Delta RMC101 - Manual (Page 257)

Digital I/O 5.1
Communications 5-7
On the RMC, inputs A and B are inputs 16 and 17 respectively on both digital I/O module.
Note: Because of the 250µs filter on inputs 16 and 17, the maximum input frequency is 2000Hz.
This translates to 8000 counts per second using the quadrature counter.
Using Counters
There are currently two primary uses for counters on the motion controller:
1. They can be used to delay based on an input when using the Event Step table using the
DelayTicks (d) link type.
2. They can be used to move through Splines.
Enabling a Counter
Counters are configured as described below. Notice that for the Communication Digital I/O, you
must not be using Parallel Position mode. The current counter configuration is stored in the Flash
and is only read from the Flash on power-up.
To enable or disable a counter:
1. On the Tools menu, click Module Configuration.
2. In the Slots list, click the DI/O item you wish to edit. This may be either a Communication or
Sensor DI/O.
3. Click Slot options.
4. Under Counter type, click the appropriate option. Notice that this area will be unavailable if the
Communication DI/O is in Parallel Position mode as counters are not supported in that case.
5. Click Update RMC.
6. The Update Module Configuration dialog box will be displayed to indicate the progress. If the
module could not be reset automatically, you may be prompted to reset the module manually.
5.1.4 CPU Digital I/O
5.1.4.1 Using the CPU Digital I/O
The CPU is equipped with two digital inputs and two digital outputs. The use of these inputs and
outputs depends on the type of communication module located to the left of the CPU. If the
communication module is a Communication Digital I/O, then these inputs are reserved as
described in the section on the Communication Digital I/O.
Otherwise, they can be used in the following ways.
• The inputs can be used by the Input to Event table.
• The inputs can be used to control transitions between Steps in the Event Step table through the
Single Input (I, i, O, and o) and Multiple Inputs link types.