Delta RMC101 - Manual (Page 291)

Digital I/O 5.1
Communications 5-41
memory, the following steps are used to make the moves.
3. Configure the RMC Communication
The steps required for this procedure are described in the Implementation section of this Technical
Brief. You should not need to invert any inputs or outputs, nor should you need to allow open loop
select. You may need to change the Input Filter setting depending on your I/O speed.
4. Wire, Test, and Tune the System
The system should be wired as described in the design above. Test the functionality of the final
system, and finally tune the system as described in the RMCWin online help.
When the system is completed, the following steps can be taken to make the moves:
• Initializing the axis:
1. Set the Run/Stop (CPU input 0) line high.
2. Wait for the Ready (CPU output 0) line to be high.
• Moving the axis to its home position:
1. When returning to the home position, the user wants to use profile 2 (which goes 10
inches per second). Therefore, CPU input 1 and DI/O input 16 will be reset, and DI/O
input 17 will be set high. Notice that this step also selects axis 0.
2. Place the value 1500 (for 1.5 or 1500 thousandths of an inch) in binary on DI/O inputs
0-15.
3. Wait for the Acknowledge (CPU output 1) line to toggle, indicating the command has
been received.
4. Wait for the In Position bit of axis 0 (DI/O output 0) to be high, indicating the axis has
reached its commanded position.
• Moving the axis to its calculated extension position:
1. When extending, the user wants to use profile 0 (which goes 5 inches per second).
Therefore, CPU input 1, DI/O input 17, and DI/O input 16 will all be reset. Notice that
this step also selects axis 0.
2. Place the calculated requested position (in thousandths of inches) in binary on DI/O
inputs 0-15.
3. Wait for the Acknowledge (CPU output 1) line to toggle, indicating the command has
been received.
4. Wait for the In Position bit of axis 0 (DI/O output 0) to be high, indicating the axis has
reached its commanded position.
• Stopping the axis in an emergency:
1. Lower the Run/Stop (CPU input 0) line.
Reference