Delta RMC151 - Manual (Page 398)

RMC70/150 and RMCTools User Manual
7. Add Last Step for Move Back
This step will move the axis back up to 10 in.
a. Right-click in the left part of step 2, then click Add Step After.
b. Add a Move Absolute command with Position 10, Speed 10, Accel 100, and Decel
100.
The user program should now look like this:
8. Download the Programming
To download the programming, in the Project pane, right-click Programming and choose
Download Programs to Controller. If any errors are found, the Verify Results Window
will list them and provide links to them. All errors must be fixed before the download can
occur.
9. Running the User Program
Before running the user program, use the Monitor tab of the Variable Table Editor to set
the Current Values of the variables to reasonable values. Make sure to click the
Download Current Values button to apply the edits to the controller.
To run the user program, choose the Start Task(90) command in the command tool. In
the Task box, choose 0 and in the Program box, choose the user program you created.
Click Send. You can use the Task Monitor to see which step the user program is on.
5.16.3. Example: A Simple User Program
This topic shows a simple user program. For a detailed example on how to create a basic user
program, see the Example: Creating a Basic User Program topic.
Assume the User Program below is from a system scaled to inches, so that 1 pu (position-unit)
is 1 inch. This example User Program does the following:
Step 0:
Command: Moves Axis 0 to 1 in. at 20 in/sec.
378 Delta Computer Systems, Inc.