Delta RMC151 - Manual (Page 74)

RMC70/150 and RMCTools User Manual
• On the toolbar, click the Controller button and choose RUN Mode or
PROGRAM Mode.
From a Host Controller (PLC, HMI, etc.)
• Issue the RUN Mode (98) or PROGRAM Mode (99) commands to the RMC.
Using a Discrete Input to enter RUN or PROGRAM mode
You can define a discrete input that puts the RMC into RUN or PROGRAM mode:
• In the Project Pane, in the project tree, right-click the Programming node, click
Properties, and click the RUN/PROGRAM page.
• Select Define a RUN/PROGRAM discrete input.
• Choose the input you want to define as a RUN/PROGRAM input and click OK.
When the input transitions from low to high, the RMC will enter RUN mode. When the
input transitions from high to low, the RMC will enter PROGRAM mode. The state of the
input does not necessarily reflect the RUN/PROGRAM state, because the RUN/PROGRAM
mode can also be changed by other methods.
Starting the RMC in RUN or PROGRAM mode
By default, the RMC starts up in PROGRAM mode. You can set it to start up in PROGRAM
or RUN mode:
• In the Project Pane, in the project tree, right-click the Programming node and click
Properties.
• On the RUN/PROGRAM page, choose the Startup Mode you want, then click OK.
• Right-click the Programming node and click Download Programs.
• Update Flash so that the settings will be saved when the RMC is powered off.
Tip:
You can start a User Program immediately when the RMC enters RUN Mode by using the
FirstScan bit in the Program Triggers. If the Startup Mode is set to RUN Mode, the RMC can
run a user program immediately upon powering up.
3.2.4. Registration
Registration is the process of recording the precise position of an axis when an external event
occurs. Registration is commonly used for measurements. For example, consider a photo-eye
set up on a conveyor belt, where the position of the belt is measured with a quadrature
encoder. By registering the precise position at which the photo-eye is broken and the precise
position at which it is reconnected, the length of a widget on the belt can be accurately
determined.
The RMC provides registration on quadrature feedback axes only. This is because quadrature
feedback is the only type of feedback that can record a position at any given moment (within
40μs), independent of the loop time of the RMC. All other feedback types can only report the
position once each loop time (500μs to 4000μsec). Using the programming capabilities of the
RMC, such as discrete inputs and the Program Triggers, it is possible to achieve functionality
similar to registration with other feedback types, but the accuracy will not be the same as with
quadrature feedback.
Registration Inputs
Registration can be performed with the following inputs. An input can only perform
registration for the feedback of the same connector.
Module Inputs
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