Delta RMC101 User Manual download pdf (Page 18)

Features of the RMC100 RMC100 Startup Guide

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Analog Reference

The RMC100 analog modules can be used as reference inputs. This is very useful

for applications requiring an external target generator or joystick. This externally

generated voltage or current signal can then be used to generate a position or

velocity target for another axis.

Filtered Reference

The RMC100 has very flexible and powerful reference capabilities, allowing any

input axis to be used as a reference axis. Thus, an MDT, SSI, quadrature or analog

signal can be used as a reference. In addition, the RMC100 has digital filtering

capabilities that can be applied to any reference axis to reduce noise.

Programming

Commands

The RMC100 has a simple and consistent, yet versatile command structure. In

addition to the command itself, there are 5 command fields that may contain

information for each command. These fields are:

• Mode

• Acceleration

• Deceleration

• Speed

• Command Value

For example, the Go ("G") command uses the Mode to determine what type of

move to make, the Acceleration and Deceleration fields determine the accelerations,

and the Speed determines the speed of the move.

Other commands use these same fields, although they may not have anything to do

with accelerations or speeds. Every command that is issued, regardless of the

method, must also have all the fields set correctly.

Event Control

The Event Control feature allows a sequence of commands to be executed without

intervention from the Programmable Controller (P/C). This lets the module respond

to events within the control-loop time (1ms or 2ms) rather than the scan rate of the

P/C. It also reduces the controller programming required.

Event Control consists of a series of Steps that are linked together in sequences.

The Steps consist of a command area containing the instruction to be executed and a

link area that specifies the next Step number and its trigger. There are a total of 256

Steps that can be shared by all axes.

The Event Control has many functions that allow powerful programming of

complex motion applications. Some are listed here:

• Wait for inputs or states

Index/analog

transducer/overview

Index/reference

command/Reference Command

Index/command/command

Index/event control/overview

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Delta RMC101 User Manual Page 18

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