Delta RMC151 - Manual (Page 299)

5. Programming
5.1. Programming Overview
The RMC has a rich set of pre-programmed high-level motion commands. In addition, it can
easily be programmed to perform simple motion sequences or complex actions. With the RMC
features listed below, motion applications can be done entirely within the RMC, or in
conjunction with a PLC.
Note:
In order to run User Programs or the Program Triggers, the RMC must be in RUN mode. See
the RUN/Program Mode topic for details.
Programming Examples
See the Programming Examples topic for tips and examples of programming the RMC.
Commands
The commands are the building blocks of RMC programming. Commands tell the RMC
what to do. For a list of commands, see the Command List topic. Commands may be
issued from the following places:
• From RMCTools using the Command Tool.
• From a PLC or other host controller via the communication port.
• From a User Program.
See the Issuing Commands topic for details on issuing commands.
User Programs
A User Program carries out a sequence of commands without requiring a PLC or other
controller. This allows the RMC to respond to events within its control-loop time rather
than the scan rate of the PLC. It also reduces the controller programming required.
A User Program consists of multiple steps. Each step can issue a command on one or
several axes. The series of steps are linked together in sequences. The link types allow
branching and looping, waiting for conditions and many other features. An RMC controller
may execute several User Programs simultaneously.
User Programs run on Tasks. One Task can run one User Program at a time. The RMC70
has 4 tasks and can run 4 User Programs simultaneously. The RMC150 has 10 tasks and
can run 10 User Programs simultaneously.
For details on creating and running User Programs, see the User Program topic.
Mathematical Expressions in User Programs
Advanced math operations using expressions are also possible in user programs.
RMCTools provides a rich set of functions and operators, and allows for user-defined
functions.
Program Triggers
You can set up program triggers to automatically start user programs when some
condition becomes true. For example, you can trigger a user program when a discrete
input turns on, or a variable becomes a certain value. This is a good way to start user
programs from a PLC.
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