Delta RMC101 User Manual
Page 910
RMC100 and RMCWin User Manual
E-20
axis must be just as far ahead or behind its respective Target Position. This allows the target
positions to be different on each axis.
This type of skew is useful if the axes cannot be configured to have the same position units for
the same positions, or if they are offset.
Detecting Excessive Skew
This link type is used to detect excessive skew in a group of axes. This link type must be used in
conjunction with the Set Extended Link Value (l) command. The skew limit is set with the Set
Extended Link Value command, and then this link type is used with its link value defining the axes
to be included in the skew calculation. When the skew among these axes exceeds the skew limit
set in the Extended Link Value, this step sequence will jump to the next step in the sequence.
Otherwise, the step sequence will continue to wait for the condition to be true.
Because this link type waits until the skew is excessive, it is usually used to detect an error
condition, and therefore probably is running in a step sequence on an axis other than your
primary control step sequence is running. For example, axis 0 may be running the standard step
sequence, while axis 1 is waiting to see if the skew gets too large. When it detects this condition it
will stop axis 0's step sequence and put the machine in a safe state.
Example:
Step
10
Step 11
Mode
0x0000
0x0001
Accel
0
10
Decel
0
10
Speed
0
1000
Command
Value
100
0
Command
l (lower
case L)
K
Commanded
Axes
Default
0-1
Link Type
Skew
DelayMS
Link Value
0x0003
0
Link Next
11
0
This example assume that axes 0 and 1 are moving together with axis 0 running the primary control
step sequence and axis 1 running this skew-detection sequence. Axis 1 executes step 10 which sets
the Extended Link Value to 100 and then waits until the difference between actual positions on axis 0
and 1 is greater to or equal the Extended Link Value. Should this limit be reached or exceed then step
11 is executed by the slave which issues a Kill Axis (K) command to stop both axes.
Using with the Link Type and Link Value Dialog Box