Clear Spline Segments Command

Character: C
Decimal: 67
Hexadecimal: 0x43
Command Value: Described below

Because the RMC can store multiple spline segments at a time, it may be necessary to clear one or more of these segments from the RMC’s memory. Use the command value to control how many spline segments you want to delete:

Command Value	Effect
0	Deletes all segments.
n (1 to 16)	Deletes the oldest n segments.
-n (-1 to -16)	Delete all but the most recently downloaded n segments. The actual number of segments deleted depends on how many segments were available. It is common to use a value of -1 to keep only the most-recently-downloaded spline segment.

Note: Negative command values are supported only in RMC CPU firmware dated 20000421 or later.

This command may not finish immediately. That is, it will clear one spline segment per control loop. Therefore, if you are clearing three segments on a module with a one-millisecond control loop time, this command will take three milliseconds to finish. The Acknowledge bit of the Status word will toggle when this command is completed.

Note: The Acknowledge bit toggles only if the command was issued over the communication module (PROFIBUS-DP, Modbus Plus, etc.) and not if it was issued from the Event Step table or RMCWin.

This command will fail for the following reasons, as indicated by the Parameter Error bit in the Status word:

A spline is being followed at the time this command is issued. No segments will be deleted, and the Parameter Error bit will be set in the Status word.
An invalid command value was specified; it must be between -16 and +16. No segments will be deleted, and the Parameter Error bit will be set in the Status word.
You specified a positive command value, but not that many segments are available on that axis. All segments will be deleted, but the Parameter Error bit will be set to indicate that it did not delete as many segments as you requested. If you get this error, keep in mind that spline segments are automatically discarded after they are executed.
You specified a negative command value, but not that many segments are available to keep. No segments will be deleted, and the Parameter Error bit will be set in the Status word.
If multiple segments are being deleted, but another command is sent to this axis before the Acknowledge bit in the Status word has been toggled. This will not be reflected in the Parameter Error bit.