RMC100 Motion Controller and RMCWin Software User Manual Version 2.30.
RMC100 and RMCWin User Manual Copyright © 1997-2012, Delta Computer Systems, Inc. All Rights Reserved. www.deltacompsys.
RMC100 and RMCWin User Manual Condensed Contents Introducing the RMC100 Series ................................................... 1-1 Overview of RMC100 capabilities and applications. Starting Up the RMC ..................................................................... 2-1 A step-by-step guide to quickly get up and running. Using RMCWin .............................................................................. 3-1 Detailed information on how to use the RMC100 motion control software.
RMC100 and RMCWin User Manual iv
RMC100 and RMCWin User Manual Contents Table of Contents DISCLAIMER ......................................................................................................... XXI INTRODUCING THE RMC100 SERIES ..................................................................... 1-1 RMC100 Overview ................................................................................................... 1-1 Principle of Operation ......................................................................................
RMC100 and RMCWin User Manual Basic Topics ......................................................................................................... 3-21 Selecting Your View ............................................................................................................. 3-21 Accessing Context Sensitive Help ....................................................................................... 3-23 Changing Data from the Keyboard ................................................................
RMC100 and RMCWin User Manual LCD Screen Editor: Overview .............................................................................................. 3-58 Editor Window Elements ...................................................................................................... 3-59 LCD Screen Editor: Editor Window Elements .................................................................. 3-59 LCD Screen Editor: Tree Pane Details ........................................................................
RMC100 and RMCWin User Manual Curve Tool: Editing Cells ................................................................................................ 3-101 Curve Tool: Deleting Cells ............................................................................................. 3-102 Curve Tool: Cutting and Copying Cells .......................................................................... 3-103 Curve Tool: Pasting Cells .................................................................................
RMC100 and RMCWin User Manual Speed Control ....................................................................................................... 4-15 Rotational Mode .................................................................................................... 4-17 Spline Overview .................................................................................................... 4-18 Synchronizing Axes..............................................................................................
RMC100 and RMCWin User Manual RMC Ethernet Protocols .................................................................................................. 5-61 Controlling and Monitoring the RMC over Ethernet ............................................................. 5-65 Allen-Bradley Controllers ................................................................................................. 5-65 Using Allen-Bradley Controllers with the RMC Ethernet Module .................................
RMC100 and RMCWin User Manual MSTR Modicon Ladder Logic Block .................................................................................. 5-195 Using the MSTR Modicon Ladder Logic Block .............................................................. 5-195 MSTR Block Read Operation ......................................................................................... 5-197 MSTR Block Write Operation .........................................................................................
RMC100 and RMCWin User Manual Analog ..................................................................................................................... 6-0 Analog Transducer Overview ................................................................................................ 6-0 Analog Transducer Wiring ..................................................................................................... 6-1 Analog Transducer Configuration .............................................................
RMC100 and RMCWin User Manual SSI Specifications ................................................................................................................ 6-75 SSI Scaling .......................................................................................................................... 6-76 SUPPORT AND TROUBLESHOOTING ....................................................................... 7-0 Warranty ...........................................................................................
RMC100 and RMCWin User Manual Move would cause discontinuity .......................................................................................... 7-16 No Axes Selected for Use by the Function (,) Command .................................................... 7-16 No initialized pressure axis is assigned ............................................................................... 7-17 Non-existent pressure axis selected in "Config" word .........................................................
RMC100 and RMCWin User Manual Change Acceleration Command ......................................................................................... A-14 Amp Enable/Disable Command.......................................................................................... A-14 Clear Spline Segments Command ..................................................................................... A-15 Set Position/Pressure Command.......................................................................................
RMC100 and RMCWin User Manual Open Loop Command ........................................................................................................ A-49 Set Parameters Command ................................................................................................. A-50 Quit Events Command ........................................................................................................ A-51 Set Pressure Ramp Time Command ...................................................................
RMC100 and RMCWin User Manual Scale ..................................................................................................................................... C-7 Offset .................................................................................................................................... C-8 Extend Limit .......................................................................................................................... C-8 Retract Limit ........................................
RMC100 and RMCWin User Manual SSI with Stepper Output Parameters .................................................................. C-48 Configuration Word ............................................................................................................. C-48 Configuration Word Bit Map ................................................................................................ C-50 Configuration Bits - Quadrature/Stepper Specific ..............................................................
RMC100 and RMCWin User Manual Valid 16-Bit Positions ............................................................................................ D-1 Position Status Fields ........................................................................................... D-2 Command Position................................................................................................................ D-2 Target Position .............................................................................................
RMC100 and RMCWin User Manual APPENDIX F: RMC100 SPECIFICATIONS ............................................................... F-1 RMC100 Specifications .......................................................................................... F-1 General Wiring Information .................................................................................... F-4 APPENDIX G: GLOSSARY .....................................................................................G-1 Glossary ..........................
Disclaimer Although great effort has been taken to ensure the accuracy of the information in this documentation, it is intended to be used only as a guide. Knowledge of motion control, hydraulic servos, electric servos, transducers, and safety rules is required. Delta Computer Systems, Inc. cannot accept responsibility for problems resulting from errors or omissions in this documentation. The information in this documentation is subject to change without notice. Neither Delta Computer Systems, Inc.
RMC100 Overview 1.1 1 Introducing the RMC100 Series 1.1 RMC100 Overview The RMC100 series brings the benefits of modular, high-performance motion control to a wide range of industrial applications. Communications options—ranging from high-speed field buses to discrete I/O—make these controllers an excellent choice for large and small systems. Transducer types can be combined to control any hydraulic, electric, and pneumatic system.
RMC100 and RMCWin User Manual • Presses • Injection/RIM/blow molding • Packaging equipment • Indexing/transfer lines • Edgers/headrigs/veneer lathes • Pinch rollers/winders/wrappers • Casting/forging • Palletizers/stackers • Flying cutoff/curve sawing • Cyclic testing • Robotics/animatronics • Pneumatic press rolls • Tube bending/forming • Communications PROFIBUS-DP • Ethernet • Modbus Plus • Discrete I/O CPU Digital I/O Communication Digital I/O Sensor Digital I/O
Principle of Operation 1.2 • Quadrature Encoders See Quadrature Overview for encoders for servo motors. See Stepper Overview for encoders for stepper motors. • Synchronous Serial Interface (SSI) – Absolute encoders and MDTs See SSI Overview for all transducers with SSI interfaces. • Pressure/Force Options Control pressure or differential force at 12- or 16-bit resolution • Transition between position and pressure/force while in motion RMCLink ActiveX Control and .
RMC100 and RMCWin User Manual In addition to the closed loop drive, this motion controller has two feed forward terms, made up of Extend and Retract Feed Forward, and Extend and Retract Acceleration Feed Forward. These feed forward terms give approximately the drive needed to make the axis follow the target, freeing the PID loop to correct for non-linearity in the system and changes in system load.
RMC100 and RMCWin User Manual 2 Starting Up the RMC 2.1 Step-by-Step RMC Startup Tip: Delta’s SSn-PEn-BGn family of position/pressure simulators provide a simple way to test your program before connecting the module to a real system. 1. Provide Power to the RMC Module Before providing power to the RMC for the first time, disconnect all other wiring from the module. Use the provided three-position power connector to attach power. Each input is labeled on the front panel of the RMC.
Step-by-Step RMC Startup 2.1 • Quadrature with Analog Output Configuration • Quadrature with Stepper Output Configuration • SSI Configuration 5. Test the Transducer and Drive Connections of Each Axis Caution: Open loop operation, which this procedure uses, ignores all limits! Be prepared to remove drive power. Great care must be taken to avoid accidents when starting the RMC for the first time.
RMC100 and RMCWin User Manual users must use raw transducer counts. Delta’s motion controllers provide a conversion between raw transducer counts and user-definable position units. Defining position units achieves the following two purposes: • The mapping between raw transducer counts and position units is defined. This involves at least one scale term, and in some cases an offset. • Select the range of valid 16-bit positions.
Step-by-Step RMC Startup 2.1 topic for details on tuning: • Tuning an Axis At this point Auto Stop should be set to 0xE0E0 so any transducer error on the axis will cause it to stop, but other errors will not. Check the Status word for errors after each move. 9.
RMC100 and RMCWin User Manual 2.2 Setup Details 2.2.1 Scaling Overview Scaling refers to converting the transducer feedback into meaningful units. The RMC100 uses the Scale and Offset parameters to convert the transducer Counts into measurement units (position, pressure, force). For example, the counts returned by an analog position transducer must be converted to positions in order to be useful for control.
Setup Details 2.2 2.2.2 Advanced Scaling This topic describes specialized scaling techniques. For general scaling information, see the Scaling Overview topic. Scaling position so that speed is represented in feet per minute or revolutions per minute. Use the following steps to scale the position so that the speeds can be expressed in units of feet per minute or RPM. Notice that when scaling speeds in feet per minute or RPM, the position units will not be in feet or revolutions.
RMC100 and RMCWin User Manual • A Hydraulic Position Axis or Motor in Velocity Mode • A Motor in Torque Mode • A Position/Pressure System Tuning Wizard RMCWin provides a time-saving tuning wizard that calculates the gains based on plots of the motion. For details, see the Tuning Wizard topic. General Tuning Guidelines Keep these general guidelines in mind throughout the tuning procedure. There is no substitute for experience when tuning an axis.
Setup Details 2.2 can tune the axis. Remember to set these bits to either "Soft Stop" or "Hard Stop" when you have gained sufficient control of the axis. This may not be possible on some systems because of safety concerns. • When changing the parameters, remember that they are not updated in the RMC until the Set Parameters (P) command is issued. They are not stored into the RMC Flash memory until the Update Flash command is issued. 2.2.3.
RMC100 and RMCWin User Manual • Make a long move without any oscillation or overdrive. Then issue the Set Feed Forward command. This command will automatically adjust the Feed Forward parameter for the direction of that move. • Set the Differential Gain and Integral Gain to zero and keep the Proportional Gain value from the previous step. Make long slow moves in both directions. Adjust the Extend Feed Forward and Retract Feed Forward until the axis tracks within 10% in both directions.
Setup Details 2.2 Important: If you use Differential Gain, you may be able to increase the Proportional Gain somewhat without causing the system to oscillate. If the drive output during the constant velocity portion of the move is smooth, the Differential Gain is perhaps not set high enough. The drive output may look "fuzzy." This indicates that the drive is responding to the minute errors of the axis. Note that not all systems allow the differential gain to be set high enough for the drive to be "fuzzy".
RMC100 and RMCWin User Manual Tuning Procedure 1. Do Open Loop Move This step is for verifying that the system wiring and setup is correct before doing any closed loop control. Issue an Open Loop (O) command with a small drive, such as 50-150. Increase the drive until the axis begins to move. A positive drive should yield increasing counts. Issue an Open Loop command again with a negative drive. This should yield negative counts.
Setup Details 2.2 slowly increasing it and making moves. If the system begins to oscillate, decrease the gain. 5. Adjust the Feed Forwards In torque motor applications, feed forward parameters (Extend Feed Forward and Retract Feed Forward) often do not require high values. Adjust these parameters by making a long move without any oscillation or overdrive. Then issue the Set Feed Forward command. This command will automatically adjust the Feed Forward parameter for the direction of that move. 6.
RMC100 and RMCWin User Manual • If the Drive is not high, the gains can probably be increased for better control. If the Drive is too high, or an overdrive error occurs, the system is not capable of performing the requested move. The Speed, and/or Accelerations may need to be decreased. • If the system vibrates while in position, the Dead Band value may need to be increased. The final tuning of the system should be made at the speed of intended operation. 2.2.3.
Setup Details 2.2 3. Adjust the Proportional Gain The Proportional Gain should be adjusted first to gain some control over the pressure before continuing the tuning procedure. Note: If negative drive causes an increase in pressure, use negative values throughout the tuning procedure. • Set the Proportional Gain to a small value, such as 2.
RMC100 and RMCWin User Manual • A disadvantage of Differential Gain is that it amplifies measurement noise. If there is too much noise or the gain is too high, this can cause the system to chatter or oscillate. In this case, decrease the Differential Gain. 7. Readjust the Proportional Gain Once the Differential Gain has been adjusted, the Proportional Gain may be readjusted. It affects the responsiveness of the system. Low gains make the system sluggish and unresponsive.
Setup Details 2.2 Using the Integrator Preload is useful for systems with predictable position-to-pressure transitions. It always provides the same amount of drive. 11. Drive Transfer Percent The Drive Transfer Percent acts similarly to the Integrator Preload. The difference is that the Integrator Preload places a constant value into the integral drive term, while the Drive Transfer Percent places a certain percentage (positive or negative) of the current drive into the integral drive term.
RMC100 and RMCWin User Manual generate this model by evaluating the response of the system to changes in the Drive output. 2. Choose Gains You can then select gains appropriate to your system by using a simple slider indicating your preference for the desired responsiveness of the system from "Conservative" to "Aggressive". The tuning gains are automatically computed using this setting and the mathematical model that was created for your system.
Setup Details 2.2 lbs), or with very slow response times, may require a longer plot time. 4. The Extra Plot Data (selected in Plot Options) should be set to Extra Precision, which is the default setting. 5. Avoid non-linear regions of the valve, which may be near 0V or 10V on some valves. Procedures for Obtaining Plots To obtain plots for the Tuning Wizard, Delta recommends using Event Step sequences to generate a series of moves. Some sample step sequences are included at the end of this topic.
RMC100 and RMCWin User Manual folder as RMCWin, which is by default C:\Program Files\RMCWin\. 3. Download the Step Table to the RMC100 by clicking the download button on the Event Step Editor toolbar ( ). 4. To start the open loop step sequence in the positive direction on the axis: • In the Command area in RMCWin, type "1" in the Command Value of the axis, then issue an E command to that axis. WARNING: This step will cause the axis to move. Be prepared to stop the axis with an emergency stop switch.
Setup Details 2.
RMC100 and RMCWin User Manual 2-20
RMC100 and RMCWin User Manual 3 Using RMCWin 3.1 RMCWin Overview Description RMCWin is a Windows 98/NT/2000/XP/Vista/7 based software package that allows you to access, display, troubleshoot, configure and control features of Delta’s RMC motion control products. RMCWin allows you to adjust the parameters of the RMC and make simple movements. You can display a motion trajectory using RMCWin’s graphing capability.
