Delta RMC101 - Manual (Page 186)

RMC100 and RMCWin User Manual
4-0
4 Controller Features
4.1 Event Control Overview
The Event Control feature allows you to execute a sequence of commands 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.
Steps
Each Step contains a command with its associated parameters, plus the information necessary to
link to the next Step in a sequence. The Step format is as follows:
Command Info:
Mode MODE word
Accel Acceleration
Decel Deceleration
Speed Requested Speed
Command Value Requested position or command value
Command Any valid ASCII command
Commanded
Axes
Axis (or axes) to send command to
Link Info:
Link Type Condition that triggers execution of next
step
Link Value Parameter associated with Link Type
Link Next Number of next Step in sequence
Storing Steps
Steps are stored in the motion controller's memory. This step table can be saved in the motion
controller's Flash using the Update Flash command. However, in some applications this
information should be stored in the Programmable Controller so that it can be downloaded to the
motion controller on initialization. Refer to Event Step Transfer for details on storing the steps.
Changing Event Steps
Refer to Editing the Event Step Table for details on using the Event Step editor.
Basic Event Step Flow
After a valid event step sequence is loaded into the motion controller, event control can be used.
This section describes the basic flow: