Delta RMC101 User Manual download pdf (Page 213)

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101

Teach Mode Overview 4.10

Controller Features 4-27

Note: Because a new Go or Relative Move command will cause the travel distance ratios to be

recalculated, any change in the speeds or travel distances of any of the axes may result in a

speed discontinuity in the new slave axes, although the position will always be continuous.

It is normally not possible to use RMCWin to issue commands to several axes simultaneously.

However, when a command is issued to an axis that has a sync bit set, the software will

automatically issue commands to all other axes that have the same sync bit set. This can only be

done while in Write mode. Similarly, if a Stored Command is a synchronized command and is

executed, all like-synchronized Stored Commands for the other axes will be executed

simultaneously.

4.10 Teach Mode Overview

Many applications require that the operator be able to teach the system the desired positions in a

sequence of moves. The RMC uses the Teach Step command to support these applications. This

feature requires the use of Event Control; see Event Control Overview if you are not familiar with

this feature.

The Teach Step Command

When the Teach Step command is issued to an axis, the current Target Position for the axis is

copied into the Command Value field of the event step given by the command. Therefore, the

move being taught must be located in the Event Step table.

Using Teach Mode

The following general steps are used in setting up an application utilizing teach mode:

1. Set up the Event Step table to hold the desired sequence of moves.

At this point, the moves that are to be taught do not need to have correct requested positions, but

for safety, approximate values should be used.

2. Download the Event Step table to the RMC.

3. Jog the axis to the first desired position.

4. Issue a Teach Step command to fill the requested position of the first move to be taught.

5. Repeat steps 3 and 4 for as many taught moves as desired.

6. Execute the newly taught Event Step sequence.

Teach mode can be, and has been, implemented using even the simplest communication mode:

the Communication Digital I/O using Input to Event Mode. In this case it is necessary to place the

Teach Step commands in the Event Step table as well, and trigger them using discrete inputs.

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