Delta RMC101 - Manual (Page 213)

Teach Mode Overview 4.10
Controller Features 4-27
Note: Because a new Go or Relative Move command will cause the travel distance ratios to be
recalculated, any change in the speeds or travel distances of any of the axes may result in a
speed discontinuity in the new slave axes, although the position will always be continuous.
It is normally not possible to use RMCWin to issue commands to several axes simultaneously.
However, when a command is issued to an axis that has a sync bit set, the software will
automatically issue commands to all other axes that have the same sync bit set. This can only be
done while in Write mode. Similarly, if a Stored Command is a synchronized command and is
executed, all like-synchronized Stored Commands for the other axes will be executed
simultaneously.
4.10 Teach Mode Overview
Many applications require that the operator be able to teach the system the desired positions in a
sequence of moves. The RMC uses the Teach Step command to support these applications. This
feature requires the use of Event Control; see Event Control Overview if you are not familiar with
this feature.
The Teach Step Command
When the Teach Step command is issued to an axis, the current Target Position for the axis is
copied into the Command Value field of the event step given by the command. Therefore, the
move being taught must be located in the Event Step table.
Using Teach Mode
The following general steps are used in setting up an application utilizing teach mode:
1. Set up the Event Step table to hold the desired sequence of moves.
At this point, the moves that are to be taught do not need to have correct requested positions, but
for safety, approximate values should be used.
2. Download the Event Step table to the RMC.
3. Jog the axis to the first desired position.
4. Issue a Teach Step command to fill the requested position of the first move to be taught.
5. Repeat steps 3 and 4 for as many taught moves as desired.
6. Execute the newly taught Event Step sequence.
Teach mode can be, and has been, implemented using even the simplest communication mode:
the Communication Digital I/O using Input to Event Mode. In this case it is necessary to place the
Teach Step commands in the Event Step table as well, and trigger them using discrete inputs.