Delta RMC151 - Manual (Page 322)

RMC70/150 and RMCTools User Manual
User Programs run on Tasks. One User Program can run per Task. The RMC70 has up to
four Tasks and therefore, up to four User Programs can run simultaneously. The RMC150
has ten Tasks and therefore, ten User Programs can run simultaneously. To start a User
Program, issue the Start Task (90) command. It starts the specified User Program on the
specified Task. A User Program can also be started on a Task from within a User Program
or from the Program Triggers. For more details, see the Running User Programs topic.
Steps for Creating and Running a User Program
• Create and edit a User Program
• Verify the User Program
• Download the User Program
• Run the User Program
Structure of User Programs
A User Program consists of multiple steps. Each step can execute several commands on
one or several axes. The series of steps are linked together in sequences. Each step takes
one loop time to execute. Therefore, the RMC controller can process a maximum of one
step per User Program per loop time.
Each step consists of Actions and a Link:
Step Actions
The step actions are performed as soon as the task processes the step. The following
actions can be performed in a user program step:
• Command(s)
A step can issue any of the RMC commands. A maximum of one non-immediate
command per axis can be issued in a single step (motion commands are an example
of non-immediate commands). There is no limit to the number of immediate
commands (aside from timing constraints), such as the Expression (113) command,
that can be issued per step.
o Commanded Axes
Each command in a step may be issued to one or several axes simultaneously.
Each command in a User Program (except the Expression command, as
described below), has a Commanded Axes section to define which axes the
command should be issued to.
• Expressions
The Expression (113) command can be used to perform mathematical calculations
within the user program steps.
• Declarations
Local variables can be declared in a step. These variables can only be accessed within
the step and are not retained after the user program jumps to another step, even if it
is to the same step. Local variables can be used in an expression command, in
command parameters, or in link conditions.
Step Link Type
The Link Type specifies when to jump to the next step and which step to jump to. For
example, a link type can wait until the axis is in position before going to the next step, or
wait a certain amount of time. You can also define a complex link condition by entering a
mathematical expression. See the Link Type topic for details.
Example:
This User Program makes Axis 0 move to 10 in, waits until it gets into position, turns on a
discrete output for 5 seconds, then ends. The link condition in step 0 is easily created
with a wizard.
302 Delta Computer Systems, Inc.