Delta RMC101 Manual do Utilizador descarregar pdf (Página 701)

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101

Appendix A: Command Reference

A-49

in mode 2.

• Monitor Pressure Bit (bit 8):

Clearing this bit while regulating pressure will drop the axis out of pressure regulation. Changing

this bit at any other time will simply make the axis stop or resume monitoring the pressure for

entering pressure control.

• Rotational Bit (bit 9):

Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational

Mode. Changing this bit while the axis is doing a Point-to-Point, Synchronized, Quick, or Speed

Control move will have no effect, since Point-to-Point, Quick, and Synchronized moves are only

defined in non-Rotational mode and Speed Control is only defined in Rotational mode. It is

allowed in Open Loop, Stopped, Spline, Gear, and Reference control modes.

• Pressure Mode Bits (bits 0-1)—PRESSURE AXES ONLY: If these bits are changed while

regulating pressure, the axis will come out of pressure regulating mode, and return to pressure

monitoring mode. Depending on the conditions, the axis may immediately re-enter pressure

regulating mode, but there will be a discontinuity. For this reason, it is not recommended that the

mode be changed while regulating pressure.

A.2.4 Open Loop Command

Character: O

Decimal: 79

Hexadecimal: 0x4F

Command Value: Millivolts of Drive

CAUTION: Use this command with care! Open Loop operation disables all safety features on the RMC!

Note: The open loop command will not affect drive output while the Simulate bit is set in the

Config word. Drive output is always 0 volts in simulate mode.

Note: For pressure/force axes, this command will take effect on the analog module’s drive

output, if one is available. Only 16-bit analog cards have drive outputs, therefore this command

will have no affect on 12-bit analog cards. Also, because drive outputs are only assigned to input

channels 0 and 2 on 16-bit cards, only analog or pressure axes using those input channels will

be able to issue this command. Otherwise, this command behaves normally on pressure/force

axes, except that no status registers other than the Drive field are modified by this command.

The Open Loop command allows the Controller to directly specify values for the analog output.

The output range is -10000 to 10000 and is given in millivolts. However, the drive outputs are not

precision outputs. You cannot rely on the output being exactly the value you specify. Look up

specifications in the online help index for the tolerance on your particular interface module’s drive

outputs.

The O command uses the following parameters from the last open loop profile specified:

The Command Value field specifies the desired drive in millivolts to output. The current null drive

is added to this value.

The Speed field is not used.

The Acceleration and Deceleration fields control the rate at which the drive output ramps to the

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