Screen Layout 3.2 • Using Multiple RMCs • Using the Scale/Offset Calibration Utilities • Table Editors Table Editor Basics • Editing the Stored Command Table • Editing the Profile Table • Editing the Event Step Table • Editing the Input to Event Table • Tools LCD Screen Editor • Curve Tool • Address Tool • Advanced Topics Downloading New Firmware • Forcing Initialization • Using Look-only Mode • Using PC Mode • Using Command-Line Options 3.2 Screen Layout 3.2.
RMC100 and RMCWin User Manual • • Plot Time area (top-right pane) Parameter area (bottom-right pane) The following is a sample main screen: 3.2.2 Command Area This area is located in the lower left portion of the main window. It holds the Command fields for each axis. This area is updated only in Read-back Mode.
Screen Layout 3.2 For details on saving and loading commands, see Changing Between Board Files. 3.2.3 Parameter Area This area is located in the lower right portion of the main window. It holds the Parameter fields for each axis. This area is updated only in Read-back Mode.
RMC100 and RMCWin User Manual parameters for that axis will be displayed in WHITE. Note: When in Read-back Mode, you will notice that RED parameters will be replaced with WHITE parameters as the current values are read from the RMC. This is done to indicate that the values displayed match those used by the RMC. For details on saving and loading parameters, see Changing Between Board Files. 3.2.4 Plot Time Area This area is located in the top right portion of the main window.
Screen Layout 3.2 3.2.6 Status Bar The status bar is located at the bottom of the main screen. This bar is divided into four areas: Menu Help All of the status bar except the three panes described below is used to display help on menu items. When no menu item is selected, it displays "For help, press F1." If a menu item is selected, or the cursor is over a toolbar button, then a brief line of help is displayed here. Communication This pane displays the current communication path and its state.
RMC100 and RMCWin User Manual … New Creates a new board file with default parameters. Refer to Using Multiple Motion Modules for details on board files. Open Opens a different board file. Refer to Using Multiple Motion Modules for details on board files. Save Saves the current board file. Refer to Using Multiple Motion Modules for details on board files. Set Parameters Sends the parameters to the board for the current axis and issues a Set Parameters (P) command.
Connecting to an RMC 3.3 current communication path and the state of that communication path (for example, "COM1: Offline"). A path can be in any of the following states: State Description Closed RMCWin is not connected to an RMC, and it is not using the communication path at all. Offline RMCWin is not connected to an RMC, but it is polling the communication path for an RMC to become available.
RMC100 and RMCWin User Manual 1. Start RMCWin. 2. On the Tools menu, click Options, and then click the Communication tab. You can also double-click the Communication pane of the main window's status bar, or rightclick this pane and then click Communication Options from the shortcut menu. 3. Select the appropriate driver and options. See Using the Communication Options Tab for details. 4. Click OK. Another way to change some of the communication options is to use the Communication pane shortcut menu.
Connecting to an RMC 3.3 Create an Exception 1. On the Start menu, click Control Panel. 2. Double-click Windows Firewall, and click the Exceptions tab. 3. Click Add Program, then choose RMCWin from the Programs list. If RMCWin is not listed, browse to the RMCWin.exe file. 4. Click OK to close the Add a Program dialog, then click OK to close the Windows Firewall dialog. The change takes effect immediately. Disable the Firewall 1. On the Start menu, click Control Panel. 2. Double-click Windows Firewall. 3.
RMC100 and RMCWin User Manual cable—the maximum cable length is typically limited to 50 feet and there is no isolation. In either case, only a single RMC can be accessed per serial port. See Communication Driver: Serial Configuration for details on settings specific to this driver. • • TCP/IP Direct to RMC-ENET: This method requires an RMC ENET module, but otherwise gives the best performance, allows routing and addressing multiple modules, and provides isolation.
Connecting to an RMC 3.3 There are three ways to open and close a communication path. Each is described below: To use the Communication tab in the Options dialog box: 1. Start RMCWin. 2. On the Tools menu, click Options, and then click the Communication tab. You can also double-click the Communication pane of the main window's status bar, or rightclick this pane and then click Communication Options from the shortcut menu. 3. Click to select or clear the Closed (Work Offline) check box. 4. Click OK.
RMC100 and RMCWin User Manual options. You can select a slot by clicking on it, or using the LEFT and RIGHT ARROW KEYS to switch between slots. o Select a slot and press the shortcut key for the type of module you want to display in that slot. To find out what shortcut keys are available, display the shortcut menu for the slot and look at the underlined letter for each option. Press DELETE to remove a module from a slot.
Connecting to an RMC 3.3 Note: If the connection to the RMC is lost while this dialog box is displayed, the dialog box will be removed. This is to allow for cases where you realize the board file belongs to another RMC module. RMC Configuration List This box lists all of the hardware currently installed in the RMC module and the associated configuration values of each piece of hardware. You may have to expand branches of the tree to find the conflict.
RMC100 and RMCWin User Manual The RMC's serial port has a DTE DB9 serial connector. For further wiring details, see RS232 Wiring. Note: RMCWin and the RMC have been tested with USB-based serial ports. In the best case, the USB-based serial ports were twice as slow as a standard serial port. One of the USB-based serial ports we tested with also did not work with Windows 2000.
Connecting to an RMC 3.3 Signals: RS232 Baud Rate: 38400 Data Bits: 8 Parity: None Stop Bits: 1 Flow Control: None Therefore, RMCWin does not require choosing these options to communicate with the RMC. The only setting necessary to set up on RMCWin is to select which serial port will be used. Two other options are available that affect the performance and reliability. To configure the Serial communication driver: 1. Start RMCWin. 2.
RMC100 and RMCWin User Manual 3.3.7.3 Communication Driver: TCP/IP Direct to RMC-ENET Overview Note: This communication driver requires RMC ENET firmware dated 20001108 or later. The TCP/IP Direct to RMC-ENET driver allows a PC with a TCP/IP interface (such as an Ethernet adapter or modem with TCP/IP installed) to communicate with the RMC-ENET module. Because it requires the RMC-ENET module, this method is not available for RMCs that require a different communication module such as PROFIBUS-DP.
Connecting to an RMC 3.3 Comparison with Other Communication Drivers This driver is up to 100 times faster than the other drivers, unless routing over a WAN such as the Internet. However, it cannot be used to download firmware.
RMC100 and RMCWin User Manual 3. In the shortcut menu, click the IP address of the RMC you want to communicate with. An alternative way to set up this driver is to use the Communication tab in the Options dialog box. This method allows you to manually type in an IP address and configure other driver options: 1. Start RMCWin. 2. On the main window's Tools menu, click Options, and then click the Communication tab.
Connecting to an RMC 3.3 • Communications Update Rate slider: This slider adjusts a delay that is inserted between transactions between RMCWin and the RMC. The only purpose for this control is to decrease the load on slower PCs; the RMC can handle any of the communication speeds. If this software seems to slow down Windows, move this slider closer to Slow. Move the slider toward Slow to decrease the load on the PC, and toward Fast to increase the load on the PC.
RMC100 and RMCWin User Manual 3.3.7.6 Communication Driver: TCP/IP-to-RS232 Bridge Configuration Note: This communication driver requires RMC100 CPU firmware dated 20010522 or later. The main steps to configuring a TCP/IP-to-RS232 Bridge communication path are as follows: • Obtain a TCP/IP-to-RS232 Bridge There are a number of TCP/IP-to-RS232 bridge devices available. A search on the Internet for "Ethernet to Serial Converter" should find a number of manufacturers providing these devices.
Basic Topics 3.4 • Configure RMCWin for the TCP/IP-to-RS232 Bridge Driver After you have set up the bridge, it is time to select and configure the TCP/IP-to-RS232 Bridge driver in RMCWin. To configure the TCP/IP-to-RS232 Bridge communication driver: 1. Start RMCWin. 2. On the main window's Tools menu, click Options, and then click the Communication tab.
RMC100 and RMCWin User Manual possible views at the top of the menu. Each view is described below: • Full Horizontal View: This view displays the status, command, plot time, and parameter areas of all axes at once. The following diagram shows the positions of each area: • Full Vertical View: This view displays the status, command, and parameter areas of all axes at once.
Basic Topics 3.4 • Half View: This view displays either the status and command areas or the plot time and parameter areas of all axes at once. To switch between the status/command and plot time/parameter displays, use one of the following methods: o Press either CTRL+LEFT ARROW or CTRL+RIGHT ARROW. o On the Window menu, click Toggle Displayed Fields. o On the toolbar, click the Toggle Displayed Fields button ( ). The following diagrams show the positions of each area in this pair of views: 3.4.
RMC100 and RMCWin User Manual To select a single cell from the keyboard: 1. Use the arrow keys to highlight a different cell. To select multiple cells: 1. Press and hold SHIFT at the first cell to be selected. 2. Use the arrow keys to change the last cell to be selected. 3. Release SHIFT. Once one or more cells have been selected, type the desired value using one of the following formats: • To enter decimal numbers, type the value, without a leading zero.
Basic Topics 3.4 Read-back Mode In this mode, the Command and Parameter areas will be continually read from the RMC. This mode is necessary to monitor the commands given from another source (such as the PLC) and also to determine the parameters stored on the RMC. The Command area field values are displayed in red. Note: Because the Command and Parameter fields are constantly being updated, it is possible to have changes you are making be overwritten by a field update.
RMC100 and RMCWin User Manual RMC CPU Firmware This area lists the firmware versions of either the currently connected RMC, or, if offline, the last RMC connected to. Three parts of the firmware have different versions. The Boot and Loader are seldom changed and are used for updating firmware. The Control Program is the main firmware, so you may need to provide this version to technical support.
Basic Topics 3.4 3.4.8 Using the Status Bits Window The Status Bits window displays the bits of the Status words for each axis. It is constantly updated as the bits change in the RMC. To display the Status Bits window, do one of the following from the main window: • On the Window menu, click Status Bits. • Press CTRL+B. Additionally, the Status Bits window can be displayed by using any of the methods of displaying a Pop-up Editor. 3.4.
RMC100 and RMCWin User Manual Opening and Closing the Command Log Window To open the Command Log window, do one of the following from the main window: • On the Window menu, click Command Log. • Press CTRL+L. To close the Command Log window, do one of the following: • Press ESC. • On the File menu, click Exit. • Click the Close button. Pause/Resuming the Command Log In some applications the Command Log may be scrolling continually.
Basic Topics 3.4 2. In the File name box, enter the name of the file. 3. Click Save. Note: As soon as the Save command is clicked, the Command Log is automatically paused. After saving the file, the title bar will display the filename. To return to the current Command Log, click Resume Update. Opening a Command Log You can view command logs that were previously saved. To save a command log: 1. On the File menu, click Open. 2. In the File name box, enter the name of the file. 3. Click Open.
RMC100 and RMCWin User Manual since RMCWin was started. The axis each error occurred on and a short description of the error is listed in this dialog box. To receive more in-depth help on a particular error do one of the following: • Double-click on the error in the Most Recent Parameter Errors list. • Click the error in the Most Recent Parameter Errors list, and then click Help on Error. • Click the error in the Most Recent Parameter Errors list, and then press F1.
Basic Topics 3.4 partial profile use any of these methods: • Hold down CTRL and press the number of the stored command you wish to execute: 0 to 9. (e.g. CTRL+2 uses the partial profile of stored command 2). • On the Stored Cmds menu, click the move you want to execute. • Click the button of the desired stored command on the Toolbar. When executed in full motion profile mode, all six of the command fields are copied from the stored command to the command fields of the current axis.
RMC100 and RMCWin User Manual 3.4.14 Using Multiple RMCs RMCWin can keep track of several RMCs. The following pieces of information are associated with each RMC: • RMC name (the filename) • Names of each axis • Parameters of each axis (configuration word, scale, offset, etc.) • Command fields for each axis, except the Command itself (Mode through Command Value). • Plot times for each axis. • Hardware configuration of the RMC. This includes: • o List of the physical modules included (e.g.
Basic Topics 3.4 .bd1 Board Parameter File Board File .plt Plot Data File Plots .st1 Event Step Files Event Step Editor .fn1 Stored Function Files Stored Command Editor .pr1 Motion Profile Files Motion Profile Editor .i2e Input to Event Files Input to Event Editor .log Stored Command Logs Command Log .Crv Curve Files Curve Tool .lcd LCD Screen Files LCD Screen Editor .map Status Map File Status Map Editor 3.4.
RMC100 and RMCWin User Manual • The plot times will be set to the minimum (1ms for 1ms control loops, 2ms for 2ms control loops). • The hardware configuration will be set to the current RMC configuration. 3.4.17 Changing Between Board Files Board files are used to store the following pieces of information: • Names of each axis • Parameters of each axis (configuration word, scale, offset, etc.) • Command fields for each axis, except the Command itself (Mode through Command Value).
Basic Topics 3.4 selected board file into the currently open board file. The filename will not change on the currently open board file. 3.4.18 Editing Board File Information The following pieces of information associated with a board file can be changed in the manner described below: Axis Names- Refer to the Changing the Axis Name topic for details. Parameters - Refer to the Parameter area topic for details. Plot Times- Refer to the Plot Time area topic for details.
RMC100 and RMCWin User Manual This situation can be avoided using this command, which does not open the new board file, but instead transfers everything except the hardware configuration from the selected board file into the currently open board file. Therefore this command only loads the following: • Sixteen parameters (e.g. configuration word, scale, auto-stop word) for each axis. • Plot time of each axis. • Axis name of each axis. 3.4.20 Scale/Offset Calibration Utilities 3.4.20.
Basic Topics 3.4 7. Under First position, click Use Current, which copies the COUNTS on this axis being calibrated to the Counts box under First position. You can also manually type a value in this box, but it is easiest to use the Use Current button. 8. Move the axis to the second point. You may want to move the Scale/Offset Calibration dialog box out of the way so that you can use the main RMCWin window. 9.
RMC100 and RMCWin User Manual • If you had the extend and retract limits set correctly, click Use current limits, adjusted for new Scale and Offset to adjust the limits for your new Scale and Offset. • Otherwise, click Set limits to the following values and type the limits in the text boxes. 6. Click Apply, which sets the Scale, Offset, the Prescale Divisor bits of the Configuration word, Extend Limit, and Retract Limit. 7. Click Done. 8.
Basic Topics 3.4 • The desired ratio of quadrature counts to position units. Recall that there are four quadrature counts per line or pulse. If you want 3600 position units for one revolution on a 1000-line encoder, the ratio would be 3600 counts per 4000 position units. • The desired 16-bit position unit range. • Whether you wish to have your position units increase or decrease with increasing counts 2. Place the cursor in a field under the axis you wish to calibrate. 3.
