Delta RMC101 - Manual (Page 188)

RMC100 and RMCWin User Manual
4-2
Command G G
Commanded
Axes
Default Default Default
Link Type BitsON DelayMS DelayMS
Link Value 00001 500 0
Link Next 16 17 0
Step 15 issues a Go (G) command to 15.5 inches (15500). The BitsON (B) link type with a link
value of 0x0001 causes the motion controller to look for the least significant bit in the STATUS
word (the In Position bit). When the In Position bit turns on, indicating the move is complete, Step
16 (Link Next – 16) is executed.
Step 16 has no command so no command is issued. The DelayMS (D) link type with a link value
of 500 waits 500 milliseconds before jumping to Step 17.
Step 17 issues a Go (G) command to 3 inches. The DelayMS link type with a value of 0 (zero)
causes the axis to go immediately to Step 0, which stops the sequence.
4.2 Flash Memory
The RMC has two blocks of Flash memory that can be independently updated. The first section
contains all of the following information:
• All axes' parameters
• The profile table
• The entire step table
• The input to event table
• Communication configuration data
• LCD screens
The second section contains the following:
• Spline tables
Determining if the Flash Data was Used
Prior to issuing the first Set Parameters (P) command, the Initialized bit in the STATUS word will
be cleared. While this bit is cleared, the Parameter error bit in the STATUS word of the first axis
will indicate whether the first Flash section was valid. If the Parameter error bit is set, then the
checksum was invalid and all data stored in the Flash will use default values. If the Parameter
error bit is not set, then the checksum was correct and the data stored in the Flash will be used.
Similarly, the Parameter error bit in the Status word of the second axis will indicate whether the
second Flash section (the splines) was valid.
Storing Data in the Flash
All data in each section is stored simultaneously. Therefore, it is not possible to store just the step