Delta RMC151 - Manual (Page 411)

5 Programming
In addition, the same discrete input can 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.
Use a single discrete input to trigger a shutdown user program.
You can make a user program that issues the Fault Controller (8) command, and
configure the Program Triggers to start the program when a discrete input turns on. This
will halt all the axes, and put the RMC in PROGRAM mode. The disadvantage of this
method is that the discrete input is not forcing the RMC to remain in an error state, and
therefore, any motion command issued to the RMC from another source—such as a PLC
or RMCTools—can cause motion.
RUN/PROGRAM Mode
A discrete input can be configured to put the RMC in RUN mode or PROGRAM mode. When
the input turns on, the RMC will enter RUN mode. When the input turns off, it will enter
PROGRAM mode. This input can be a general discrete input, or any axis' Fault Input, and
can simultaneously function as described in the Using the Fault Input to Halt Axes and
Using a Discrete Input to Halt Axes sections above.
To configure the RUN/PROGRAM mode input:
a. In the Project Pane, right-click Programming and choose Properties.
b. On the RUN/PROGRAM page, check Define a RUN/PROGRAM discrete input.
c. Choose the input you wish to use and click OK.
Notice that the state of the RUN/PROGRAM mode input does not necessarily reflect the
RUN/PROGRAM state, because the RUN/PROGRAM mode can be changed by other
methods.
Configuring Discrete Outputs
You may wish to set certain discrete outputs either on or off when the machine faults.
The Discrete I/O Configuration has options for what states the discrete outputs should
take on when the RMC enters PROGRAM mode or receives a Fault Controller command.
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