RMC100 and RMCWin User Manual 6. Click Apply, which sets the Scale, Coord. Limit, Extend Limit, and Retract Limit. 7. Click Done. 8. Issue a 'P' command for the axis to have the new parameters take affect. For more details on scaling a resolver axis, see the Resolver Scaling topic. 3.4.20.7 Pressure Scale/Offset Calibration Utility For a description of all Scale/Offset Calibration Utilities, see Using the Scale/Offset Calibration Utilities. This utility is available only on single-ended auxiliary axes.
Basic Topics 3.4 Scale/Offset Calibration Utility: 1. Obtain the following information: • Pressure Gauge Scale: This is the pressure at which the RMC will receive its maximum voltage or current. For example, if the RMC input is configured for a 0 to 5 V transducer, then you should enter the pressure at which the gauge will return a 5 V signal, even if it can return more than 5 V. For 4-20 mA gauges, give the pressure at 20 mA.
RMC100 and RMCWin User Manual Because the surface areas on either side of the piston are equal, the scales and offsets will be equal for each pair. Hydraulic Motor In this configuration, the conversion from pressure to force can take many forms, since the pressure is converted to torque, which exerts a force on the system. Therefore, instead of a differential force being computed, a differential pressure is computed.
Using Plots 3.5 the multiplier under Desired Force/Pressure Units to get finer resolution. For example, if the maximum force is listed as 900 force units and you have one force unit set to equal one (1) metric ton, then you can change one force unit to equal one tenth (0.1) of a metric ton. This will give a maximum force in RMC force units of 9,000. Notice that the maximum force in engineering until will still equal 900 metric tons.
RMC100 and RMCWin User Manual 3.5.2 Opening a Plot Window You can use one of the following methods to open a plot window from the main window: • Click Plot ( ) on the Toolbar. This opens a plot window for the current axis. The current axis is the axis of the currently selected cell on the main screen. • Press INSERT. This opens a plot window for the current axis. • On the Window menu, click on the Plot item of your choice. This opens a plot window for the axis indicated by the menu item name.
Using Plots 3.5 3. Click the option button of the data you want to include. The options are described below. 4. If you wish to change the extra graph information for all axes, select the Set for all axes check box. 5. Click OK. 6. Trigger a new graph to be stored by the module. This requires making a new move because the new information is not collected until the module begins a new graph.
RMC100 and RMCWin User Manual • Click the Close button of the Detail window. To show the Detail Window after it has been hidden: • On the Data menu, click Show Detail Window. To display the individual bits on the Status word, do one of the following: • Click on the body of the detail window. This toggles the detail window between displaying the Status word as a hexadecimal number and as the bit names.
Using Plots 3.5 3.5.7 Saving and Restoring Plots To save a plot, follow these steps: 1. Display the plot you wish to save. 2. On the File menu, click Save As. 3. In the File name box, enter the name of the file. 4. Click Save. To view a previously saved plot, follow these steps: 1. Open a plot window. This may start loading a new plot from the RMC. It is not necessary to stop the download before opening a saved plot. 2. On the File menu, click Open. 3. In the File name box, enter the name of the file. 4.
RMC100 and RMCWin User Manual 3. Under Orientation, click either Portrait or Landscape. 4. Click OK in the Print Setup dialog box. 5. Click OK in the Plot Print Options dialog box. To print a plot: 1. On the File menu, click Print. 2. Select the printer and number of copies to print. 3. Click OK. 3.5.9 Plot Time The plot time field controls the time interval between plot samples. Because the number of samples for a full graph is fixed, the total graph length is also set by this parameter.
Table Editors 3.6 When the Target Speed is calculated, smoothing is performed so it does not vary by such a large amount, but some jaggedness is left from rounded-off position units. 3.5.10.2 Raw Transducer Counts The Raw Counts (lo) field holds bits 0-15 of the Transducer Counts at the given plot time period. The Raw Counts (hi) field is provided for use by technical support, but also holds bits 16 and 17 of the current count.
RMC100 and RMCWin User Manual Exiting an Editor To close an editor, use one of these methods: • Press ESC. • On the File menu, click Exit. • Click the Close button. If changes have been made to the table that have not been saved to a file or downloaded to the RMC you will be prompted to do so upon exit. You will always be given the option of exiting without saving. Editing the Tables Once the editor window is open, you can type values in the same manner as on the main window.
Table Editors 3.6 Saving and Restoring Tables To save a table: 1. On the File menu, click Save As. 2. In the File name box, enter the name of the file. 3. Click Save. The file will be saved in text format. To restore a table: 1. On the File menu, click Open. 2. In the File name box, enter the name of the file. 3. Click Open. Uploading and Downloading Tables Except the Stored Command table, all tables are stored on the RMC. The RMC will only use the tables stored in its memory.
RMC100 and RMCWin User Manual to-Event Mode represent input-to-event inputs 0-15. DI/O. Comm. DI/O in Parallel Position Mode, Parallel Event Mode, or Command Mode No input-to-event inputs are available. Sensor DI/O inputs 0-15 represent input-to-event inputs 0-15. Non-Comm DI/O (PROFIBUS-DP, Modbus Plus, Ethernet, etc) CPU inputs 0 and 1 represent input-to-event inputs 0 and 1. Sensor DI/O inputs 0-15 represent input-to-event inputs 0-15.
Step Table Editor 3.7 Show Rising Edge ( ) or Show Falling Edge ( ) from the toolbar or the Edit menu. The depressed toolbar button indicates the type of inputs edges currently being displayed. Jumping to the Event Step Editor You may want to view the Event Steps that are referenced by a cell in the Input to Event table. To open the Event Step editor and jump to the appropriate step in that table: • On the Edit menu, click Go to Event Step. • Or, press CTRL+G. 3.6.
RMC100 and RMCWin User Manual Changing the Event Step Table Changes are made to the Event Step table using the Event Step Editor. Refer to Table Editor Basics for topics common to all table editors. The default extension for saved Event Step tables is .st1. Features specific to the Event Step table editor are described below. Printing the Event Step Table You can print the current event step table, including its comments. To set the margins: 1. On the File menu, click Print Setup. 2.
Step Table Editor 3.7 highlighted. 3. On the Edit menu, click Delete Column x to Clipboard. Notice that the cells that were deleted are stored in the clipboard. Inserting Columns You can insert columns into the Event Step table in two ways: To insert an empty column: 1. Select a field in the step that you want the step to be inserted in front of. 2. On the Edit menu, click Insert Empty Column. To insert the columns in the clipboard from a delete or copy command: 1.
RMC100 and RMCWin User Manual table from the module or from the default file if no module is connected. This newly-loaded table will be checked. To toggle this feature on and off, do the following: • On the Settings menu, click Maintain Input to Event Links. Adding Comments The Event Steps editor offers the ability to enter a comment for each event step. These comments are then saved and restored with the step file.
Step Table Editor 3.7 Press To CTRL+O Close the current step table and open an existing file. CTRL+S Save the current step table. CTRL+P Print the current step table. CTRL+X Cut to the clipboard. CTRL+C Copy to the clipboard. CTRL+V Paste from the clipboard. CTRL+F Jump to the step linked to by the current step. CTRL+G Jump to any step (user is prompted). CTRL+N Display and switch keyboard focus to the Comment Editor.
RMC100 and RMCWin User Manual keyboard focus in the Comment Editor. CTRL+G Jump to any step (user is prompted), but keep the keyboard focus in the Comment Editor. ALT+C Clear the current comment. ALT+R Reset the comment to before editing began. ALT+F4 Close the comment editor. 3.8 LCD Screen Editor 3.8.1 LCD Screen Editor: Overview Using the LCD420 display as documented requires the following components: • • • • RMCWin 1.14.
LCD Screen Editor 3.
RMC100 and RMCWin User Manual Changing the Layout The following will modify the layout of these window elements: • Resize the panes. Between the tree, screen, and field panes are two split bars. These raised borders between the panes can be dragged to adjust the amount of space given to each pane. • Resize the window. Drag the border or the sizing handle in the lower-right corner of the window to resize the window. • Change the screen pane's font.
LCD Screen Editor 3.8 details on each: • Edit screen text. See Editing Screen Text. • Add and remove fields. See Adding and Removing Fields. • Move and resize fields. See Moving and Resizing Fields. • Display the previous or next screen. Use the PAGE UP and PAGE DOWN keys to show the previous and next screens. See Keyboard Shortcuts for a list including other shortcuts. • Cut, copy, and paste fields and text to and from the clipboard. See Using the Clipboard.
RMC100 and RMCWin User Manual Axis: Select the axis for the status you want to display. Field: Select the status field for the selected axis that you want to display. • Parameter This area gives access to most of the parameters on any axis. These fields may be read only or editable. Changes made to parameters take effect immediately and do not require a separate Set Parameters (P) command to be issued.
LCD Screen Editor 3.8 This area gives access to the last parameter error number for any axis. For a list of parameter error numbers and descriptions on each, see Parameter Error Values. These fields must be read only. This area has the following additional parameter that must be defined: Axis: Select the axis whose last parameter error number you want to display. • Any Auto Stop Error This area selects a special bit field for any axis.
RMC100 and RMCWin User Manual Decimal Places box (integer fields only) Type or select the number of decimal places to have in the value. Type 0 for no decimal point. Using a decimal point causes a decimal point to be inserted into the integer value. For example, the value 4000 with three decimal places will be displayed as 4.000 and not as 4000.000. Bit On Text box (bit fields only) Type or select the text you want to display when the bit represented by the field is on.
LCD Screen Editor 3.8 Editable area Click to clear or select the Editable check box to change whether a field is editable or read only. This area is unavailable to fields that must be read only, such as status fields. For editable integer fields, you also need to enter the range of values that can be entered in a field. Enter these values with the decimal places you have specified.
RMC100 and RMCWin User Manual Download to Module On the Online menu, click Download to Motion Controller. Save to Flash On the Online menu, click Save to Flash. New Screen On the Insert menu, click New Screen. New Field On the Insert menu, click New Field. See Also: LCD Screen Editor Topics 3.8.2.8 LCD Screen Editor: Status Bar Details The status bar is located at the bottom of the LCD Screen Editor window.
LCD Screen Editor 3.8 file, opening an existing file, or uploading a file from the RMC will overwrite the existing file. If you have made changes that have not been saved, you will be prompted to save the existing file before the operation completes. At this time, you will be given the option of canceling the operation. The following file operations are available from the File menu: New Create a new LCD screen file with a single blank screen. Open Open an existing LCD screen file.
RMC100 and RMCWin User Manual 4. After the upload is complete, if you had custom screen or field labels in your currently-open file and the uploaded screens have the same number of screens and fields, you will then be asked whether you want to keep the current screen and field labels. Click Yes to retain the labels, or click No to revert to the default labels. To download LCD screens to the RMC: 1. On the Online menu, click Download to Motion Controller. 2. The screens will be downloaded to the RMC.
LCD Screen Editor 3.8 To paste a field from the clipboard: • In the tree pane, select the screen into which you want to insert the clipboard's field. It will be pasted to the same location from which it was cut or copied. • Or, to specify a location, position the insertion point in the screen pane where you want to paste the field. It will be pasted to this location. • On the Edit menu, click Paste.
RMC100 and RMCWin User Manual To show or hide gridlines: 1. On the View menu, click Gridlines. Screen Pane Font The default font size for the screen pane was chosen to be fairly small to ensure that the window fit on all systems. You may want to increase the font size to take advantage of systems with larger display resolution. To change the screen pane font: 1. On the View menu, click Change Font. 2. In the Size box, type or select the point size. 3.
LCD Screen Editor 3.8 CTRL+DOWN ARROW Move the current field down one line. CTRL+LEFT ARROW Move the current field left one character. CTRL+RIGHT ARROW Move the current field right one character. INSERT Toggle between Overtype and Insert modes. DELETE In the tree and screen panes, delete the current selection. HOME In the screen pane, jump to the beginning of the line. END In the screen pane, jump to the end of the line or text. PAGE UP In the screen pane, move to the previous screen.
RMC100 and RMCWin User Manual 3.8.4.2 LCD Screen Editor: Changing the Screen Order The order of the screens in an LCD screen file is significant in the following ways: • The first screen is the one that will be displayed when the RMC first starts up. • The screen order determines the order used by the Previous Screen (¬) and Next Screen (®) keys on the LCD420. • The screen order determines which keys are used to select which screens in the menu brought up by the MENU key on the LCD420.
LCD Screen Editor 3.8 Moving the Insertion Point The following table summarizes the actions used to move the insertion point (cursor): Press To UP ARROW Moves the insertion point up one row. DOWN ARROW Moves the insertion point down one row. LEFT ARROW Moves the insertion point left one character. RIGHT ARROW Moves the insertion point right one character. HOME Moves the insertion point to the beginning of the current line. END Moves the insertion point to the end of the current line of text.
RMC100 and RMCWin User Manual text shifts. This does not apply to using the DELETE and BACKSPACE keys to delete a single character. The text to the right of the insertion point will shift accordingly. The current mode is shown in two ways. First, on the status bar, an indicator will display INS for Insert mode and OVR for Overtype mode. Second, the insertion point in the screen pane will be a blinking vertical line in Insert mode and a blinking solid block in Overtype mode.
LCD Screen Editor 3.8 key CTRL+F. Listed below are different contexts that this command can be issued in and a description of how the field is added: Context Action A screen or field is selected in the tree pane. A field is added to the selected screen at the current insertion point in the screen pane. The screen pane has the input focus, and no text is selected. A field is created starting at the current insertion point with a default length of five characters.
RMC100 and RMCWin User Manual To move a field by dragging: 1. Position the pointer over the field you wish to move. Ensure that the pointer changes to the move pointer. 2. Click and drag the field to its new location. A shadow will show the new location until the mouse button is released. To change a field size using the Increase/Decrease Width commands: 1. In the tree or screen pane, select the field to resize. 2. On the Field menu, click Increase Width or Decrease Width.
LCD Screen Editor 3.8 3.8.5.4 LCD Screen Editor: Using Editable Fields Fields can be read only or editable. There are three elements that control the behavior of an editable field: • Editable or Read Only. You must first specify when a field is editable or not. This is done in the field pane's Format tab using the Editable check box. Some fields such as status fields cannot be editable. For these fields, the Editable check box will be unavailable. • Edit Limits.
RMC100 and RMCWin User Manual field pane's Data tab. That is, it is neither possible nor desirable to have the value displayed for a field not correlate to the value that is edited. Therefore, changing the Data to Display area will automatically change the first Write Locations list item, and similarly changing the first Write Locations list item will automatically change the Data to Display area. • When a value is entered in a field with multiple write locations, one value is written per control loop.
