Delta RMC101 User Manual
Page 195
LED Indicators 4.4
Controller Features
4-9
In the communication types that use the Motion Profile Table, the PLC can issue only a
Command and Command Value in a single command cycle. Therefore, the Go command can
only give the Requested Position as the command value, and to set the entire motion profile and
give the Go command would require five commands. While this is flexible, it is inefficient.
By using the Motion Profile Table, a complete move including all four motion profile fields can be
set with a single Go Using Profile command, speeding up both execution and development time.
How is the Motion Profile Table Used?
When using PROFIBUS-DP or the Communication DI/O in Command Mode, the Go/Set Pressure
Using Profile and Open Loop Using Profile commands select one of the 16 motion profiles in the
table and use that profile to issue the command.
When using the Communication DI/O in Parallel Position Mode, every command given uses one
of the motion profiles. For details, see Using Parallel Position Mode.
How is the Motion Profile Table Changed?
There are two ways to the change the motion profiles table:
• Use the Motion Profile Table Editor. On the Tools menu in RMCWin, click Profile Editor to start
this editor; see Editing the Profile Table for details.
• When using PROFIBUS-DP or the Communication DI/O in Command Mode, use the Set Profile
commands to change the table from the PLC.
How do I Save the Motion Profile Table?
There are three places where the Motion Profile Table can be saved:
• Flash memory. Use the Update Flash command to store the current profile table in the Flash
memory.
• Disk file. The table can be saved to disk from within the Motion Profile Table Editor.
• PLC memory. When using PROFIBUS-DP or the Communication DI/O in Command Mode, use
the Set Profile and Get Profile commands to send the table to and from the PLC.
What are the Default Motion Profile Values?
When the motion controller starts, it first does a checksum on the profile table in the Flash
memory. If the Flash-stored profile table checksum is correct, it is used. If the checksum is
incorrect, then the following default profiles are used:
Profile
0
1
2
3
MODE
0
0
0
0
ACCEL
1000
2000
5000
8000
DECEL
1000
2000
5000
8000
SPEED
1000
2000
5000
8000
Profile
4
5
6
7
MODE
0
0
0
0
ACCEL
10000
12000
15000
18000
DECEL
10000
12000
15000
18000
SPEED
10000
12000
15000
18000
Profile
8
9
10
(0A)
11
(0B)