Delta RMC151 User Manual
Page 202
RMC70/150 and RMCTools User Manual
1. Define a Control Axis with Custom Input
a. Define a control axis with the feedback type required (position, velocity, pressure,
force, or acceleration). For the feedback source, choose Custom.
2. Define the Reference Axes
a. Create reference axes for each physical feedback input to be used.
3. Configure the Reference Axes
a. Configure the feedback parameters for the reference axes and verify that the
transducers give valid readings.
b. Set the Scale and Offset so that the reference axes provide correct values throughout
the entire range of feedback.
4. Create a Variable
Create a variable in the Variable Table for reporting which feedback is being used. For
example, ActiveFeedback.
5. Create a User Program
a. Create a single-step user program with a Jump Link Type and a Repeat Jump To
location.
b. Add an Expression (113) command.
c. Create an expression that implements the logic for selecting which feedback to use.
For example, for a redundant system using two transducers, you may wish to:
i.
Check which feedback inputs are valid. The TransducerOK status bit is useful
for this.
ii.
If a feedback input is not valid, select the other input.
d. After selecting the feedback input to be used, assign the value of the feedback to the
Custom Counts (or Secondary Custom Counts for secondary inputs) register of the control
axis.
e. If none of the feedback inputs are valid, make sure to set the
For example:
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