Delta RMC101 Manual de usuario descargar pdf (Pagina 693)

100

101

Appendix A: Command Reference

A-41

The 16-bit Command Value is split into two bytes. The upper 8 bits specify which bits are to be

cleared. For example, setting bits 8 and 10 of the Command Value would clear wait bits 0 and 2.

Likewise the lower 8 bits specify the bits to be set. It is possible to set and clear multiple bits with

just one command.

Example:

Axis 4 may need to know when axes 0 to 3 have cleared a position. The step sequence running

on Axis 4 would set wait bits 0 to 3 and then wait for axis 0 to 3 to clear their bit. When all four bits

are cleared then axis 4 would know it is safe to proceed. Axis 4 would use the check wait bits link

type to insure that wait bits 0 to 3 are cleared before proceeding. It is much easier for axis 4 to do

just one check for the 4 wait bits to be cleared than doing four individual enhanced links that

check axis 0 to 3's position one by one.

Note: Wait bit 7 is used by the Profibus DP communications so the user can tell when spline

downloads are finished. The Profibus DP spline processing routine sets wait bit 7 when a

download to the spline area is detected. The bit is cleared when the download is done. The user

can then use the step table and the Check Wait Bits link to be sure the spline is ready before

executing the spline.

A.1.56 Sine Move Continuous Command

Character: none

Decimal: 48

Hexadecimal: 0x30

Command Value: Amplitude

This command moves the position, pressure or force axis in a sinusoid. The user specifies the

amplitude, frequency, and number of cycles (count). The count may be changed while the move

is in progress, but the amplitude and frequency should not be changed until the Sine Move

Continuous is complete. The Sine Move Continuous will stop at the starting position after

completing the specified number of cycles.

The cycling can be stopped by issuing a Sine Move Continuous command with the count set at 1.

When the actuator gets to the starting position the cycling will stop.

Note: On pressure control axes, the axis must be in closed-loop pressure control when this

command is issued. If the pressure control axis is in open loop control when this command is

issued, a parameter error will result.

Command Value: Amplitude in position units. The current target position is used as a starting

point and the sinusoidal motion can go positive or negative from there depending on the sign of

the amplitude. For example: If the actuator is a 1000 and a sinusoidal command has an amplitude

of 100 then the actuator will cycle between 1000 and 1200. If the amplitude is –50, the actuator

will cycle between 1000 and 900.

Speed: Frequency in HZ x 100. This allows frequencies up to 655Hz but in reality it is hard to

attain. For example, 500 is 5 Hz, and 20 is 0.2 Hz.

Deceleration: Count. Enter 1-65535 for a set number of cycles. Enter 0 for continuous cycling.

1 2 ... 688 689 690 691 692 693 694 695 696 697 698 ... 950 951

Comentarios a estos manuales

Sin comentarios

Delta RMC101 Manual de usuario Pagina 693

Comentarios a estos manuales

Relacionado con productos y manuales para Sensores Delta RMC101