Delta RMC101 User Manual
Page 898
RMC100 and RMCWin User Manual
E-8
Decel
10
10
0
0
Speed
1000
7500
0
0
Command
Value
4000
8000
0
0
Command
G
G
Commanded
Axes
0-1
0-1
Default
Default
Link Type
AxesInPos
AxesInPos
DelayMS
ErrorCheck
Delay
Link Value
0x0003
0x0003
250
0xFF03
Link Next
11
12
10
21
Normally, axes 0 and 1 will make two moves together, then delay for a quarter second, and then
repeat the process. If an error occurs on either axis, the user wants both axes to halt. Here is how this
is done using the ErrorCheck (E) link type:
• Axis 0 starts running the event sequence at step 10. This is the main sequence which will cause
the axes to move during normal machine behavior.
This sequence does the following:
• Step 10 moves both axes to position 4000 at a speed of 1000 position units per second. It
then waits for axes 0 and 1 to be in-position.
• Step 11 moves both axes to position 8000 at a speed of 7500 position units per second. It
then waits for axes 0 and 1 to be in-position.
• Step 12 waits 250 ms, and then repeats the sequence starting with step 10.
• Axis 1 starts running the event sequence at step 20. This is the error monitoring sequence.
This sequence does the following:
• Step 20 waits for any error bit on axes 0 or 1. No command is issued by this step.
• Step 21 issues a Halt (H) command to axes 0 and 1.
• The idea is that the error handling logic can be separated from the main sequencing. Therefore,
as long as no errors occur, the sequence running on axis 1 (steps 20-21) will do nothing, so only
the main sequencing running on axis 0 (steps 10-12) will be running. If an error occurs, axis 1
will jump to step 21, which halts the moves on both axes.
This particular example could also be done with the RMC's Synchronized Move feature. However, the
ErrorCheck (E) link type is much more flexible. For example, it could also do the following:
• The error response handling could be expanded by adding steps after step 21 to do such things
as turning a discrete output on or off.
• The error response handling need not halt the axes, but might instead move the axes back to a
home position.