Delta RMC101 User Manual
Page 912
RMC100 and RMCWin User Manual
E-22
Examples 2 and 3 below.
• The Timer (T and t) link types allow multiple times to be checked since the beginning of a
process. That is, the timer can be started at the beginning of a cycle. Then, later in the process,
two or more Timer (T) link types can be used with different values to trigger events at different
times since the beginning of the cycle. See Example 4 below.
To support these various features, the Timer (T and t) link types come in three forms. Details for
entering these forms into an Event Step table are given at the end of this topic.
• To start the timer, use a TimerSt/Exp (T) link type with a 0 link value. This will start the timer on
the axis currently running this event sequence. This type should not be used with the Poll (?)
command. See all four examples below.
• To follow the link if the timer has reached its preset, use a TimerSt/Exp (T) link type with the
preset value in milliseconds in the link value. This type can be used either with or without the Poll
(?) command.
When used with the Poll (?) command, the link will jump to the Link Next step if the timer has
reached its preset, and will otherwise jump to the next step in the sequence. See Example 2
below.
When used without the Poll (?) command, the link will wait until the timer reaches the preset
value and then jump to the Link Next step. See Examples 1 and 4 below.
• To follow the link if the timer has not reached its preset, use a TimerNExp (t) link type with the
preset value in milliseconds in the link value. This type should only be used with the Poll (?)
command, because using it without the Poll (?) command causes the link to wait until the timer is
not expired, which is almost never the desired behavior. See Example 3 below.
There is one timer per axis. The Timer (T and t) link types use the timer of the axis running the
current event sequence. Therefore, it is possible to have as many timers running as axes are
available, but no more. However, the timer used by this link type is separate from the timer used
by the DelayMS (D) link type. Therefore, it is possible to have one or more DelayMS (D) link
types in a process that is also being timed by a Timer (T or t) link type.
Note:
This timer is only accurate to within one control loop (1 or 2 ms). For example, if a Timer
(T) link type is used with a preset of one millisecond, then the link may be taken either on the
first control loop or the second control loop of an RMC with a one-millisecond control loop. This
will not affect most applications since much larger timeouts will be used with lower resolution
requirements.
Example 1:
In this example, the user wants to make two moves, wait for each to complete, and then wait until
ten seconds has passed since the beginning of the cycle before repeating.
Step 10
Step
11
Step
12
Step 13
Mode
0x0000
0x0081
0x0081
0x0000
Accel
0
100
100
0
Decel
0
100
100
0
Speed
0
10000
10000
0
Command
Value
0
4000
8000
0