Delta RMC151 - Manual (Page 333)

5 Programming
A Link Type specifies the condition that makes the RMC jump to and start the next step in a
User Program. As a User Program runs, the RMC checks the Link Type of the current step
every loop time. When the Link Type evaluates to true, it jumps to the specified step. The step
it jumps to is specified by a valid step number or a step label. A maximum of one step can be
executed per loop time.
For example, you can set a link type to wait until the axis is in position before going to the
next step, or you may want to wait a certain amount of time. Complex link conditions can also
be specified.
Selecting a Link Type
To select a link type, go to the desired step in a User Program and double-click the Link
Type box. Choose one of the link types.
List of Link Types
Link Type Description
Immediate Jumps immediately to the next step. The next step will be executed in
the next loop-time of the RMC.
Jump Jump immediately to the step specified in the Jump to box. The
Jump to box must contain a valid step number or label.
Delay Waits for number of seconds specified in the Link Condition box and
then jumps to the step specified in the Jump to box.
The Link Condition box must evaluate to a REAL value. It can be any
of the following:
• Constant value
• Register
• Variable
• Numeric Expression
Wait For Waits for the Link Condition to become true and then jumps to the
next step.
The Link Condition box must be a logical expression that evaluates
to True or False.
Conditional
Jump
Evaluates the Link Condition or conditions. If a condition is true, the
Jump On True is taken. If all conditions are false, the Jump On
False is taken.
The Jump On True and Jump On False boxes must contain a valid
step number, label, "Next", "Wait", or "Repeat".
The Link Condition box must be a logical expression that evaluates
to True or False.
End
Ends the sequence. No steps are executed after this step.
5.11.9.2. Link Type: Immediate
Note:
A Link Type specifies the condition that makes the RMC jump to and execute the next step in a
User Program.
The Immediate Link Type immediately jumps to the next step in the User Program. The next
step is then executed in the next loop time of the RMC.
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