Delta RMC151 - Manual (Page 410)

RMC70/150 and RMCTools User Manual
General Considerations
In a machine fault situation, the following actions are typically desired of the RMC:
1. Halt all the axes
The RMC has several levels of halts.
2. Turn off any Enable Outputs
If any Enable Outputs are wired to a motor drive, or other actuator, these are typically
turned off in a fault situation. The Direct Output Halt will halt the axis and turn off the
axis' Enable Output.
3. Stop User Programs
Any user programs that are running should be stopped to prevent commands from
being issued to the axes.
4. Stop the Program Triggers
The Program Triggers should be stopped to prevent user programs from starting. To
stop the Program Triggers, put the RMC in PROGRAM mode.
5. Turn off discrete outputs
Certain discrete outputs may need to be turned off.
Additional machine considerations:
• Blocking Valve
If the RMC halts the hydraulic axis with an Open Loop or Direct Output Halt, the
cylinder may drift. If drifting is unacceptable, install a blocking valve that will close
when the machine faults.
Using the Fault Input to Halt Axes
If the Fault Input Auto Stop is set to a halt, then when the Fault Input becomes active,
that axis will halt, and any new motion will be prevented as long as the Fault Input is
active (except for the Direct Output (9) command). The polarity of the Fault Input can be
set to Active High or Active Low.
Each Fault Input will only halt its corresponding axis. If you want to use the Fault Input
on several axes on the RMC, you will need to wire them all. If you instead want to use
only one discrete input to halt the axes, see the Using a Discrete Input to Halt Axes
section below.
The modules listed below have a Fault Input.
RMC70 RMC150
MA
AA
QA
Quad (Q)
For modules that do not have a Fault Input, you can use a general discrete input to halt
the axes, as described in the Using a Discrete Input section below.
The Fault Input can also be used to put the RMC in PROGRAM mode, thereby stopping all
user programs and the Program Triggers. See the RUN/PROGRAM Mode section below.
Using a Discrete Input to Halt Axes
There are several ways to use a single general discrete input to halt the axes:
Use a single discrete input to halt axes and enter PROGRAM mode
For any axis, you can assign the Positive Limit Input and Negative Limit Input (on any
number of axes) to the same discrete input. If the AutoStops are set to halt on the
Positive Limit Input and Negative Limit Input errors, this will cause the axis to halt when
that discrete input is active. The polarity of the limit inputs can set with the Limit Input
Polarity parameter.
390 Delta Computer Systems, Inc.