Delta RMC101 - Manual (Page 909)

Appendix E: Event Step Link Reference
E-19
Using with the Link Type and Link Value Dialog Box
1. Under Link Type Category, select System-wide (Basic, non-axis).
2. Under Link Type, select Multiple Axes In Position.
3. Under Link Condition, check the boxes next to each axis that you want to be in-position before
proceeding to the next event step.
Using without the Link Type and Link Value Dialog Box
1. Enter an 'A' into the Link Type field.
2. Enter the Link Value
You must understand binary to enter the Link Value manually. Each bit of the Link Value
corresponds to an axis. Bit 0 corresponds to axis 0, bit 1 corresponds to axis 1, etc. Bits 8-15 are
always unused. The RMC will wait for all axes corresponding to the enabled bits to be in position
(or at pressure) before continuing.
E.4.11 Link Type - Skew Detection
Link
Type: Skew on Actual Position (<, hex 0x3C, dec 44)
Skew on Following Error (hex 0x7F, dec 127)
Link
Value: Bits 0-7 select axes to be monitored.
Range: Any combination of bits 0-7. Bits 8-15 are reserved.
Note: The Skew on Actual Position link type is available only in RMC100 CPU firmware version
20000504 and later. The Skew on Following Error link type is available only in RMC100 CPU
firmware version 20030916 and later.
What is Skew?
Skew is calculated over a group of axes. The minimum and maximum actual positions (or
following errors) in that group are found, and the difference is calculated. The difference between
the highest and lowest actual position (or following error) is the skew. The maximum detectable
skew is 32,767 position units. This link type can also detect differences between pressure or force
in selected axis, in which case the maximum detectable difference is 32,767 pressure or force
units.
The RMC100 has two skew link types: Skew on Actual Position and Skew on Following Error.
Skew on Actual Position
This link type compares the Actual Positions of each axis to detect skew. For example, if four
axes have positions 1000, 1010, 998, 1005, then the minimum and maximum positions would be
998 and 1010, so the skew would be 12 position units. For the skew on actual position to be
meaningful, the axes must be configured to have the same position units for the same positions.
For example, each of the four corners may be configured to have 0 be fully closed, 1000 be 1.000
inch above fully closed, etc.
Skew on Following Error
This link type compares the Following Errors of each axis to detect skew. In other words, each