Delta RMC101 - Manual (Page 294)

RMC100 and RMCWin User Manual
5-44
Inputs 8-15 Axis 1 Event Step
Input 16 Axis 0 Trigger
Input 17 Axis 1 Trigger
Outputs 0-7 Status Bits
Sensor DI/O (required only if more than two axes are used):
Inputs 0-7 Axis 2 Event Step
Inputs 8-15 Axis 3 Event Step
Input 16 Axis 2 Trigger
Input 17 Axis 3 Trigger
Outputs 0-7 Unused
• Parameters and tables used by the RMC are configured using the RMCWin software and stored
in the RMC Flash memory.
• All axes are initialized by raising the Run/Stop (CPU input 0) line on the RMC, and all axes are
immediately stopped by the falling of the Run/Stop line on the RMC. Therefore, an emergency-
stop button often controls the Run/Stop input.
• The Ready (CPU output 0) line matches the Run/Stop input line to give feedback to the
controlling system that the RMC is ready to take commands.
• When the Run/Stop line is set, the Trigger inputs for all axes are monitored. When the Trigger
switches state (either from on to off or vice versa), then all nine inputs for the axis (Trigger plus
Event Step) are monitored; if they remain stable for a user-configured duration (between 2 and 20
milliseconds) a new command is issued to the RMC.
• When a command is received, the Event Step number given in binary on that axis’s eight Event
Step inputs is read and the axis begins an event sequence with that event step.
• Each time the Run/Stop changes, or a new command is executed on one or more axes, the
Acknowledge (CPU output 0) line toggles.
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:
o
DI/O
Output
#
2-4
Axis
RMC’s
5-8
Axis
RMC’s
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