Delta RMC151 - Manual (Page 612)

RMC70/150 and RMCTools User Manual
3. Write to the Command Registers
Write the Command registers and all required command parameters to the Output
Data for all commands you want to issue. You can issue up to one command per axis.
Leave the Command register set to 0 for each axis that will not receive a command.
For example, if a portion of the Output Data is going to the Command Area for Axis
0, and you wish to issue a Move Absolute Command (20) to Axis 0 with a position of
6.7, a Speed of 3, and Accel and Decel of 50, you would write the following:
Value
20 (for a move Absolute Command)
6.7 (Position)
3 (Speed)
50 (Accel)
50 (Decel)
0 (Direction)
Use the online help for each command to find out how many parameters a
command has and what they mean. Make sure to write to all the parameters that
the command uses. You do not need to write to command parameters that are not
used by the command.
4. Change the Sync Out Register
The easiest way to do this is to add one to it. However, you must take care to handle
overflowing this register (the Sync register is a REAL). One method is to add one and
then MOD it with some large number, such as 10000. This will make the register count
from 0 to 9,999, and then wrap back down to 0 without an error. Take care to ensure
that you only update the Sync Out Register once so that the commands do not get re-
issued.
5. Wait Until the Sync In and Sync Out Registers Match
This indicates that the RMC has received the command and issued it. It is important to
wait until the SyncIn and SyncOut match before using the status bits in the Input Data
(if the Input Data includes any status bits). See the Using an EtherNet/IP I/O
Connection topic for how problems can occur if this step is ignored.
See Using an EtherNet/IP I/O Connection for further details.
Reading and Writing other registers
To read and write other registers in the RMC that are not included in the Incoming or
Outgoing Cyclic I/O Data, you can use the SEND and RECV instructions as described in
Using Omron Controllers via FINS. EtherNet/IP I/O and the SEND and RECV instructions
can be used simultaneously.
Another option for writing to other RMC registers is to create user programs that move
data from the variable table to other RMC registers.
6.11.11. Using RSView with the RMC
RSView can communicate with the RMC75E, RMC75S, and RMC150E. An example RSView and
RMC70 project is available on the Downloads page Delta's website at
www.deltamotion.com/dloads. The example project can communicate with either an RMC75S
or RMC75E. The only difference is in setting up the communications, as described in this topic.
RSView Studio uses RSLinx Enterprise. RSLinx Enterprise is different from RSLinx 2.x. RSLinx
Enterprise is the runtime data collection engine used by RSView Enterprise. Therefore, you
cannot use an EDS file or a Topic as in RSLinx.
592 Delta Computer Systems, Inc.