Delta RMC151 - Manual (Page 22)

RMC150 Startup Guide
Step 10: Set the Output Polarity
The Actual Position, Pressure, Force or Velocity must increase when
the RMC applies a positive output voltage. If this condition is not met,
you will not be able to perform closed-loop control.
1. Send the Direct Output command with a positive Output value
that is large enough to move the axis.
2. On the Basic tab of the Axis Status Registers pane, observe the
Actual Position and note whether it is increasing or decreasing:
Increasing
The Output Polarity is correct. Go to Enable the Axes below.
Decreasing
You must invert the Output Polarity:
A. In the Axis Parameters pane, on the Setup tab, double-click
the Invert Output Polarity parameter to set it.
B. Click the Download button to apply the change to the
RMC.
Enable the Axes
In order to send motion commands other than Direct Output, the axes
must be enabled after the RMC starts up.
1. In the Command Tool, in the Cmd box,
type Enable, and choose
Enable Controller (7) from the list.
2. Click Send. All axes will be enabled.
Entering RUN Mode will also enable the
axes.
20 Delta Computer Systems, Inc.