Delta RMC151 - Manual (Page 1026)

RMC70/150 and RMCTools User Manual
The Current Axis Definitions and the Requested Axis Definitions will generally be the same
except in two cases:
(1) The user has written to the requested block and intends to do a warm restart or burn
to flash and do a cold restart, or
(2) The requested axis definitions found on startup are invalid for the current hardware
configuration; in this case the Current Axis Definitions will be the default for the current
hardware configuration.
Changing the Axis Definitions from a Host Controller
Delta recommends changing axis definitions only in RMCTools. However, if your
application absolutely requires it, you can change the axis definitions from your host
controller (such as a PLC) by writing to the axis definition registers. This section describes
how to do so.
The axis definition registers are fairly complex. Therefore, Delta recommends that you do
not try to figure them out and write to the ones you need. Instead, Delta recommends
that you use RMCTools to define the axes as you desire, then read all of the Current Axis
Definition registers and save the data. Then, to apply that axis definition later, write that
data to the Requested Axis Definition registers, update Flash, and restart the controller.
The procedure is given below:
1. Obtain the Axis Definitions
For each set of axis definitions that you will need, do the following:
a. In RMCTools, set up the axis definitions as you desire, and apply them to the
RMC.
b. With your host controller, read the Current Axis Definitions registers, and store
that data for later.
2. Apply the Axis Definitions
Each time you wish to change the axis definitions, write your stored Axis Definitions to
the Requested Axis Definitions registers.
3. Restart the RMC
The RMC can be restarted by writing to the Loader Command register. The following
methods are available. See the Loader Command topic for details.
a. Cold Restart with Flash Update
This method first updates Flash, then does a cold restart of the RMC, which is
the same as cycling power. Use this method if you want to automatically save
the Axis Definitions to Flash and then restart.
b. Cold Restart without Flash Update
Does a cold restart of the RMC, which is the same as cycling power. You must
manually save anything to Flash before using this method.
c. Warm Restart
This method does a warm restart, which retains all the data in the RMC, but
doesn't save to Flash. Notice that the restart will apply the new axis definitions
and will set all variables to initial values.
4. Restart Communications
If communicating over USB or serial, wait 4 seconds for the controller to be ready to
communicate again. If communicating over Ethernet, wait 8 seconds. After waiting the
specified time, re-open the connection to the controller and resume communication.
5. If you changed axis definitions, some parameters may have changed and you may
need to update them.
Axis Definition Registers Details
In each axis definition area (current and requested), there are four 32-bit DWORD
registers per axis. Here is how these registers are defined:
n = axis number
1006 Delta Computer Systems, Inc.