Delta RMC101 User Manual download pdf (Page 912)

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101

RMC100 and RMCWin User Manual

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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

Step 13

Mode

0x0000

0x0081

0x0000

Accel

100

Decel

100

Speed

10000

Command

Value

4000

8000

1 2 ... 907 908 909 910 911 912 913 914 915 916 917 ... 950 951

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Delta RMC101 User Manual Page 912

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