Delta RMC151 - Manual (Page 833)

8 Command Reference
Command Parameters
# Parameter Description Range
1 Stop Location
• Next Cycle (0)
• Middle (1)
• Pos Peak (2)
• Neg Peak (3)
• Next Peak (4)
a valid integer as
described
Description
This command stops a pressure or force sine move at a prescribed location. For stopping
a position sine move, see the Sine Stop (73) command.
The sine move will stop at the next occurrence of the specified Stop Location. The Stop
Location can be any of the following:
• Next Cycle
The sine move will stop at the end of the current cycle. The location of the end of each
cycle is defined by the Sine Start (Prs/Frc) (76) command. Stopping the sine move
with the Next Cycle option will ensure that the sine move stops in the same location
that it started. For example, if it started at a positive peak, this command will stop it
at the next positive peak.
If the stop location is the middle, and the axis is currently on the quadrant after a
peak and before the midpoint, then the axis will not stop on that first middle point
because it could lead to extreme pressure or force rates. Instead, the axis will
continue another full cycle and then stop at the middle point.
If the stop location is the middle, the target generator will perform the stop by
ramping the frequency down to zero over the last quarter-cycle. Due to this, any
attempt to ramp the frequency with the Change Target Parameter (Prs/Frc) (81)
command during this portion of the move will be ignored.
• Middle
The sine move will stop at the first middle point. However, if the axis is currently on
the quadrant after a peak and before the midpoint, then the axis will not stop on that
first middle point because it could lead to extreme pressure or force rates. Instead,
the axis will continue a half-cycle after the first middle point and stop at the next
middle point.
When the Stop Location is set to Middle, the target generator performs the stop
by ramping the frequency down to zero over the last quarter-cycle. Due to this, any
attempt to ramp the frequency with the Change Target Parameter (Prs/Frc) (81)
command during this portion of the move will be ignored.
• Pos Peak
The sine move will stop at the next positive peak.
• Neg Peak
The sine move will stop at the next positive peak.
• Next Peak
The sine move will stop at the next peak, whether it is negative or positive.
Status Bits
At Pressure or Force Bit
After the target pressure or force stops, and the Actual Pressure or Force is within the At
Pressure/Force Tolerance window, the At Pressure/Force Status bit will be set. This bit
indicates that the move is complete and the axis is at pressure or force.
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