Delta RMC151 - Manual (Page 302)

RMC70/150 and RMCTools User Manual
The user wishes to issue the following move absolute command to Axis 1 of the
RMC70:
Move Absolute(20):
• Command Parameter 1: Position = 5.2 in.
• Command Parameter 2: Speed = 14 in./sec
• Command Parameter 3: Acceleration = 100
• Command Parameter 4: Deceleration = 100
• Command Parameter 5: Direction = 0
With Allen-Bradley DF1 Addresses:
From the RMC70 Register Map - File 25 Commands, we see that the addresses for
the Axis 1 command registers are F25:10-19. To issue this command to the RMC70
via DF1, CSP, or EtherNet/IP, the user programs the PLC to do the following:
1.
a. Write 20 to F25:10
b. Write 5.2 to F25:11
c. Write 14 to F25:12
d. Write 100 to F25:13
e. Write 100 to F25:14
f. Write 0 to F25:15
With Modbus/RTU or Modbus/TCP Addresses:
From the RMC70 Register Map - File 25 Commands, we see that the addresses for
the Axis 1 command registers start at register offset 12821. The offsets must be
prefixed with a 4. To issue this command to the RMC70 via Modbus/RTU or
Modbus/TCP, the user programs the PLC to do the following:
g. Write 20 to 412821
h. Write 5.2 to 412823
i. Write 14 to 412825
j. Write 100 to 412827
k. Write 100 to 412829
l. Write 0 to 412831
2. RMC150: Start User Program 8
To start user program 8, the user decides to issue the following command to
Axis 0 of the RMC150:
Start Task (90):
• Command Parameter 1: Task = 0
• Command Parameter 2: Program = 8
With Allen-Bradley DF1 Addresses:
From the RMC150 Register Map - File 40 Commands, we see that the
addresses for the Axis 0 command registers are F40:0-9. To issue this
command to the RMC70 via DF1, CSP, or EtherNet/IP, the user programs the
PLC to do the following:
1.
a. Write 90 to F40:0
b. Write 0 to F40:1
c. Write 8 to F40:2
282 Delta Computer Systems, Inc.