Delta RMC151 - Manual (Page 195)

3 Controller Features
Define the Axes
Custom feedback is supported by all axis types with feedback, except differential force or
differential acceleration.
To define an axis with custom feedback:
1. Begin defining an axis as usual in the Axis Definitions dialog.
2. For the feedback of the axis, choose the type you need, such as position, velocity,
pressure, etc.
3. Instead of choosing a physical input, choose Custom.
You will also need to create reference axes for each physical input that will be used
together with the Custom Feedback axis.
Make a User Program to Continuously Assigns a Value to Custom Feedback
Create a user program that continuously writes to the _Axis[].CustomCounts or
_Axis[].SecCustomCounts register. The user program should consist of one step that
jumps back to itself. The step should have an Expression (113) command to do the
calculation.
For example, this user program calculates the average of two positions and assigns it to
the Axis 0 Custom Counts register. Notice that this program does not yet properly handle
errors, as described in the Error Handling section below.
Make Sure the User Program Always Runs
This involves several steps:
1. Set the RMC to start in RUN mode.
a. In the Project Pane, right-click Programming and choose Properties.
b. On the RUN/PROGRAM page, set the Startup Mode to RUN.
c. Click OK.
2. Start the user program when the RMC enters RUN mode.
a. In the Program Triggers, create a _FirstScan condition.
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