LCD Screen Editor 3.8 2. In the Write Locations list, select the write location you wish to remove. 3. Under Write Locations, click Remove. This command will be unavailable if you only have one write location left. You must keep at least one write location. To edit a write location: 1. Open the Edit Write Locations dialog box as described above. 2. In the Write Locations list, select the write location you wish to remove. 3. Under Location Detail, change the settings for this write location.
RMC100 and RMCWin User Manual It is possible to rename both screens and fields. However, these names are not downloaded to the RMC. Therefore, uploading LCD screens from an RMC will revert back to the default names. To rename a field: 1. In the tree pane, select the field to rename. 2. On the Edit menu, click Rename. You can also use the shortcut menu, shortcut key (F2), or click again on the field name in the tree pane to start the rename command. 3. Type in the new name. 4. Press ENTER.
Curve Tool 3.
RMC100 and RMCWin User Manual • Importing and Exporting Curves • Uploading and Downloading Curves • Converting a Plot to a Curve • Erasing a Curve • Curve Properties and Editing Options • Curve Axis Labels • Curve Limits • Standard vs.
Curve Tool 3.9 associated hairline that can be positioned anywhere on the Graph view. The Detail window then displays the Time, Position, Velocity, and Acceleration of the active curve at the hairline. For details on the Detail window, see Detail Window. • Spreadsheet View: The Spreadsheet view displays the currently active curve in a spreadsheet format rather than the graphical format as in the Graph view and allows editing the points of the active curve.
RMC100 and RMCWin User Manual background. See Curve Limits for details on these limits. • • White. The remaining region is shown with a white background. Therefore, all points in this region have positions within the extend and retract limits of the active axis, and have times greater than or equal to zero. Lines Hairline. If the Detail window is turned on, then you will see a black hairline at the time (or master position) currently reflected in the Detail window.
Curve Tool 3.9 (or master position) where the hairline is located and the position, velocity, and acceleration of the active curve at that time or master position. Therefore, the Detail window and the hairline are always linked together: if the Detail window is displayed, then the hairline will be as well. See Units of Measurement for details on the units used by the values displayed in the Detail window. To show or hide the Detail window: 1. On the View menu, click Detail Window.
RMC100 and RMCWin User Manual spreadsheet format rather than graphically. The Spreadsheet view can either be hidden or positioned along the top, right side, bottom, or left side. The curve that is active in the Graph view is displayed in the Spreadsheet view. Changing which axis is active in the Graph view changes which axis is displayed in the spreadsheet. Changes made to a point's properties in the Spreadsheet view are immediately reflected in the active curve in the Graph view.
Curve Tool 3.9 ... Download to Module On the Online menu, click Download to Motion Controller. Save Splines to Flash On the Online menu, click Save Splines to Flash. Convert Plot to Curve On the Online menu, click Convert Plot to Curve. Display nth Axis Curve On the View menu, click Display Axis, and then click the desired axis. Active Axis On the View menu, click Active Axis, and then click the desired axis. Zoom In On the View menu, click Zoom In. Zoom Out On the View menu, click Zoom Out.
RMC100 and RMCWin User Manual Icons - This pane has the following three icons. Each has two states as shown below: Limits are Enforced Limits are Not Enforced These icons indicate whether or not the curve limits are being enforced when the axis is modified through the Graph view. Double-clicking this icon will toggle this feature on and off. See Enforcing Limits for details. Valid Curve Invalid Curve These icons indicate whether the curve is currently within the limits or not.
Curve Tool 3.9 Time (Master Units) By default this quantity is labeled Time (sms) and refers to actual time in short milliseconds (sms). A short millisecond is 1/1024th of a second. This term is used because, when the RMC follows a curve based on time, it processes one time unit every 976 microseconds, or 1024 time units per second. However, in many applications this quantity actually refers to a master position. Therefore, this label can be changed.
RMC100 and RMCWin User Manual 3.9.3.2 Curve Tool: Using Curve Files Curves can be saved and restored from disk files in the Curve (.crv) format. Curves from all axes are saved and restored, even if they are currently not visible. It is not possible to save individual curves or points. The Curve Tool always has exactly one open curve file.
Curve Tool 3.9 SHIFT+Click Point Select all points between the first point selected and the one clicked. SHIFT+Click Spreadsheet Cell Select all cells between the previously selected cell and the one clicked. CTRL+Click Point Toggle whether the point is selected or not. CTRL+Click Spreadsheet Cell Add the cell to the selection. DoubleClick Point Open the Point Properties dialog box. DoubleClick Graph View Add a point to the active curve.
RMC100 and RMCWin User Manual 3.9.3.4 Curve Tool: Keyboard Shortcuts Shortcuts available in both Graph and Spreadsheet views: Press To CTRL+N Close the current file and start a new file. CTRL+O Close the current file and open an existing file. CTRL+S Save the current file. CTRL+X Cut the active curve to the clipboard. CTRL+C Copy the active curve to the clipboard. CTRL+V Paste a curve from the clipboard over the active curve. CTRL+A Select all points on the active curve.
Curve Tool 3.9 TAB Switch the active curve to the next displayed axis. SHIFT+TAB Switch the active curve to the previous displayed axis. * Fit all curves to Screen. + Zoom In. - Zoom Out. C Pan the location under the pointer to the center of the screen. Shortcuts available in the Spreadsheet view: Press To SHIFT+Arrow Keys Select a range of cells. Arrow Keys Select a new cell. HOME Select the first cell in the spreadsheet. END Select the last cell in the spreadsheet.
RMC100 and RMCWin User Manual 3. Change any options on this page. 4. Click OK. The Graph tab has the following sections: • Additional Plot Values This section controls the plotting of velocity and acceleration. From this section you can turn on or off the velocity and acceleration plots, set the color of the velocity and acceleration plots, and set the zero line color. The zero line is a line drawn at zero velocity and acceleration. See Showing Velocity and Acceleration for details.
Curve Tool 3.9 To show or hide a velocity or acceleration plot: 1. On the Tools menu, click Options. 2. Click the Graph tab. 3. Under Additional Plot Values, use the Show Velocity on Graph and Show Acceleration on Graph check boxes to turn these plots on or off. 4. Click OK. You can also turn these plots on or off by right-clicking in the Graph view, and then clicking Show Velocity or Show Acceleration on the shortcut menu. To change the colors used by the velocity or acceleration plot: 1.
RMC100 and RMCWin User Manual The position and time scales determine the grid spacing. The spacing of the dots, crosses, or lines corresponds to the major and minor tick marks on the scale bars. Both the grid and tick mark spacing is automatically chosen by the Curve Tool to give natural divisions (for example, 100, 200, 500, 1000). Therefore, as the scales are changed, the units per grid will change if necessary to keep reasonable grid spacing. To change the grid type: 1. On the Tools menu, click Options.
Curve Tool 3.9 3.9.4.5 Curve Tool: Using the Scale Bars Each quantity being plotted can have an associated scale bar displayed. These scale bars help give the user an idea of the approximate positions, time (or master positions), velocities, and accelerations shown in the Graph view. These scale bars can be turned off to clean up the Graph view. Also, the major tick marks on each scale bar can be dragged to adjust its scale. The scale bars are drawn on top of the Graph view, but are otherwise transparent.
RMC100 and RMCWin User Manual See Also: Curve Tool Topics 3.9.4.6 Curve Tool: Changing the Orientation Graphs are usually displayed with the independent variable horizontal—increasing from left to right—and the dependent variable vertical—increasing from bottom to top. This is how the Curve Tool defaults to display the curve: time (or master position) is the independent variable, and the position (or slave position) is the dependent variable.
Curve Tool 3.9 2. Press C. This will scroll the display to center on the pointer. • Scroll While Zooming in the Graph View Similar to centering on the pointer, you can also use the Zoom In and Zoom Out commands from the keyboard to zoom in or out and center on the pointer at the same time. See Zooming In and Out for details.
RMC100 and RMCWin User Manual 1. Ensure that you have all curves that you want to fit on the screen marked as visible. See Selecting Which Curves to Display for details. 2. On the View menu, click Fit to Screen, or use the corresponding toolbar button also use the ASTERISK (*) key on the numeric keypad to issue this command. . You can See Also: Curve Tool Topics 3.9.5 Using the Spreadsheet View 3.9.5.
Curve Tool 3.9 Cells, Cutting and Copying Cells, and Pasting Cells. To select an individual cell: 1. Click on the cell in the Spreadsheet view with the mouse. Do not hold down any keys while selecting the cell. You can also use the keyboard's arrow keys to select a cell. Again, do not hold down any other keys (such as CTRL or SHIFT) while performing this action. To select a range of cells: 1.
RMC100 and RMCWin User Manual 2. Press ENTER to start editing. You can also double-click the cell or press the F2 key to start editing. 3. Edit the cell's value. 4. Press ENTER when done. To quickly enter a value in a cell: 1. Select the cell(s) to be edited. 2. Type a new value for the cell. 3. Press ENTER when done. To cancel an edit already in progress: 1. Press the ESC key. Changing the selected cell or pressing the ENTER key accepts the edit and updates the point in the Graph view.
Curve Tool 3.9 deleted apart from deleting the entire point. Deleting the velocity value sets the point to dynamic velocity; see Changing a Point's Velocity for more details on Fixed and Dynamic Velocities. To delete a velocity cell: 1. Select the velocity cell or range of velocity cells. 2. On the Edit menu, click Delete. You can also press the DELETE key or use the shortcut menu. To delete an entire point: 1. Select all the properties for that point.
RMC100 and RMCWin User Manual Note: When copying the Interval Type property, a 0 is copied for "Cubic" and a 1 is copied for "Linear". This only appears when pasting to an external application. See Also: Curve Tool Topics 3.9.5.6 Curve Tool: Pasting Cells Values copied to the clipboard either from the spreadsheet or from external programs can be pasted into the spreadsheet. The values must be valid for the curve selected and for the properties being pasted into.
Curve Tool 3.9 The Insertion Point is indicated by an "asterisk" ( ) in the header for that point. See Also: Curve Tool Topics 3.9.5.8 Curve Tool: Resizing columns The columns in the spreadsheet can be resized to increase or decrease the width of the column. When the Spreadsheet is displayed vertically along the right or left side of the curve tool, the columns in the spreadsheet can be resized individually. That is, each column can have a different size.
RMC100 and RMCWin User Manual Making a curve not visible does not delete the curve. It can be made visible again and will be saved to disk with any visible curves. To view or change which axis curves are displayed using the toolbar: 1. Find the toolbar buttons with numbers ( through ). These numbers represent axes 0 through 7 in the RMC. Depressed buttons represent axes that are currently being displayed. Raised buttons represent axes that are currently not being displayed.
Curve Tool 3.9 for details. • The Valid/Invalid Curve and Hint icons on the status bar reflect the active axis only. See Status Bar for details. • Only the active curve is displayed in the Spreadsheet view. See Spreadsheet View for details. The following methods can be used to change the active axis: • On the toolbar, in the Active Axis list, select the name of the axis you want to make active.
RMC100 and RMCWin User Manual To copy cells from the Spreadsheet view to the clipboard, see Cutting and Copying Cells for more information. See Also: Curve Tool Topics 3.9.6.4 Curve Tool: Importing and Exporting Curves It is possible to import and export curves to and from the Curve Tool. It is most common to use this feature in conjunction with Microsoft Excel. Importing and exporting is done with the clipboard.
Curve Tool 3.9 (or master position) and the second column being the position. 2. Select this two-column block of cells. 3. On the Edit menu, click Copy to place the data on the clipboard. You can also use the corresponding toolbar button ( this command. • ) or the CTRL+C shortcut key to issue In the Curve Tool, do the following: 1. Select the axis of the curve you want to import into, as described in Selecting the Active Axis. 2. Click the Graph view to make it the active view. 3.
RMC100 and RMCWin User Manual 2. On the Online menu, click Upload from Motion Controller, or use the corresponding toolbar button ( ). 3. The curve currently in the RMC for the active axis will be uploaded to the Curve Tool. To download a curve to the RMC: 1. Select the axis of the curve you want to download, as described in Selecting the Active Axis. 2. On the Online menu, click Download to Motion Controller, or use the corresponding toolbar button ( ). 3.
Curve Tool 3.9 The most common way to start the plot capture in this situation is to issue a Start Graph (y) command on the axis that you want to capture. You may want to use the Event Step table to issue this command to tightly couple the start of the graph with the start of the motion. To convert a plot to a curve starting with the Plot window open: 1. Open a Plot window for the axis of the curve you want created, as described in Opening a Plot Window. 2.
RMC100 and RMCWin User Manual • Delete points in sections that have few inflections. This will help make these segments smoother with very little affect on the accuracy of the curve. • If a section of the curve is supposed to be linear, then delete all points in that interval, and instead set the point at the beginning of that section to be linear. See Selecting Linear or Cubic Segments for details. • You might want to try drawing your curve from scratch, using the uploaded curve only as a guideline.
Curve Tool 3.9 See Also: Curve Tool Topics 3.9.6.8 Curve Tool: Curve Properties and Editing Options The General tab of the Options dialog box allows you to view or change curve properties and editing options. To view or change these options: 1. On the Tools menu, click Options. 2. Click the General tab. 3. Change any options on this page. 4. Click OK. The General tab has the following settings: • Axis Settings This section has several settings for each axis.
RMC100 and RMCWin User Manual Link Curves Together Check this box to link together points with identical time (or master position) values on all visible axes. This feature is useful when the curves from two or more axes need to be synchronized. See Linking Curves for details. See Also: Curve Tool Topics 3.9.6.9 Curve Tool: Curve Axis Labels Any text can be typed into these labels for Time and Position. These labels are used whenever the curve tool refers to one of these dimensions.
Curve Tool 3.9 A point cannot be closer than ten (10) time units or farther than 65,535 time units from an adjacent point. These limits are fixed. Placing points closer than 10 time units is the one limitation that cannot be overridden by disabling the Enforce Limits option. • Position The curve cannot extend beyond the axis Extend and Retract Limits. These limits cannot be changed from within the Curve Tool, but they can be changed from the main RMCWin window, even while the Curve Tool is open.
RMC100 and RMCWin User Manual the capability of following curves defined by cubic splines. The user defines the position and time (or master position) of each point in the curve. The velocities of the endpoints are fixed at zero (0). The velocities of all other points and accelerations of all points are computed by the RMC to find the smoothest curve through all points.
