Delta RMC101 - Manual (Page 288)

RMC100 and RMCWin User Manual
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Three or four axes:
DI/O
Input 17 Input
16
Axis
#
0 0 0
0 1 1
1 0 2
1 1 3
Four or more axes:
CPU DI/O
Input 1 Input
17
Input
16
Axis
#
0 0 0 0
0 0 1 1
0 1 0 2
0 1 1 3
1 0 0 4
1 0 1 5
1 1 0 6
1 1 1 7
• The user may select from RMCWin whether profiles 4-7 are used as open or closed loop
commands. Profiles 0-3 are always used as closed loop commands.
• When a closed loop profile is selected, the Position/Drive lines (DI/O inputs 0-15) give the 16-bit
requested position. The move begins immediately after the inputs are stabilized (described
above). The axis commanded and the profile used are selected by the Axis/Profile Select lines.
• When an open loop profile is selected, the Position/Drive lines (DI/O inputs 0-15) give the 16-bit
drive in millivolts. The move begins immediately after the inputs are stabilized (described above).
The axis commanded and the profile used are selected by the Axis/Profile Select lines.
• Each time the RMC executes a new command, it updates the Status Bits (described below) and
toggles the Acknowledge line (CPU output 0).
It is important to wait for the Acknowledge line to toggle before using the Status Bits; otherwise, the
bits may reflect the status of a previous move. For example, suppose the In Position bit is set from
a previously completed move. If the Acknowledge line has not toggled before the PLC uses the In
Position bit, the newly commanded move will look as though it completed immediately.
• The eight Status outputs (DI/O outputs 0-7) are used for the following:
DI/O
Output
#
2-4 Axis
RMCs
5-8 Axis
RMCs
0 Axis 0 In
Position
Axis 0 In
Position
1 Axis 1 In
Position
Axis 1 In
Position
2 Axis 2 In
Position
Axis 2 In
Position