Delta RMC151 User Manual download pdf (Page 94)

RMC70/150 and RMCTools User Manual

Custom feedback refers to feedback that is continuously calculated by the user, such as with a

user program. Custom feedback is not assigned to any hardware input. The axis will use this

calculated feedback for control.

The following applications can be done using custom feedback:

• Switching Feedback

• Feedback Linearization using Curves

• Feedback Linearization Using Mathematical Formula

• Redundant Feedback using Custom Feedback

For more details, see Custom Feedback

3.4. Halts

3.4.1. Halts Overview

Halts stop motion on an axis. Halts will also stop any Tasks that are running, if the

Programming Properties are set to do so. The RMC has four types, or levels, of halts to safely

stop the axis in various circumstances. These halts are well-suited for use when error

conditions occur. The RMC, by default, triggers a halt when any Error Bits

turns on.

Tip:

The Halts do more than just stop the axis. If you simply wish to stop the motion in closed loop

control, use the Stop (Closed Loop) (6) command instead. If you wish to stop the motion in

open loop control, use the Stop (Open Loop) (22) or Open Loop Rate (10) commands.

Halt Types

The RMC has four types of halts:

• External Halt

This halt only sets External Halt status bit. This halt type is intended to signal the PLC to

initiate its fault handling.

• Closed Loop Halt

The axis stays in closed loop and ramps down the Target Velocity to zero at the rate

specified by the Closed Loop Halt Deceleration parameter. If an axis is in Open Loop, this

halt will automatically be promoted to an Open Loop Halt.

• Open Loop Halt

The axis will be put in open loop and the Control Output will be ramped down to the value

of the

Output Bias parameter using the Open Loop Halt Ramp parameter.

• Direct Output Halt

The axis will be put in Direct Output and the Control Output will be ramped down to the

value of the

Output Bias parameter using the Open Loop Halt Ramp parameter. When the

Control Output reaches zero, the Enable Output will be turned off.

Halt Actions

When a halt occurs on an axis, the RMC takes the following actions:

• The axis begins the halt, as specified above.

• When a halt other than an External Halt occurs on an axis, the Halted status bit is set

and the axis is said to be halted. If an External halt occurs, the External Halt status bit

is set instead.

74 Delta Computer Systems, Inc.

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