Delta RMC151 - Manual (Page 336)

RMC70/150 and RMCTools User Manual
5.11.9.5. Link Type: Wait For
Note:
A Link Type specifies the condition that makes the RMC jump to and execute the next step in a
User Program.
The Wait For Link Type waits for the Link Condition to become true before jumping to the
next step in the User Program. If you want the User Program to wait a certain period of time,
use the Delay link type instead.
Boxes
The Wait For Link Type has the following boxes:
Box Description
Link Condition The Link Condition specifies the condition that must become true
before jumping to the next step in the User Program. This condition
must be a logical expression that evaluates to True or False.
To select the Wait For Link Type:
• Open or create a User Program.
• Go to the step where you want the Wait For Link Type.
• Double-click the Link Type box.
• Click Wait For.
Timing Considerations
Beginning with the loop time after the step containing the Wait For link type is executed,
the RMC will monitor the Wait For link condition. In the same loop time that the condition
becomes true, the program will jump to the next step and execute it. Therefore, the
specified step can be executed no sooner than the next loop time after the first step was
executed, and the state of the condition in the same loop time that the step is executed is
not considered.
Example
Consider a program where Step 0 issues a Move Absolute command and has a Wait For
link type with a link condition that waits for a discrete input to be on. In the loop time
that step 0 is executed (the Move Absolute command is issued), the link condition is not
evaluated. The next loop time, the program will evaluate the link condition. If the
condition is true (the discrete input is on), the program will jump to the specified step and
execute it in that same loop time. If the condition is false, (the discrete input is off), the
program will wait. This will repeat until the condition is true, at which point, the program
will jump to the specified step and execute it in the same loop time in which the condition
became true.
5.11.9.6. Link Type: Conditional Jump
Note:
A Link Type specifies the condition that makes the RMC jump to and execute the next step in a
User Program.
The Conditional Jump link type can have one or more conditions. The conditions are
evaluated in order. For the first condition that evaluates to True, the program jumps to the
316 Delta Computer Systems, Inc.