Curve Tool 3.9 4. Click OK. See Also: Curve Tool Topics 3.9.6.12 Curve Tool: Auto Repeat Curves The Auto Repeat feature affects what happens when the end of a curve is reached. Auto Repeat is available only for Enhanced curves. See Standard vs. Enhanced Curves for details. With respect to Auto Repeat, Standard curves behave the same as an Enhanced curve with Auto Repeat disabled.
RMC100 and RMCWin User Manual See Also: Curve Tool Topics 3.9.6.13 Curve Tool: Enforcing Limits There are a number of limitations that each curve must satisfy. For example, each must not exceed position, velocity, and acceleration limits. For a detailed discussion on these limits, see Curve Limits. The curve must satisfy all of these limits before it can be downloaded to the RMC. However, there are times when it is easier to allow the curve to violate one or more of these limits while it is being edited.
Curve Tool 3.9 feature keeps track of updating all visible curves together. Turning on this feature causes the following changes to take place when editing a curve: • When a point is added to a curve, the following steps will be taken: If the point being added is within five pixels in the time (or master position) direction from a point on another visible curve, then the point to be added will have its time (or master position) adjusted to match the existing point on the linked curve.
RMC100 and RMCWin User Manual To select multiple points using the mouse and selection box: 1. Click and drag to select a region of the Graph view. All points that fall within this region will become selected. The selection box will be resized to fit just the selected points. The selection box can be used for moving all the points together or expanding and contracting the points. To select a range of points using the mouse in the Graph view: 1. Click on the first point in the range. 2.
Curve Tool 3.9 Press To Select HOME First point in the curve. END Last point in the curve. LEFT ARROW UP ARROW Previous point. RIGHT ARROW DOWN ARROW Next point. 2. 3. See Also: Curve Tool Topics 4. 3.9.7.2 Curve Tool: Determining a Point's Exact Location Displaying a curve graphically is convenient for viewing the entire curve. However, there are times when you may have to know or edit a point's exact location.
RMC100 and RMCWin User Manual 3.9.7.3 Curve Tool: Adding Points To add a point to your curve, use one of the following methods. The keyboard method has the advantage of allowing you to add points at a precise location. In any of these methods, it is possible that adding a point at the requested location will be invalid. If this is the case, you will be instructed why the request is invalid.
Curve Tool 3.9 Curves for details. To delete a point in the Graph view: 1. Select the point or points you wish to delete in the Graph view, as described in Selecting Points. 2. On the Edit menu, click Delete. You can also issue the Delete command by pressing the DELETE key or by right-clicking on the point or points you wish to delete, and clicking Delete on the shortcut menu. To delete a point in the Spreadsheet view: 1. Click on the header for the point you wish to delete. 2.
RMC100 and RMCWin User Manual You can also double-click on a point, right-click on a point and then click Properties on the shortcut menu, or press ALT+ENTER or ENTER to open the Point Properties dialog box. 3. Edit the properties if you wish. If you are editing a single point and want to adjust all following points by the same amount the selected point's time (or master position) and position change, then set the Shift Following Points check box. 4. Click OK.
Curve Tool 3.9 To hold position constant during the drag, hold down the ALT key while dragging. To move points by dragging a point or points: 1. Click and drag a point. If the point is already one of several points selected, then all points will be dragged together. To hold time (or master position) constant during the drag, hold down the CTRL key while dragging. To hold position constant during the drag, hold down the ALT key while dragging. To move points using the keyboard: 1.
RMC100 and RMCWin User Manual 3.9.7.8 Curve Tool: Changing a Point's Velocity Each point can have either a fixed velocity or dynamic velocity. By default all points have dynamic velocities, which means that RMCWin computes the best velocity for the point to yield the smoothest overall curve. However, if you need a point to have a specific velocity, you can change it to be a fixed velocity. Note: Fixed velocities are not available in Standard curves. See Standard vs. Enhanced Curves for details.
Address Tool 3.10 2. Drag one of the eight resize handles on the selection box. The opposite resize handle will be the anchor. For example, dragging the right-center resize handle will keep the left-most point in the selection constant, and dragging the top-left resize handle will keep the bottom-most point's position constant and the right-most point's time (or master position) constant (assuming time is shown horizontally). See Also: Curve Tool Topics 3.10 Address Tool 3.10.
RMC100 and RMCWin User Manual The Address Tool can be resized and minimized as desired. It can also be set up to stay on top of all other RMCWin windows, as described in Keeping the Address Tool in the Foreground. 3.10.2 Address Tool: Bookmarking Addresses The name and address of the current field is continuously updated in the Address Tool. That is, as you select different fields with corresponding addresses, the current field's name and address will change in the Address Tool.
Address Tool 3.10 3.10.3 Address Tool: Using with the Event Step Editor The Address Tool can be used normally (see Address Tool Overview) to obtain addresses of any Event Step table field. However, it can also be used to simplify entering addresses into the Event Step table for commands that use RMC register addresses. Currently, the Add, Subtract, and MulDiv commands each require source and destination RMC register addresses. Manually entering these addresses is time consuming and error prone.
RMC100 and RMCWin User Manual To turn on or off the Always on Top feature: 1. Right-click the Address Tool title bar to display its shortcut menu. 2. On the shortcut menu, click Always on Top. Note: Most RMCWin windows have the Always on Top feature, which is enabled in the same way for each window. Notice that no guarantee can be made as to which window will be on top out of multiple windows designated as Always on Top. 3.11 Advanced Topics 3.11.
Advanced Topics 3.11 3.11.2 Downloading New Serial/Ethernet Firmware If new features have been added or problems fixed in the Serial or Ethernet communication modules' firmware, then it is necessary to update the firmware to take advantage of these improvements. You should only use the firmware download feature at the instruction of technical support to address a specific need. Note: You cannot update the RMC ENET firmware when connected to the RMC via the TCP/IP Direct to RMC-ENET communication driver.
RMC100 and RMCWin User Manual 1. On the main window's Tools menu, click Options. 2. Click the Preferences tab. 3. Select the preferences you want to use. 4. Click OK. The Preferences tab includes the following options: • Do not show confirmation warnings check box Select this check box to suppress confirmation-warning messages. This includes all warnings when closing a window to save the contents to either the RMC or the disk.
Advanced Topics 3.11 RMC. In most cases this should not be necessary because there are two other methods of ensuring a module is initialized. Both are more desirable: 1. The parameters can be stored in the Flash. A module uses the parameters stored in the Flash when it starts up. 2. The parameters can be stored in the Programmable Controller and downloaded when the RMC is started up.
RMC100 and RMCWin User Manual ensure that the program starts with the correct settings. Notice that most users will have no need for these options because they are saved from one execution of RMCWin to another. Options given on the command-line override the previously saved settings. The following options are available: 3-134 -1, -2, -3, -4 Select COM1, COM2, COM3 or COM4 as the serial port to use. This will override any communication path setting for the current board file.
RMC100 and RMCWin User Manual 4 Controller Features 4.1 Event Control Overview The Event Control feature allows you to execute a sequence of commands without intervention from the Programmable Controller (P/C). This lets the module respond to events within the control-loop time (1ms or 2ms) rather than the scan rate of the P/C. It also reduces the controller programming required. Event Control consists of a series of Steps that are linked together in sequences.
Event Control Overview 4.1 To start a sequence of events, use one of these methods: • Issue a Start Event command to trigger an event from RMCWin or the Programmable Controller. • Use the Input to Event Table to trigger an event sequence from a digital input. A sequence of events will stop when one of the following occurs: • A Quit Events command has been issued from RMCWin or the Programmable Controller. • A step is executed which has a Link Type of 0.
RMC100 and RMCWin User Manual Command G G Commanded Axes Default Default Default Link Type Link Value Link Next BitsON 00001 16 DelayMS 500 17 DelayMS 0 0 Step 15 issues a Go (G) command to 15.5 inches (15500). The BitsON (B) link type with a link value of 0x0001 causes the motion controller to look for the least significant bit in the STATUS word (the In Position bit). When the In Position bit turns on, indicating the move is complete, Step 16 (Link Next – 16) is executed.
Gearing Axes 4.3 table in the Flash without storing all the other data in that section listed above. This will not be a problem as long as you ensure that all data you want to be stored is set correctly before saving the data in the Flash. To update the first Flash section, issue the Update Flash (U) command to any axis, or use the Save to Flash toolbar button in RMCWin's main or LCD Screen Editor windows.
RMC100 and RMCWin User Manual In the Mode command parameter, do the following: • Set the Gear Bit (bit 12, 0x2000 hex). If this bit is not set, then the Go command will not initiate a geared move. It will instead do a point-to-point or speed control move. • Use the Gear Master Select bits (bits 4-6) to select the desired master axis. Multiple slaves can be geared to the same master. • Set the Gear Type Bit (bit 14, 0x4000 hex) to be geared to the master's Actual Position.
Gearing Axes 4.3 in the Speed command parameter) must remain constant. When a Gear command is given to an axis that is not currently geared, then its initial gear ratio is computed such that the computed geared speed of the axis will match its current speed. Note: RMC CPU firmware prior to 20020222 always starts a previously non-geared axis with a zero gear ratio. The ramping up or down of the gear ratio may be specified in several ways.
RMC100 and RMCWin User Manual reach the requested gear ratio when the master is at 300 position units. Note that if the axis is given this gearing command when the master axis is at a position less than 300, the gearing will start instantaneously. Mode 3 (Time): The Acceleration field indicates the time in milliseconds that the ramp will take. The Deceleration field is not used in this mode. 4. Issue the Command.
LED Indicators 4.4 In the Mode word of the geared axis, Gearing mode is selected with axis 0 as the master and will use Acceleration/Deceleration Mode 1. The Gear Type bit is cleared indicating that the axis will gear to the master's Target Position. It will move at half the speed of the master because the gear ratio is 5000 divided by 10,000.
RMC100 and RMCWin User Manual in this state, or the Flash write will fail. In 0 When this LED is RED, the CPU digital input 0 is a logical 1. In 1 When this LED is RED, the CPU digital input 1 is a logical 1. Out 0 When this LED is RED, the CPU digital output 0 is conducting. Out 1 When this LED is RED, the CPU digital output 1 is conducting. For further details on the CPU digital inputs and outputs, see Using the CPU Digital I/O.
LED Indicators 4.4 In the communication types that use the Motion Profile Table, the PLC can issue only a Command and Command Value in a single command cycle. Therefore, the Go command can only give the Requested Position as the command value, and to set the entire motion profile and give the Go command would require five commands. While this is flexible, it is inefficient.
RMC100 and RMCWin User Manual MODE ACCEL DECEL SPEED 1 100 100 20000 1 100 100 25000 1 100 100 30000 1 200 200 35000 Profile 12 (0C) 1 200 200 40000 13 (0D) 1 200 200 45000 14 (0E) 1 200 200 50000 15 (0F) 1 100 100 10000 MODE ACCEL DECEL SPEED 4.
Reference Axis Filtering 4.5 examples at the end of this topic: • Filter Time Constant: This parameter controls the time constant itself for the filter. It is entered in milliseconds. The cut-off frequency for the filter in Hertz is found by 1/2pt, where t is the time constant is seconds. See Filter Time Constant for details on the parameter itself. Note: The Velocity Limit and Acceleration Limit are used only in conjunction with the Filter Time Constant.
RMC100 and RMCWin User Manual This would result in an Actual Position with the same shape, although scaled to the user's units. Without a reference filter enabled, the Target Position will match this Actual Position curve: So, without the reference filter, the RMC would not ramp the reference input at all, and jumps in the input current or voltage would be translated directly to jumps in the reference position and jumps in any axes geared to this reference.
Reference Axis Filtering 4.5 This limits the velocity to a user-specified maximum, but it still leaves us with a sharp change in the Target Velocity at the time of the step jump. The Acceleration Limit can be used to address this issue: In the above graph, the Target Position is smoothed out at the time of the step jump. This curve should be usable as a reference for RMC100 geared moves.
RMC100 and RMCWin User Manual While the effect of quantization on the positions themselves does not appear very great--after all, the position is accurate to one-half a quadrature count--its effect on velocities is much more dramatic. By applying a Filter Time Constant, the Target Position and Velocity are improved as shown: The Velocity and Acceleration Limits are necessary only if the quadrature reference axis moves too quickly at times.
Speed Control 4.6 Gearing to a manually-guided voltage such as a joystick often results in rough motion due to mechanical jitter and friction in the potentiometer itself. Therefore, the jaggedness of the previous graph can be reduced by applying the Filter Time Constant. This may be all that is necessary in this application.
RMC100 and RMCWin User Manual Note: Speed Control with Velocity Loop is supported in RMC100 CPU firmware dated 20030515 or later. Using Speed Control with Position Loop Speed control with Position Loop is used in the same way as position control with the following exceptions: • The Rotational bit must be set in the Mode word. • The Command Value field for the Go command indicates the direction of the move, rather than the Requested Position.
Rotational Mode 4.7 Only speeds between 0 and 32,767 can be set with this command. Also, this command cannot set the Rotational bit in the Mode word, so another command must do this. 3. Set Speed (Unsigned) Command This command works the same as the Set Speed (Signed) command except that only the requested speed is changed; the requested direction cannot be changed with this command. Therefore, the Command Value is an unsigned number between 0 and 65,535 and holds the requested speed.
RMC100 and RMCWin User Manual Axes remain in Rotational mode through all Auto Stops, Halt (H) commands, Disable Drive (K) commands, and Set Parameters (P) commands. Example: To reset an axis position every 3600 position units, set the Retract Limit to 0 and the Extend Limit to 3599. When the axis moves beyond zero in the negative direction, it will wrap around to 3599. Notice that setting the limits to 0 and 3600 would result in 3601 position units per turn. 4.
Spline Overview 4.8 The user defines several spline points for a single curve. In the example shown above, the X's mark the points set by the user. The horizontal direction in this graph is time and the vertical direction is the axis position. Spline Interval: The user controls the number of master units between the spline points. Master units can be any of three quantities: • Master Axis Position Units.
RMC100 and RMCWin User Manual These issues prompted the introduction of Enhanced curves. Enhanced Curves Enhanced curves were introduced with RMC CPU firmware dated 20010208. They greatly enhance the capabilities of the RMC in following an arbitrary curve, and further enhance the smoothness of the curve. The following items are introduced with enhanced curves: • The accelerations at the endpoints of a curve are always zero (0).
Spline Overview 4.8 The first curve is the actual curve that we want to match. The second curve is the one that would be generated by the RMC if no leading or trailing points were used. The velocities do not match well at the ends in this curve. In the third curve, one point is added to the front and one point is added to the end. In this curve, the endpoints were placed the same distance and time from the original endpoints as the second points from the ends.
