Delta RMC101 - Manual (Page 18)

Features of the RMC100 RMC100 Startup Guide
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Analog Reference
The RMC100 analog modules can be used as reference inputs. This is very useful
for applications requiring an external target generator or joystick. This externally
generated voltage or current signal can then be used to generate a position or
velocity target for another axis.
Filtered Reference
The RMC100 has very flexible and powerful reference capabilities, allowing any
input axis to be used as a reference axis. Thus, an MDT, SSI, quadrature or analog
signal can be used as a reference. In addition, the RMC100 has digital filtering
capabilities that can be applied to any reference axis to reduce noise.
Programming
Commands
The RMC100 has a simple and consistent, yet versatile command structure. In
addition to the command itself, there are 5 command fields that may contain
information for each command. These fields are:
• Mode
• Acceleration
• Deceleration
• Speed
• Command Value
For example, the Go ("G") command uses the Mode to determine what type of
move to make, the Acceleration and Deceleration fields determine the accelerations,
and the Speed determines the speed of the move.
Other commands use these same fields, although they may not have anything to do
with accelerations or speeds. Every command that is issued, regardless of the
method, must also have all the fields set correctly.
Event Control
The Event Control feature allows a sequence of commands to be executed without
intervention from the Programmable Controller (P/C). This lets the module respond
to events within the control-loop time (1ms or 2ms) rather than the scan rate of the
P/C. It also reduces the controller programming required.
Event Control consists of a series of Steps that are linked together in sequences.
The Steps consist of a command area containing the instruction to be executed and a
link area that specifies the next Step number and its trigger. There are a total of 256
Steps that can be shared by all axes.
The Event Control has many functions that allow powerful programming of
complex motion applications. Some are listed here:
• Wait for inputs or states
Index/analog
transducer/overview
Index/reference
command/Reference Command
Index/command/command
Index/event control/overview