Delta RMC151 - Manual (Page 25)

Continuing the Motion Application
Continuing the Motion Application
After setting up and tuning the RMC, it is ready to perform motion and
be integrated into the rest of your application. The RMC has numerous
features to assist you. The major components are listed here to guide
you when continuing your motion application.
Commands
The RMC has a rich set of pre-programmed commands that perform
anything from simple moves to complex motion to system control. For
a list of all the commands, see the Command List topic in the
RMCTools help.
User Programs
A User Program carries out simple or advanced sequences of
commands on the RMC. This allows the RMC to respond to events
within its control-loop time rather than the scan rate of a PLC or other
host controller. It also reduces the PLC programming required.
A User Program consists of multiple steps linked together in
sequences. Each step can issue any RMC command to one or several
axes. The link types allow branching and looping, waiting for
conditions and many other features. Simple and complex
mathematical operations are also possible in the user program.
A User Program runs on a task. Each task can run one user program at
a time. The RMC150 has ten tasks. Therefore, an RMC150 controller
may run up to ten User Programs simultaneously.
For details on creating and running User Programs, see the User
Programs topic in the help.
deltamotion.com 23