Delta RMC151 - Manual (Page 73)

3 Controller Features
3.2.3. RUN/PROGRAM Mode
RUN and PROGRAM mode specify whether the User Programs and the Program Triggers can
run. RUN or PROGRAM mode do not necessarily affect the motion on an axis. Motion
commands can be issued to the RMC whether or not it is in RUN or PROGRAM mode.
In RUN mode:
• The Program Triggers are started (if the Enable the Program Triggers task checkbox is
checked in the Programming Properties).
• User Programs can run.
• LEDs
o The RMC70 Controller LED is steady green.
o The RMC150 RUN Mode LED is steadygreen.
• The RMCTools toolbar will display .
In PROGRAM mode:
• The Program Triggers are stopped.
• User Programs cannot run.
• LEDs
o The RMC70 Controller LED slowly flashes green.
o The RMC150 RUN Mode LED is off.
• The RMCTools toolbar will display .
Entering and RUN and PROGRAM Modes
When the RMC enters 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.
• All the Program Triggers are now evaluated. Notice that all the conditions are assumed
to be false when the RMC is in PROGRAM mode. Therefore, if any condition is true
when the RMC enters RUN Mode, it will start the specified actions.
Entering RUN mode will not affect the motion on the axes. The axes will continue doing
what they were doing.
When the RMC enters PROGRAM Mode:
• The Program Triggers are stopped.
• The Tasks are stopped. All User Programs stop.
• If any discrete outputs have been configured to turn on or off when entering
PROGRAM mode, they will do so.
Entering PROGRAM mode will not affect the motion on the axes. The axes will continue
doing what they were doing.
Fault Controller
If the Fault Controller (8) command is sent, the RMC will exit RUN mode and enter
PROGRAM mode. All the axes will also halt.
Methods of Entering RUN or PROGRAM Mode
There are several ways to put the RMC in RUN or PROGRAM Mode:
From RMCTools
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