RMC100 and RMCWin User Manual Clear Spline Segments This is used to clear one or more segments from the motion controller's memory. Follow Spline Segment This causes the axis to follow a single spline segment. The motion controller updates the spline every millisecond. The axis must already be at the position of the first point for this command to succeed. Follow Spline Relative This causes the axis to follow a single spline segment relative to the current axis position.
Spline Overview 4.8 -400 60000 0 60000 200 61000 400 61500 600 61250 800 61000 1000 60750 1200 61000 1600 61000 The optimizer must then send this spline segment to the motion controller. Assuming that the optimizer cannot use RMCWin to download the spline, there are two methods of doing this. The first is to use the Add Spline Point, Set Spline Interval, and End Spline Segment commands. The second is to use the Spline Download Area.
RMC100 and RMCWin User Manual Address Value Description 14337 9 14338 60000 Point 0 position 14339 60000 Point 1 position 14330 61000 Point 2 position 14331 61500 Point 3 position 14332 61250 Point 4 position 14333 61000 Point 5 position 14334 60750 Point 6 position 14335 61000 Point 7 position 14336 61000 Point 8 position Number of points in the spline segment.
Spline Overview 4.8 X 61000 Send 7th scanned value. x 61000 Send trailing point. T 0 Signal end of the segment. In this example, notice that the case of the Add Spline Point (X) command is toggled each time it is used. In order for the motion controller to process a command, it must detect that the command or command value has changed. Therefore, by toggling the case of the 'X' command, each point will be processed even if two points have the same value (as is the case with the last two points).
RMC100 and RMCWin User Manual 4.9 Synchronizing Axes Axis synchronization is achieved by setting either the Sync A or Sync B bit in the MODE word on the axes to be synchronized and then issuing a Go or Relative Move command to the last axis in the sync group. Up to two groups of axes can be synchronized together. If both groups are used, then one group must use the Sync A bit, and the other uses Sync B. Each group can contain as many axes as desired.
Teach Mode Overview 4.10 Note: Because a new Go or Relative Move command will cause the travel distance ratios to be recalculated, any change in the speeds or travel distances of any of the axes may result in a speed discontinuity in the new slave axes, although the position will always be continuous. It is normally not possible to use RMCWin to issue commands to several axes simultaneously.
RMC100 and RMCWin User Manual 4.11 VC2100 and VC2124 Voltage-to-Current Converters The VC2100 and VC2124 two-axis voltage-to-current converters transform ±10V signals into current signals capable of driving hydraulic servo valves or similar loads. They also provide a convenient way to set the full scale current to match valve requirements, limit maximum current and set optimum working ranges.
VC2100 and VC2124 Voltage-to-Current Converters 4.11 VC2100 Fuse the ±15Vdc inputs with 5A maximum, UL-listed, fast-blow fuses. For maximum protection, use two 500mA fuses per VC2100. For noise immunity, use twisted, shielded pairs for all connections (twisted pair with overall shield is acceptable). For best noise immunity, keep wires from the RMC to the VC2100 as short as possible and less than 98ft (30m), and place ferrites on all cables as close to the VC2124 as possible.
RMC100 and RMCWin User Manual H Common J Current Output 1 4.12 Position/Pressure Control 4.12.1 Position-Pressure Overview The RMC100 excels at smoothly transitioning from position to pressure (or force) control while in motion. This requires two axes: one for the position control and one for the pressure control. When set up for position/pressure control, the RMC100 effectively controls these two axes as one unit.
Position/Pressure Control 4.12 Three Basic Modes of Operation There are three basic modes that must be understood in order to control pressure or force: • Position Control Mode: In this mode, the position axis is entirely controlling the drive output. The status fields of the pressure axis will still be updated, but the pressure axis will have no affect on the position drive output. Position axes which do not have assigned pressure axis will always operate in this mode.
RMC100 and RMCWin User Manual See Tuning a Position/Pressure System for a step-by-step procedure on how to tune your system. • Example See Position/Pressure Example for a fully detailed, step-by-step, illustrated example of setting up and tuning position/pressure control. 4.12.2 Position-Pressure Setup This section provides detailed information on how to set up the RMC for position/pressure control. Read this topic before continuing to Tuning a Position/Pressure System.
Position/Pressure Control 4.12 • If you wish your measurement to be in the opposite direction of the transducer counts, select decreasing position units in the Increasing counts equals field. • Set the desired extend and retract limits in the Extend/Retract Limits field. • Click Apply or Done when you are finished. • Issue a Set Parameters (P) command to initialize the axis with these settings. b.
RMC100 and RMCWin User Manual • If the axis is force control: Enter the following information: • Maximum gauge reading • Actuator Type • Cylinder Dimensions • Desired Force Units • Desired Force Direction This information allows the Actual Pressure in the Status area of the main screen to display the net force on the cylinder. • Click Apply or Done when you are finished. 2.
Position/Pressure Control 4.12 3. Move the axis to the correct starting position. Normally, the axis should be at a position where the pressure is below the desired entry pressure (Pressure Set A). 4. Set up the pressure control mode. This sets up the parameters that the pressure axis will use when it enters pressure regulating mode. This is done by issuing the Set Pressure (^) command. Note: this step does not put the axis into pressure regulating mode.
RMC100 and RMCWin User Manual Step 0: This step is normally linked to after finishing a sequence. If the event control is at step 0, it usually means the event control has stopped. This step does nothing. Step 1: Issues a P command so the axis will hold position. Waits for 1/2 sec so the drive output will stabilize for the next step. Step 2: Issues a Set Null Drive to Integral Drive. This updates the null drive (drive needed to hold position), which is critical for pressure control.
Position/Pressure Control 4.12 pressure axis, then the command is issued to the pressure axis instead of the position axis. o For a list of pressure commands that will be sent to the pressure axis, refer to Command. Notice, however, that the Set Mode (M), Open Loop (O), and Set Parameters (P) commands will not be sent to the pressure axis because they are also valid on the position axis.
RMC100 and RMCWin User Manual Note the good design practices: • Metal tubing between valve and cylinder. • An accumulator close to valve. • Use of a zero-overlap valve. 2. Wiring It is important to wire the transducer correctly. See MDT Wiring and Analog Wiring for details. For this example the system is wired as follows: • The pressure transducers are wired to the Analog module channels 0 and 1 • The position feedback is wired to MDT channel 0 • The MDT Drv 0 is wired to the valve. 3.
Position/Pressure Control 4.12 • Axes 0 and 1 are the two MDT axes. • Axes 2-5 are the 4 channels of the Analog module. 4. Configuring the pressure/force axes. To configure the pressure axis, the following steps are performed: • On the Tools menu, click Module Configuration. • In the Slots field, double-click Analog.
RMC100 and RMCWin User Manual • Since the system is double-ended pressure, select the auxiliary differential force option. • Do the same on the Channels 2-3 tab. • Click Update RMC. • When the RMC is finished updating, click Close.
Position/Pressure Control 4.12 • Notice that there are only 4 axes now, because each force axis uses two channels on the Analog module. • Axis 0 is the MDT axis, and Aux 2 is the pressure axis. 5. Configuring the MDT position axis. To scale the MDT position axis, the following steps are performed: • On the Tools menu, click Module Configuration.
RMC100 and RMCWin User Manual • It is already set to 21 ms, which is correct. If the MDT transducer is a clevis-mount type, choose 5 ms. • Click Update RMC. • Double-click the Axis 0 Config Word, which opens the following window: • In the Transducer Type field, select Start/Stop (Rising Edge). • In the Pressure Axis field, select Aux 2 as the pressure axis. This assigns the pressure axis to this position axis. This is necessary for the RMC to be able to control position and pressure on axis 0.
Position/Pressure Control 4.12 • The information is entered as shown in the picture: o The pressure transducer has a max reading of 3000 psi, so "3000" and "psi" are entered in the Pressure Gauge Scale. o The cylinder is a single-ended rod, so this option is selected in the Actuator Type field. o The cylinder dimensions are 2.5 in. inside diameter and 1.375 in. rod diameter. o The Force units are to be displayed in lbs, so "1" and "lbs" are entered in the Desired Force Units field.
RMC100 and RMCWin User Manual To scale the MDT position axis, the following steps are performed: 4-44 • Click on any Axis 0 field. • On the Tools menu, click MDT Scale/Offset Calibration. The following window opens: • The position feedback is to be measured in thousandths of inches, so 1000 pos units per inch is entered in the Desired Position Units field. • The transducer gradient information in the Transducer field is found on the transducer.
Position/Pressure Control 4.12 1024 into the counts field. o …increasing counts is selected in the Increasing counts equal… field. • In the Extend/Retract Limits field, click Set limits to the following values:. Set the desired extend and retract limits to 0.100 and 52 inches. This system can extend 52.700 inches, but it is undesirable to ever reach either end. • Click Apply and Done. • Issue a Set Parameters (P) command to Axis 0.
RMC100 and RMCWin User Manual • Issue Open Loop (O) commands with small positive and negative drives to see if the cylinder goes in the right direction. • If the cylinder moves in the wrong direction, the wiring to the drive may be swapped, or Reverse Drive mode can be selected in the Config word. • Check the deadband. This system has a very small deadband, approx 5 millivolts, so we will not worry about it. • Set the gains and feed forwards to zero and issue a Set Parameters (P) command.
Position/Pressure Control 4.12 in. and ALT-5 to move to 20 in. The command will be issued to the axis where the cursor is located. • Using the Stored Commands, a move is made in this example from 2 in. to 8 in. The move will take less time than what the Plot Time is set to so that the entire move can be viewed. • After making the move, press the Insert key. This opens the Plot window with the last move.
RMC100 and RMCWin User Manual o The Sum Error Squared decreased from 53 million to 27 million. o The position lags during the constant speed portion of the move, which the next step will address. • Make a fairly long move without any oscillations. After the move has completed, issue a Feed Forward Adjust (F) command. The Extend Feed Forward value is automatically updated to 84 in this case. • Make a move in the opposite direction. Issue a Feed Forward Adjust (F) command.
Position/Pressure Control 4.12 • The next step is the integral gain. Gradually increase it as long as it does not adversely affect the system. Generally, the Integral gain does not need to be extremely high. In this example, 150 was deemed enough. The plot (not shown) did not change much from the previous one. This does not mean the integral gain won't help! It is important for dynamic changes that may be encountered during system operation and may not be present during the tuning.
RMC100 and RMCWin User Manual • 4-50 o The Sum Error Squared decreased to 13,000! o The overshoot disappeared. o The Extend and Retract Feed Forwards are generally not the same for hydraulic systems. The position is now tuned. To check that this will work at higher speeds, increase the Accel and Decel to 300 and the speed to 40000. The plot (plot time = 1 sec) looks like this: o The parameters work well for the higher speed (no lagging, overshoot or oscillation), and will be left unchanged.
Position/Pressure Control 4.12 This example is continued in the next topic. 4.12.5 Position-Pressure Example (Part 3) This is part 3 of the complete step-by-step example of setting up and tuning a position/pressure axis. Part 3: Setting up for Pressure Control Now that the position control is tuned, the pressure can be tuned. First, the step table must be set up. • Set up a step table to simplify entering pressure control.
RMC100 and RMCWin User Manual Step 3: This step moves to 36.0 in. at 10 in./sec (assuming it is set up for a resolution of 0.001 in., then 36000 = 36 in. and 10000 = 10 in./sec) It then waits until bit 1 (the In Position bit) is on before continuing to the next step. Step 4: This step sets up the pressure parameters that will be used in step 5. The Mode word is set up to Calculate Ramp Time and Integrator Active Only at Pressure.
Position/Pressure Control 4.12 • o Note how the pressure (yellow) begins increasing and when it reaches 1000, pressure regulation begins. The white line is the target pressure. o Note the large undershoot as pressure regulation begins. Once the axis is in pressure control, type 'y' in the Axis 0 command field. This will start a plot. Press the Insert key to view the plot: o The plot shows the pressure ramping up and down.
RMC100 and RMCWin User Manual • To change the gains now, simply enter the gain, issue a "P" command, and start a plot. There is no need to run event step 1, because the pressure is ramping up and down endlessly. The gain will take affect as soon as the "P" command is issued. To view the plot, type 'y' in the command field to start the plot, and press the Insert key to view the plot. • After increasing the Proportional Gain to 4, it looks like this: o • The next step is to adjust the Integral Gain.
Position/Pressure Control 4.12 • The next step is to adjust the Differential Gain. Gradually increasing it to 250 results in this: o • It removed the oscillations. Now that the Differential Gain has been added, the Proportional Gain can be further increased. After trying several values, 8 seems the best for tightest control and least oscillation: o Notice that the pressure reaches the command pressure faster.
RMC100 and RMCWin User Manual 4.12.7 Position-Pressure Example (Part 5) This is Part 5 of the complete step-by-step example of setting up and tuning a position/pressure axis. Part 5: Tuning the position-to-pressure transition. Now that the position has been tuned and the pressure has been tuned, we can focus on the transition from position to pressure. • 4-56 Run Event Step 1 again. It looks like this: o The pressure lags after pressure control begins.
Position/Pressure Control 4.12 • Notice that there is some overshoot when the pressure ramps up and down. This is because the rate of change in pressure is high. During normal operation, the rate should be lower. The system is tuned for a high rate because a system stable at a high rate will generally be stable at a lower rate. The converse is not true, i.e. a system tuned for a low rate will not necessarily be stable at a higher rate. • If the rate of change in pressure is changed (i.e.
RMC100 and RMCWin User Manual o • To keep the pressure from lagging when entering pressure control in this case, the speed entering pressure control can changed to closer match the axis speed once pressure control has been entered. This will result in a smaller change in speed at the transition, and less pressure lag. • Currently, the entering speed is 1000 (1 in/sec, from Step 6, Speed field).
Position/Pressure Control 4.12 o • The overshoot disappeared because the pressure did not change as quickly. There is some lag upon the transition, but can likely be corrected by adjusting the entering speed. Another method of eliminating the lag immediately after the transition is to use the following two parameters: o Integrator Preload o Drive Transfer Percent Both of these parameters add drive to the Integral Drive when pressure control begins.
RMC100 and RMCWin User Manual o • Selecting "Always Active" in the Integrator Mode field of the Mode word in Step 4 (do this by double-clicking the Mode word in Step 4) and running event Step 1 results in the following plot: o 4-60 Note that the pressure lags much less immediately after the transition, but the pressure begins to lead because the Integral Drive has not yet unwound. This is probably because "Integrator Active Only at Pressure" was selected in the mode word of Step 4.
