Delta RMC101 - Manual (Page 160)

RMC100 and RMCWin User Manual
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2. On the Online menu, click Upload from Motion Controller, or use the corresponding toolbar
button ( ).
3. The curve currently in the RMC for the active axis will be uploaded to the Curve Tool.
To download a curve to the RMC:
1. Select the axis of the curve you want to download, as described in Selecting the Active Axis.
2. On the Online menu, click Download to Motion Controller, or use the corresponding toolbar
button ( ).
3. If the curve you are downloading is an Enhanced curve, but the RMC does not have firmware that
supports Enhanced curves, then you will be given two options. First, you can convert the curve to
a Standard curve and proceed with the download. Second, you can cancel the download.
4. The curve for the active axis will be downloaded to the RMC.
5. If you want to save this and all other splines to Flash memory, then proceed with the steps below
for saving all splines to Flash.
To save all curves in the RMC to Flash:
1. On the Online menu, click Save Splines to Flash, or use the corresponding toolbar button ( ).
2. Wait until the Flash operation is complete, as is indicated by the progress window. If power to the
RMC is lost while the Flash operation is in progress, the RMC will lose both old and new curves.
See Also: Curve Tool Topics
3.9.6.6 Curve Tool: Converting a Plot to a Curve
Many applications that require the Curve Tool also require training the Curve Tool as to what the
curves should look like. For example, some applications use a joystick to move some axes
through a sequence, and then want to have the RMC play back that sequence. Other applications
may have an existing control system that needs to be retrofitted with an RMC-equipped system,
so the RMC should copy the existing movements.
The RMC excels in these applications. You will first need to capture a plot of the move you want
to convert to a curve, then convert the plot to a curve, and finally clean up the curve. Each phase
is described below:
To capture a plot for converting to a curve:
1. Set the Plot Time for the axis to indicate the number of seconds that the move you want to
capture will take. Round up to the next largest whole number (or even number if you have RMC
CPU firmware with a 2 ms control loop).
2. Initiate the plot capture at the same time you start the motion on the axis.