Delta RMC151 - Manual (Page 714)

RMC70/150 and RMCTools User Manual
This command puts the RMC in RUN mode. If the RMC is already in RUN Mode, nothing
happens when this command is issued. If the RMC is in PROGRAM mode when this
command is issued, the following happens:
• The RMC is put into RUN mode.
• All the axes become enabled if they were not previously enabled. This means that the
Enabled status bit turns on for each axis, exactly as if the Enable Controller (7)
command had been issued.
Entering RUN mode will not affect the motion on the axes. The axes will continue doing
what they were doing. Motion commands can be issued to an axis whether or not it is in
RUN mode.
For details on RUN mode, see the RUN/PROGRAM Mode topic.
8.3.8. Command: PROGRAM Mode (99)
Supported Axes: All
Firmware Requirement: 1.10 or newer
See the Commands Overview topic for basic command information and how to issue
commands from PLCs, HMIs, etc.
Command Parameters
None.
Description
This command puts the RMC in PROGRAM mode, which stops all running Tasks and the
Program Triggers. Tasks cannot be restarted until the RMC is put back into RUN Mode.
Entering PROGRAM mode will not affect the motion on the axes. The axes will continue
doing what they were doing, and motion commands can still be issued to the axis.
For more details, see the RUN/PROGRAM Mode topic.
8.4. Motion Commands
8.4.1. Motion Commands
The commands listed below are called motion commands. They are grouped by type. See the
List of Commands topic for all RMC commands.
Command
Stops
Stop (Closed Loop) (6)
Stop (Open Loop) (22)
Hold Current Position (5)
Closed Loop Halt (1)
Open Loop Halt (2)
Command
Specialty
Speed at Position (36)
Sine Start (72)
Sine Stop (73)
Change Master (79)
Change Target Parameter (80)
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