Position/Pressure Control 4.12 o The results are much better. Notice how the pressure leads a little, but it eventually tapers off and the pressure is right on when it reaches the commanded pressure. o Increasing the Integral gain makes a system more prone to oscillation. It may be necessary to reduce it a little. • The system is now fairly well tuned. The RMCWin window now looks like this: • Now that the system is tuned, it is important to enable any Auto Stops that were set to Status Only.
RMC100 and RMCWin User Manual • On most systems, it is preferable to have any axis errors cause a Soft or Hard Stop for safety. Additionally, Soft Stops are often desirable because they slowly stop the axis. A Hard Stop immediately puts the drive output to 0 volts, which in some cases can cause a sudden (and potentially dangerous) jerk in the system. Carefully consider your system requirements before determining how to set the Auto Stop bits. In this case, all the Auto Stops are set to Soft Stop.
RMC100 and RMCWin User Manual 5 Communications 5.1 Digital I/O 5.1.
Digital I/O 5.1 CPU: Independent DI/O: Common high or low side Logic polarity CPU: True High DI/O: Configurable (True high default) Isolation 2500 VAC RMS Maximum voltage ±30 V (DC or peak AC) Maximum current ±100 mA Max. propagation delay 1.5 ms Logic 1 Low impedance (50 W maximum) Logic 0 High impedance (<1 mA leakage current at 250 V) 5.1.2 Digital I/O Wiring Digital Outputs The outputs from the Digital I/O’s are solid state relays (SSRs).
RMC100 and RMCWin User Manual for detail. Figure #1: SSR switching inductive load; high-side configuration To calculate the maximum current through the SSR in the above diagram, we assume zero SSR resistance: Max. current = 24V / 240W = 100mA Max. current = 5V / 240W = 20.8mA In the 24V case, the maximum current is right at the maximum allowed by the SSRs. The outputs may be overpowered if the coil resistance is reduced further.
Digital I/O 5.1 Figure #2: SSR switching resistive load; low-side configuration To calculate the maximum current through the SSR in the above diagram, we assume zero SSR resistance: Max. current = 24V / 470W = 51.1mA Max. current = 5V / 470W = 10.6mA Notice that both maximum current are well within the ratings. To calculate the typical current through the SSR, we use the typical SSR resistance of 25W: Typical current = 24V / (470W + 25W) = 48.5mA Typical current = 5V / (470W + 25W) = 10.
RMC100 and RMCWin User Manual (sinking) outputs. See the discussion below for using sinking outputs. Note: Because the inputs are designed for use with 5V outputs, the threshold is 2.75VDC. This is a small percentage of the 24V output. As a result, it is important that the inputs have very little noise. If noise is a problem, we recommend that the wiring be rearranged so the noise in the wires is reduced.
Digital I/O 5.1 Figure #5: Open Collector Outputs to RMC CPU Inputs The RMC’s DI/O inputs are not optimized for use with open collector (sinking) outputs. The difficulty arises from the fact that sinking outputs have a common ground, but the DI/O also needs a common ground. Therefore, pullup resisters must be used, as shown in the following diagram (resister values are described below): Figure #6: Open Collector Outputs to RMC DI/O Inputs For 24VDC power, R should be a 3.3kW, ½ watt resister.
RMC100 and RMCWin User Manual To divide the inputs, attach resisters to each input as shown in the following diagram: This configuration will reduce noise susceptability by a factor of about five. See also: General Wiring Information 5.1.3 Using Counters Both the Communication Digital I/O and Sensor Digital I/O modules are equipped with quadrature and edge counters. Only one counter on the entire motion control module can be enabled at a time.
Digital I/O 5.1 On the RMC, inputs A and B are inputs 16 and 17 respectively on both digital I/O module. Note: Because of the 250µs filter on inputs 16 and 17, the maximum input frequency is 2000Hz. This translates to 8000 counts per second using the quadrature counter. Using Counters There are currently two primary uses for counters on the motion controller: 1. They can be used to delay based on an input when using the Event Step table using the DelayTicks (d) link type. 2.
RMC100 and RMCWin User Manual • The outputs can be set using the Set Outputs and Reset Outputs commands. For details on additional discrete I/O options, see Using the Communication Digital I/O and Using the Sensor Digital I/O. It is highly recommended that the I/O Bit Monitor be used for debugging wiring of these discrete inputs. 5.1.5 Sensor Digital I/O 5.1.5.
Digital I/O 5.1 3. Click Slot options. The Sensor Digital I/O dialog box has the following areas: • Invert Inputs check boxes To invert inputs, select the check boxes of the inputs you want inverted. When digital inputs are displayed with the I/O Bit Monitor they are displayed after they have been inverted. • Invert Outputs check boxes To invert outputs, select the check boxes next to the outputs you want inverted.
RMC100 and RMCWin User Manual 3. Click Slot options. The Communication DI/O Options dialog box has the following areas: • Invert Inputs To invert inputs, check the boxes next to the inputs you want inverted. When digital inputs are displayed with the I/O Bit Monitor they are displayed after they have been inverted. • Invert Outputs To invert outputs, check the boxes next to the outputs you want inverted.
Digital I/O 5.1 been set up to trigger a Soft or Hard Stop by the Auto Stop word, then the Ready output will turn off even if the Run/Stop output is on. Therefore, the Ready output will be on if the Run/Stop output is on and there are no Auto Stop errors on any of the selected axes. This dialog box has two available commands: • Update RMC This command sends the Communication Digital I/O options to the RMC, issues an Update Flash command, and resets the RMC to make all changes take effect.
RMC100 and RMCWin User Manual Digital Inputs The digital inputs are reserved by the current mode you are using. Refer to Input to Event Mode, Parallel Position Mode, Command Mode, or Parallel Event Mode for details. Digital Outputs The Communication Digital I/O has eight digital outputs. When using Input to Event Mode, Parallel Position Mode, or Parallel Event Mode, these inputs can be used in the following three ways. Refer to Command Mode for details on their use in that mode.
Digital I/O 5.1 Output RMC100-M3 RMC100-M4 0 In Position (Axis 0) In Position (Axis 0) 1 In Position (Axis 1) In Position (Axis 1) 2 In Position (Axis 2) In Position (Axis 2) 3 In Position (Axis 3) In Position (Axis 3) 4 In Position (Axis 4) In Position (Axis 4) 5 In Position (Axis 5) In Position (Axis 5) 6 User Controlled In Position (Axis 6) 7 User Controlled In Position (Axis 7) 5.1.6.
RMC100 and RMCWin User Manual 1. Raise the CPU input 0. This input is also called Run/Stop. CPU input 1 should start low. 2. Wait for the CPU output 0 to raise. This input is called Ready. 3. Place a 16-bit command word on digital inputs 0-15. This word gives the command type and also information for which data is requested back. See Command Words for Command Mode for details on using this word. 4. Raise the Command Strobe. 5. Wait for CPU output 1 to toggle.
Digital I/O 5.1 To use this dialog box: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the Comm Digital I/O item. 3. Click Slot options. 4. In the DI/O mode list, click Command. 5. Click Mode options. 6. Select the desired options. 7. Click OK. 8. Click Update RMC. 9. The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually.
RMC100 and RMCWin User Manual Basic Operation When used in this mode, each digital input on the Communication Digital I/O corresponds to a row of the Input to Event table. The row has an entry for each axis. Each entry is used to specify a step the axis will execute in the step when the input is activated. If an axis is not to respond to the input then its entry should be -1. Refer to that topic for further details.
Digital I/O 5.1 User-defined Outputs Note: This feature is available only in firmware version 19980414 and later. As described in Features Shared by All Modes, many of the digital outputs are pre-defined. However, under Input-to-Event mode, it is often useful to reserve one or more of these outputs to be triggered explicitly by the event step table (for example, when a sequence of events finish, an output can be set high). Check the boxes of the output numbers you wish to reserve for this purpose.
RMC100 and RMCWin User Manual 1 0 2* 1 1 3* Axis Select Bits when Quadrature Counter is Used: CPU Input 1 Axis 0 0 1 1 * When an axis is selected that is not present on the motion module, the single-axis input is ignored. 5.1.6.5 Using Parallel Position Mode In this mode, the user can give simple Go and Open Loop commands using discrete inputs. Refer to Features Shared by All Modes for details on input and output assignments that are common to all modes.
Digital I/O 5.1 If the CPU input 1 has been reserved to select Open Loop mode and this bit is set, then when a new command value is given, an Open Loop command will be issued with the command value read from Digital I/O inputs 0-15. Otherwise, a Go command will be issued, also using the command value read from Digital I/O inputs 0-15. Configuring Parallel Position Mode This is done using the Parallel Position Mode Options dialog box: To use this dialog box: 1.
RMC100 and RMCWin User Manual axis and profile select bits must be updated simultaneously. Because this will never happen exactly simultaneously, a filter is necessary. Use this field to set the number of milliseconds that all eighteen inputs of the Digital I/O, plus CPU input 1 must hold their values before the new values are considered a new command.
Digital I/O 5.
RMC100 and RMCWin User Manual 0 1 1 3 3 1 0 0 4 4 1 0 1 5 5 1 1 0 6 6 1 1 1 7 7 5.1.6.6 Using Parallel Event Mode Note: This mode is available only in firmware version 19980706 and later. This mode is intended for use with devices that can provide parallel outputs, such as PLCs and thumb-wheel switches.
Digital I/O 5.1 Input 16 Axis 0 Command Trigger Input 17 Axis 1 Command Trigger Outputs 0-7 Described in Features Shared by All Modes. Sensor DI/O: Inputs 0-7 Axis 2 Command Event Step (in binary) Inputs 8-15 Axis 3 Command Event Step (in binary) Input 16 Axis 2 Command Trigger Input 17 Axis 3 Command Trigger Outputs 0-7 User-controlled with Set Outputs and Reset Outputs commands. The CPU inputs, CPU outputs, and DI/O outputs are described in Features Shared by All Modes.
RMC100 and RMCWin User Manual 7. Click OK. 8. Click Update RMC. 9. The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually. To Set the Input Filter When a new event number is written to an axis, all eight event-number bits plus the trigger bit for the same axis must be updated simultaneously. This will never happen exactly at the same time, so an input filter must be used.
Digital I/O 5.
RMC100 and RMCWin User Manual This process begins assuming that Run/Stop and Command Strobe are set low by the PLC. In the steps below inputs and outputs are labeled as ”r;CPU” or ”r;DI/O”. These labels refer to the CPU and DI/O modules of the RMC product, and not of the PLC: 1. Raise the Run/Stop (CPU input 0) line on the RMC. This is done on startup of the PLC. 2. Wait for the Ready (CPU output 0) line on the RMC to go high in response to the Run/Stop line. This begins the first PLC scan. 3.
Digital I/O 5.1 • On the Tools menu, click Module Configuration. • In the Slots list, click the Communication DI/O item, and then click Slot options. • In the DI/O mode list, select Command mode. • If you need to invert any inputs or outputs to match your hardware, select the appropriate check boxes in the Invert inputs and Invert outputs areas. • If you wish to use the Communication DI/O counter feature, click either Edge or Quadrature under Counter Type.
RMC100 and RMCWin User Manual The ’r;2’ in the Mode field indicates that the acceleration and deceleration are given as distances. For details on the motion profile table, look up Profiles in the RMCWin online help. This profile table and the tuning parameters can either be stored in the RMC’s Flash memory, or stored in the Programmable Controller and downloaded using the Set Parameter commands. We’ll assume they are stored in the Flash.
Digital I/O 5.
RMC100 and RMCWin User Manual good reference for this information. Input to Event mode does not require multiple inputs to be switched simultaneously. For this reason, many applications can use the RMC without a controlling PLC. The following points describe the operation of Input to Event mode: • Parameters and tables used by the RMC are configured using the RMCWin software and stored in the RMC Flash memory.
Digital I/O 5.1 Using the RMCWin software, these outputs may be marked to be user-controlled instead of being used for the above default assignments. User-controlled outputs are set and cleared from the Event Step table. The following features of Input to Event mode add complexity to the mode, and are necessary only for a small number of applications: • Using RMCWin, any of the Trigger inputs can be marked as Single-axis inputs.
RMC100 and RMCWin User Manual 3. Program the Input to Event Table Programming the Input to Event table is described in the RMCWin online help. This table serves the purpose of mapping edges of inputs to event sequences in the Event Step table. Be sure to save your Input to Event table both in the RMC Flash memory and on disk from RMCWin. 4.
Digital I/O 5.1 The following simple control panel will be used for this application: The buttons and indicators are to operate as follows: • The E-stop button—closed when pulled, and open when pushed—must be pulled in order for the system to run. When pressed, the system will halt immediately. • The normally-open Run button starts the extension and retraction cycle of the cylinders. • The green Ready light indicates when power is supplied and the E-stop is not pushed.
RMC100 and RMCWin User Manual Simply by wiring the system, many of the controls are already handled: o The E-stop button enables or halts the axes as wired into the Run/Stop (CPU input 0) input of the RMC. o The Ready light works as specified because the Ready (CPU output 0) output on the RMC is on when the system is not halted by the Run/Stop. o The Error light works as specified because it combines the Stop on Error status outputs (DI/O outputs 4 and 5) of the two axes.
Digital I/O 5.1 3. Program the Input to Event Table The final step is to cause DI/O input 0 to trigger the event sequence shown. This is done with the following simple Input to Event table: This single table entry causes axis 0 to start the event sequence beginning with step 1 whenever DI/O input 0 has a rising edge. 4. Configure the RMC Communication The steps required for this procedure are described in the Implementation section of this Technical Brief.
RMC100 and RMCWin User Manual This technical brief will compare the four discrete I/O interfaces of the RMC100 series productline, describe implementing Parallel Position Mode, and finally provide a sample application using Parallel Position Mode. DI/O Communication Mode Comparison The following chart lists the advantages and disadvantages of each communication mode. Each word or phrase in bold print appears in RMCWins online help index.
Digital I/O 5.1 This document discusses only the connections between the Programmable Controller and the RMC. For details on the transducer and drive wiring, look up Wiring Notes in the RMCWin index. The following points describe the operation of Parallel Position mode: • Parameters and tables used by the RMC are configured using the RMCWin software and stored in the RMC Flash memory.
