Delta RMC101 User Manual
Page 664
RMC100 and RMCWin User Manual
A-12
These links types already define both true and false actions, and therefore should not be used
with the Poll command.
•
Math Compares/Errors link types
These links types already define both true and false actions, and therefore should not be used
with the Poll command.
•
Jump (J) link type
This link type will already take a link immediately in all cases and therefore should not be used
with the Poll command.
Example 1:
The user wants to make a move to position 4000, and wants to know when either the axis is in
position or an overdrive error occurs. The following Event Step sequence accomplishes this using
the Poll (?) command:
Step 10
Step
11
Step
12
Step 13
…
Step 15
Mode
0x0081
0x0081
0x0081
0x0081
0x0000
Accel
100
100
100
100
0
Decel
100
100
100
100
0
Speed
10000
10000
10000
10000
0
Command
Value
4000
0
0
0
0x0001
Command
G
?
?
[
Commanded
Axes
Default
Default
Default
Default
Default
Link Type
DelayMS
BitsON
BitsON
DelayMS
DelayMS
Link Value
0
0x1000
0x0001
0
0
Link Next
11
15
14
11
0
Step 10 starts the move to 4000, and links immediately using the DelayMS (D) link type to step
11.
Step 11 checks for an overdrive error. It does this by doing a polled BitsON (B) link type for the
Overdrive Error bit (0x1000) of the Status word on the current axis. If this error bit is set, then
control goes to the step indicated by the Link Next: step 15. Otherwise, control proceeds to the
next step: step 12. Notice that without the Poll (?) command, this link type would wait indefinitely
until an overdrive error occurs and would otherwise never proceed to step 12.
Step 12 checks the In Position bit (0x0001) of the Status word, also using the BitsON (B) link
type. So, if the axis is in position, control passes to step 14, otherwise control passes to the next
step: step 13.
Step 13 links immediately back to step 11 to repeat the polling loop. Notice that this extra step
does take one control loop to process and therefore increases the time taken to process the