Delta RMC151 - Manual (Page 1034)

RMC70/150 and RMCTools User Manual
Address: %MD7.28
Data Type: Internal: DINT
External: REAL
Description
The Loader Command register is for sending certain commands to the loader. Currently, it
supports commands for restarting the RMC.
Restarting the RMC
The RMC can be restarted by writing certain values to the Loader Command register.
Restarting the RMC in this manner is only done in advanced applications, such as
programmatically changing the axis definitions during machine operation.
There are several ways to restart the RMC:
1. 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 update Flash and
restart. Requires firmware 2.70 or later. To do this:
a. Write 16#55AA to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 21930 in floating-point format).
b. Write 16#000D to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 13 in floating-point format).
2. Cold Restart without Flash Update
Does a cold restart of the RMC, which is the same as cycling power. Anything not
saved to Flash will be lost. Requires firmware 2.00 or later.
a. Write 16#55AA to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 21930 in floating-point format).
b. Write 16#000C to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 12 in floating-point format).
3. 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 any new axis definitions and will set all
variables to initial values. Requires firmware 2.70 or later.
a. Write 16#55AA to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 21930 in floating-point format).
b. Write 16#000E to %MD7.28 (if you are doing this from a host controller such
as a PLC, write 14 in floating-point format).
After the RMC restarts, it will take several seconds before it begins to communicate again.
Over USB or serial, it will be approximatley 4 seconds, over Ethernet, approximately 8
seconds.
9.3. Address Formats
9.3.1. Address Formats Overview
Each register in the RMC can be addressed with several different address formats. The table
below lists the formats. For more details on each format, see the respective format.
Address
Format Example
View in
RMCTools
Use In
Expressions
From
External
Multi-level/
Flat
1014 Delta Computer Systems, Inc.