Delta RMC101 - Manual (Page 913)

Appendix E: Event Step Link Reference
E-23
Command G G
Commanded
Axes
Default Default Default Default
Link Type TimerSt/Exp BitsON BitsON TimerSt/Exp
Link Value 0 0x0001 0x0001 10000
Link Next 11 12 13 10
Step 10 starts the timer and links immediately to step 11.
Step 11 starts a move to the first position and waits for the axis to get in position using the BitsON
(B) link type, at which time control moves to step 12.
Step 12 starts a move to the second position and waits for the axis to get in position using the
BitsON (B) link type, at which time control moves to step 13.
Step 13 waits for the timer to reach ten seconds, at which time control jumps back to step 10.
Example 2:
In this example, the user wants to move to a position, but if the axis does not get in position within
five seconds, he/she wants to turn on discrete output 0. The following sequence accomplishes
this:
Step 10 Step
11
Step 12 Step 13 Step 14
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 TimerSt/Exp BitsON TimerSt/Exp DelayMS DelayMS
Link Value 0 0x0001 5000 0 0
Link Next 11 15 14 11 15
Step 10 initiates the move to 4000, starts the timer, and links immediately to step 11.
Step 11 checks the In Position bit of the Status Word using the BitsON (b) link type. Therefore, if
the axis is in position, then the link is taken to step 15. Otherwise, control passes to step 12.
Step 12 checks if 5000 ms (five seconds) have expired since the timer was started in step 10. If
the timer is expired, then control passes to step 14. Otherwise, control passes to step 13.