DINT.
Status Block
Advanced users may wish to use the Sine Start command's Status Block, which provides
read-only information on the sine move. This information is most useful when
manipulating sine moves in user programs.
To use the Status Block, you must specify an address from the Variable Table in the
Status Block parameter of the Start Sine command. The Status Block will require six
registers in the Variable Table, beginning with the specified address. As the sine move
runs, the selected registers in the Variable Table will be continuously updated. The
selected variables will not be named; you should give a descriptive name to help you
keep track of them.
To prevent confusion, sine moves that are running simultaneously should not use the
same Status Block addresses. Non-simultaneous sine moves can use the same Status
Block addresses.
The Status Block provides the following information:
Status
Block
Offset
Name
Data
Type
Description
0
Current
Cycle
Count
The number of cycles the sine move has completed. Each cycle
begins at the location specified by the Start Location
command parameter. The fractional part of the cycle is given
by the Current Cycle Fraction below.
For continuous sine moves (without a fixed number of cycles),
this value will wrap to zero after it reaches 10,000,000 and
then continue incrementing. For sine moves with a fixed
number of cycles, this value will not go beyond the requested
cycle count.
1
Current
Cycle
Fraction
The fractional part of the Current Cycle above. The fractional
part is given in this separate register to retain accuracy as the
Current Cycle reaches high values.
2
Current
Angle
The current angle from 0 up to, but not including, 360
degrees. This angle is the mathematical angle as shown in the
sine wave diagram above. An angle of zero does not
necessarily coincide with the start of a cycle. This value can be
used for such things as determining whether the sine move is
at the positive peak, negative peak, or middle.
3
Current
Amplitude
The current amplitude of the sine move in pressure or force
units.
4
Current
The current frequency of the sine move in hertz.
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