Delta RMC101 User Manual download pdf (Page 665)

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101

Appendix A: Command Reference

A-13

entire polling loop by one control loop (1 or 2 ms).

Step 15 will be jumped to when an Overdrive Error occurs. It simply turns on discrete output 0,

perhaps to indicate the overflow to the operator in the form of a red light.

To summarize, the above sequence starts a move to position 4000, jumps to step 15 if an

overdrive error occurs, jumps to step 14 if the axis gets in position, and loops through steps 11-

13.

Now, compare this method of implementing a polling loop with the one used in the next example,

which is a little more difficult to follow but removes the need for the extra do-nothing step in the

polling loop (step 13 above).

Example 2:

This example offers an alternative approach to the same problem as in the previous example:

move to position 4000, detect either when the axis is in position or when an overdrive error

occurs. It is a little more difficult to follow, but removes one step from the polling loop, therefore

reducing the amount of time taken to catch any condition. Keep in mind that for many

applications, this slight gain in performance will not justify the reduction in clarity:

Step 10

Step

Step 12

…

Step 15

Mode

0x0081

0x0000

Accel

100

Decel

100

Speed

10000

Command

Value

4000

0x0001

Command

[

Commanded

Axes

Default

Link Type

DelayMS

BitsON

BitsOFF

DelayMS

Link Value

0x1000

0x0001

Link Next

Step 10 starts the move to 4000, and links immediately to step 11.

Step 11 checks for the Overdrive Error bit (0x1000) of the Status word on the current axis. If this

error bit is set, control goes to step 15, otherwise control goes to step 12.

Step 12 checks the In Position bit (0x0001) of the Status word. Notice that, unlike the previous

example, the BitsOFF (b) link type is used instead of the BitsON (B) link type. Therefore, if the In

Position bit is off—that is, the axis is not yet in position—then the Link Next is taken back to step

11 and the polling continues. Otherwise, if the In Position bit is not off—that is, it is on and the

axis is in position—then control proceeds to the next step: step 13.

Step 15 will be jumped to when an Overdrive Error occurs. It simply turns on discrete output 0,

perhaps to indicate the overflow to the operator in the form of a red light.

To summarize, the above sequence starts a move to position 4000, jumps to step 15 if an

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