Delta RMC151 - Manual (Page 317)

5 Programming
In the RMCTools Options dialog, in the Programming section, you can choose to display
the execution times that RMCTools calculates for the user programs. This can help you
determine what steps are causing problems.
There are several ways of reducing the time usage:
• Decrease the number of tasks allocated
This may significantly reduce the worst-case calculations of the time usage.
• Assign user programs to tasks
By assigning user programs to only run on certain tasks, or only one task at a time,
you can significantly reduce the worst-case time usage. To assign user programs to
tasks, use the Tasks page on the User Program Properties dialog.
• Disable expression logging
This is described in the Reducing the Program Size section above. If your programs
use the Expression (113) command heavily, this may yield a large improvement.
• Disable Immediate Command logging
This may significantly reduce the time if your programs use many immediate
commands. To disable immediate command logging, in the Programming Properties
dialog, on the Verify page, uncheck Log Immediate Commands. If this option is
disabled, immediate commands issued from user programs will not be reported in the
Event Log.
• Break down complicated steps into multiple smaller steps
When verifying the user programs, the Verify Results window can provide timing
details on the longest steps. Break these into smaller steps.
Use the RMCTools Options dialog to set the Verify Results window to show the timing
details.
• Increase the loop time
Increasing the Loop Time will allocate more time for the user programs.
• Simplify the programming
In general, the simpler the programming, the less time it takes. Simplifying the
programming may include such things as revisiting your overall programming
approach, or offloading some of the programming to the machine's master controller,
such as a PLC.
Time Allocation
The time allocated for the user programs varies with RMC and the selected loop time. The
time allocated is displayed in the Verify Results window after verifying the programming.
Loop Time
CPU Firmware 4 ms 2 ms 1 ms 500 µs 250 µs
RMC150E All -- 1200µs 500/400µs
(note 2)
200µs
(note 1)
75µs
(note
1)
RMC75E All 3000µs 1200µs 600µs 210µs 75µs
(note
1)
RMC75S
Pre-3.31.0 3000µs 1000µs 500µs 210µs --
RMC75S
3.31.0+ 3000µs 1000µs 500µs/250µs
(note 3)
210 µs
(note 1)
--
RMC75P
Pre-3.31.0 3000µs 1000µs 500µs 210 µs --
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