Command: Direct Output (9)

Supported Axes:	Control Axes
Supported Control Modes:	All
Firmware Requirement:	1.00 or newer

Note:
In RMCTools versions previous to 1.30, this command was called Direct Drive.

Caution: The Direct Output (9) command disables the safety features on the axis! Use this command carefully!

See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc.

Command Parameters

#	Parameter Description	Range
1	Requested Output (V)	-10≤V≤10
2	Output Ramp Rate (V/sec)	>0

Description

This command switches the axis to open loop control and ramps the Control Output linearly to the Requested Output at the rate specified in the Output Ramp Rate. This command will not be affected by any errors on the axis. If an error bit turns on, the Control Output will still be the value as commanded by this command.

This command turns on the Direct Output Status bit.

Note:
This command is identical to the Open Loop Rate (10) command, except that this command disables all auto stops until another motion command is issued. As such, this command is intended for testing the Control Output and not for actual motion control. For motion control, the Open Loop Rate (10) command should be used instead.

Default Ramp Rate

When choosing the open Loop rate command in the Command Tool, a User Program, or Shortcut Commands, the default value of the Ramp Rate is 100 V/sec. You should consider what value of ramp rate your application requires. 100 V/sec may be a very abrupt stop on some systems.

Why Bother?

Use the Direct Output command to test the Control Output when you are setting up the system.

Target Generator State Bits

The Target Generator bits in the Status Bits register indicate which portion of the move the axis is currently in. These bits are useful when programming complex motion sequences.

Target Generator Done bit

This bit indicates the move is complete, which occurs when the Control Output has reached the Requested Output.

Target Generator State A and B bits

B	A	Description
0	0	Constant Control Output at 0 volts
0	1	Ramping Control Output away from 0 volts
1	0	Constant Control Output at a non-zero voltage
1	1	Ramping Control Output toward 0 volts