RMC100 and RMCWin User Manual 1 Three or four axes: 1 DI/O Input 17 Input 16 0 1 0 1 0 0 1 1 Four or more axes: CPU Input 1 Axis # 0 1 2 3 DI/O Input 17 0 0 1 1 0 0 1 1 0 0 0 0 1 1 1 1 Input 16 0 1 0 1 0 1 0 1 Axis # 0 1 2 3 4 5 6 7 • The user may select from RMCWin whether profiles 4-7 are used as open or closed loop commands. Profiles 0-3 are always used as closed loop commands.
Digital I/O 5.1 3 4 5 6 7 Axis 3 In Position Axis 0 Stop on Error Axis 1 Stop on Error Axis 2 Stop on Error Axis 3 Stop on Error Axis 3 In Position Axis 4 In Position Axis 5 In Position Axis 6 In Position Axis 7 In Position The following general steps must be taken to set up a system using Parallel Position mode: 1. Design the System Designing the system begins with selecting the appropriate method of communication.
RMC100 and RMCWin User Manual box. • Click OK. • Click Update RMC. • The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually. 4. Wire, Test, and Tune the System Wiring and testing should follow your design. Tuning the system is described in the RMCWin online help. Be sure to save your tuning parameters both in the RMC Flash memory and on disk from RMCWin.
Digital I/O 5.1 memory, the following steps are used to make the moves. 3. Configure the RMC Communication The steps required for this procedure are described in the Implementation section of this Technical Brief. You should not need to invert any inputs or outputs, nor should you need to allow open loop select. You may need to change the Input Filter setting depending on your I/O speed. 4. Wire, Test, and Tune the System The system should be wired as described in the design above.
RMC100 and RMCWin User Manual • Throughout this technical note, references are made to RMCWin online help index entries. To obtain the RMCWin software package, contact Delta Computer Systems web site (www.deltacompsys.com). 5.1.6.10 Technical Brief: Using the RMC Discrete I/O Parallel Event Mode Abstract The RMC-DI/O is capable of sophisticated motion control using small and inexpensive Programmable Controllers with simple discrete I/O.
Digital I/O 5.
RMC100 and RMCWin User Manual Inputs 8-15 Axis 1 Event Step Input 16 Axis 0 Trigger Input 17 Axis 1 Trigger Outputs 0-7 Status Bits Sensor DI/O (required only if more than two axes are used): Inputs 0-7 Axis 2 Event Step Inputs 8-15 Axis 3 Event Step Input 16 Axis 2 Trigger Input 17 Axis 3 Trigger Outputs 0-7 Unused • Parameters and tables used by the RMC are configured using the RMCWin software and stored in the RMC Flash memory.
Digital I/O 5.1 3 4 5 6 7 Axis 3 In Position Axis 0 Stop on Error Axis 1 Stop on Error Axis 2 Stop on Error Axis 3 Stop on Error Axis 3 In Position Axis 4 In Position Axis 5 In Position Axis 6 In Position Axis 7 In Position o Using the RMCWin software, these outputs may be marked to be user-controlled instead of being used for the above default assignments. User-controlled outputs are set and cleared from the Event Step table.
RMC100 and RMCWin User Manual 5. If you need to invert any inputs or outputs to match your hardware, select the appropriate check boxes in the Invert inputs and Invert outputs areas. 6. Click Mode options. 7. In the Input Filter box, enter the number of milliseconds you wish to have the RMC wait for the inputs to settle. You may need to change this more than once if you are not sure how long you should delay. If you don’t need the speed, it may be wise to be conservative and select 20ms. 8.
Digital I/O 5.1 Notice that the eight Event Step number bits are wired to hold the following values: When this binary number is converted to decimal, the selectable step numbers range is 16-25. The reason bit 4 is tied high is to avoid using event step 0, without which the range would be 0-15. Event step 0 is used—by convention—as a step which does nothing. 2. Program the Event Step table We will use the steps selected by the thumb-wheel (16-25) to perform the first move.
RMC100 and RMCWin User Manual 4. Wire, Test, and Tune the System The system should be wired as described in the design above. Test the functionality of the final system, and finally tune the system as described in the RMCWin online help. Reference Throughout this technical note, references are made to RMCWin online help index entries. To obtain the RMCWin software package, contact Delta Computer System’s web site (www.deltacompsys.com). 5.2 Ethernet 5.2.
Ethernet 5.2 Sockets to Access the RMC ENET for details. Note: The RMC ENET does not support any of the native protocols built into Windows. That is, the RMC does not support Web browsers, FTP, e-mail, and browsing through Network Neighborhood. Configuring the RMC Ethernet Module Setting up the RMC Ethernet module requires entering only a few TCP/IP parameters: configuration type, IP address, subnet mask, and gateway address. See RMC Ethernet IP Address Setup for details on entering these values.
RMC100 and RMCWin User Manual they do not understand one another's data. Example: Try connecting a serial cable between a PC running TISOFT and an Allen-Bradley SLC 5/05. TISOFT expects one protocol, while the AllenBradley expects another. It is important to know which devices the RMC supports.
Ethernet 5.2 • Using the SoftPLC with the RMC ENET 5.2.3 Using the RMC ENET with RMCWin RMCWin 2.0 and newer can communicate directly with the RMC ENET module over Ethernet. This requires RMC ENET firmware dated 20010523 or later. The following topics relate to getting RMCWin to connect to an RMC ENET: • Connecting RMCWin to an RMC • Communication Drivers: TCP/IP Direct to RMC-ENET • RMC Ethernet IP Address Setup 5.2.4 Ethernet Setup Topics 5.2.4.
RMC100 and RMCWin User Manual 4. Under Communication Drivers, click TCP/IP Direct to RMC-ENET. 5. Under Settings, either ensure that Autobrowse Local Network is checked or click Refresh. You should see all RMCs on the network that your PC's Ethernet adapter is connected to. Notice that you will not see RMCs with RMC ENET firmware dated prior to 20010523, nor will you see TCP/IP-to-RS232 bridges even if they are connected to RMCs. 6. In the browse list, select the RMC ENET you want to configure.
Ethernet 5.2 Selecting a Configuration Method The first decision to be made is the method you will use to configure the IP address of your device. Here are the three options selected in the TCP/IP tab of the Ethernet Options dialog box: • Manually specify an IP address Using this method, the administrator keeps a record of all IP addresses assigned for each network, as well as the subnet mask and default gateway of the network.
RMC100 and RMCWin User Manual Therefore, the enhanced features of DHCP over those of BOOTP are not useful. However, DHCP still supports the one-to-one mapping of MAC addresses to IP addresses provided by BOOTP. Therefore, DHCP is offered as an alternative only to allow you to purchase either a DHCP or BOOTP server if you choose to use such a protocol. IP Address Subnet Mask Default Gateway These three fields are described in Understanding IP Addressing.
Ethernet 5.2 Care should be taken to use a high-quality switch that will support your temperature, noise, vibration, and other environmental requirements. It is also important to use a switch rather than a hub to avoid collisions, which reduce the determinism of the network. Both hubs and Category 3 or 5 (commonly called CAT3 or CAT5) cabling are readily available from network supply companies. 2. Select a network address and subnet mask. By convention, the network address 192.168.
RMC100 and RMCWin User Manual This field gives the version of the Boot firmware in the RMC Ethernet module. • Loader Version This field gives the version of the internal Loader firmware used for updating the main Ethernet program. • Hardware Revision The hardware revision of the RMC Ethernet firmware is displayed. Unlike the above versions, this cannot be field upgraded without replacing the module.
Ethernet 5.2 • Refresh Pressing this button will read all counters from the module. This operation takes place immediately and only happens once each time the button is pressed. This button is not available if the Continuous Update checkbox is checked. • Clear Pressing this button will clear all counters in the module. This is often useful to see the affect of a change to the system. For example, suppose you change your controlling PLC's ladder logic and want to see its affect on the transfer rate.
RMC100 and RMCWin User Manual • Total Broadcast Pkts Sent This is the count of packets the RMC sent to the broadcast MAC address. This is typically done only when the RMC is requesting a BOOTP or DHCP server to respond with its IP address. • CPU Load % (Last) (requires 20010831 or newer RMC ENET firmware) This value gives the percent of CPU time that is currently being used. The closer this number approaches 100, the slower it will respond to incoming requests.
Ethernet 5.2 • Tx Retries This is the total of all transmit retries due to collisions. Therefore it is the sum of all the Single Tx Collisions and the retries for each Multiple Tx Collision. For example, suppose there were 32 single-collisions transmits, 2 two-collision transmits, and 1 three-collision transmits . The Single Tx Collisions counter would hold 32, the Multiple Tx Collisions counter would hold 3, and the Tx Retries counter would hold 39 ([32 x 1] + [2 x 2] + [1 x 3]).
RMC100 and RMCWin User Manual • Close Close the Ethernet Activity Log window. 5.2.5 Ethernet Informational Topics 5.2.5.1 Understanding IP Addressing IP Address A fundamental part of setting up a TCP/IP network is setting up IP addresses. An IP address is a 32-bit number that is generally displayed in dotted decimal format, in which each octet (8 bits) of the address is displayed in decimal format, and each value is separated by period (e.g. 192.168.0.5).
Ethernet 5.2 must go through an IP router. An IP router is a device that sends packets it receives from one network that are intended for devices on another network to the other network. Here is the example intranet: How does 192.168.0.5 send a message to 192.168.1.8? The answer is that it must use a third parameter called the default gateway. This parameter is the IP address of the router who will take care of getting the packet to its destination.
RMC100 and RMCWin User Manual This diagram shows the four conceptual layers of TCP/IP: application, transport, internet, and framing. A fifth layer—the hardware layer—is often added below these four layers, but is left out of this diagram because it is more of a specification of how the data is sent rather than another protocol header. When a device is sending a packet the packet is assembled from the top layer down, but when receiving a packet, it must be processed from the bottom layer up.
Ethernet 5.2 Each protocol is briefly described below: • ARP (Address Resolution Protocol) Ethernet packets can either be broadcast (received by all devices on the network) or sent to a single MAC address. However, applications generally address computers by IP address rather than MAC address. Therefore, this protocol is used to determine the MAC address of the computer owning a given IP address.
RMC100 and RMCWin User Manual This is an open application protocol developed and used by Omron Electronics Inc. This protocol is available over a number of media, including Ethernet and serial. Additional information is available in the CS1 Communications Reference Manual, available on Omron's web site: http://www.omron.com/oei. • HEI (Host Engineering Inc) This is a proprietary protocol controlled by Host Engineering Inc (http://www.hosteng.com).
Ethernet 5.2 5.2.6 Controlling and Monitoring the RMC over Ethernet 5.2.6.1 Allen-Bradley Controllers 5.2.6.1.1 Using Allen-Bradley Controllers with the RMC Ethernet Module Allen-Bradley has several Ethernet options for its PLCs. The SLC 5/05 and Ethernet PLC-5E controllers each have a built-in Ethernet port. The ControlLogix uses the 1756-ENET or 1756ENBT communication module to use Ethernet, and PLC-5 controllers other than the PLC-5E can have Ethernet added using a PLC-5 Ethernet Interface Module.
RMC100 and RMCWin User Manual • Type: This parameter is always set to Peer-To-Peer for Ethernet communication channels. • Read/Write: This parameter should be set to Read to read registers from the RMC, and to Write to write registers to the RMC. • Target Device: This parameter has possible values of 500CPU, 485CIF, and PLC5. This should be set to PLC5 for communicating with the RMC. • Local/Remote: This parameter has possible values of Local and Remote.
Ethernet 5.2 PLC-5 MSG Block Parameters: The PLC-5 MSG block is displayed as follows: • Control: This parameter points to a block of 51 N-file (integer) registers or two (2) MG-file (message) registers. Set this to an unused block of registers, and then use the Setup Screen option in the MSG ladder logic block to modify those register values: • o This PLC-5: This section holds parameters for the PLC-5.
RMC100 and RMCWin User Manual To edit the parameters of the message block, select the MSG block, and click on the button with the ellipses to the right of the message tag name (msgReadStatus in the example above). This will bring up a dialog with two tabs. Each is described below: • Configuration tab: o Message Type: From this drop-down list, select PLC5 Word Range Read to read values from the RMC, or PLC5 Word Range Write to write values to the RMC.
Ethernet 5.2 Using the Examine If Open instruction as shown below fulfills two requirements of continuous MSG transactions.
RMC100 and RMCWin User Manual • RMC Register Map (Siemens S7) • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) Allen-Bradley offers several Ethernet and serial solutions for its ControlLogix, SLC, PLC-5, and SoftLogix 5 controllers. In addition, SoftPLC emulates the PLC-5 and therefore also uses AllenBradley's Ethernet protocol. Over this protocol, the RMC's registers are broken into a number of integer files.
Ethernet 5.2 N7:30-39 Same as above but for axis 3 N7:40-49 Same as above but for axis 4 N7:50-59 Same as above but for axis 5 N7:60-69 Same as above but for axis 6 N7:70-79 Same as above but for axis 7 Command Registers: These registers can be read or written.
RMC100 and RMCWin User Manual N7:128 Axis 0 Configuration Word N7:129 Axis 0 Scale N7:130 Axis 0 Offset N7:131 Axis 0 Extend Limit N7:132 Axis 0 Retract Limit N7:133 Axis 0 Proportional Gain N7:134 Axis 0 Integral Gain N7:135 Axis 0 Differential Gain N7:136 Axis 0 Extend Feed Forward N7:137 Axis 0 Retract Feed Forward N7:138 Axis 0 Extend Acceleration Feed Forward N7:139 Axis 0 Retract Acceleration Feed Forward N7:140 Axis 0 Dead Band Eliminator N7:141 Axis 0 In Position Window
Ethernet 5.2 (n) File (f) 0-31 N9 (n-0)x8 32-63 N10 ( n - 32 ) x 8 64-95 N11 ( n - 64 ) x 8 96-127 N12 ( n - 96 ) x 8 128-159 N13 ( n - 128 ) x 8 160-191 N14 ( n - 160 ) x 8 192-223 N15 ( n - 192 ) x 8 224-255 N16 ( n - 224 ) x 8 Note: On Allen-Bradley PLCs, reads and writes that extend beyond the end of an RMC register file will continue into the next file or files.
RMC100 and RMCWin User Manual Nf:r + 4 Step n (0-255) Command Value Nf:r + 5 Step n (0-255) Command/Commanded Axes Nf:r + 6 Step n (0-255) Link Type/Link Next Nf:r + 7 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.
Ethernet 5.2 AllenBradley and SoftPLC Register Description N18:0-63 Status Map Entries Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph. The values written to these registers tell the controller which extra plot information to obtain on the next plot.
RMC100 and RMCWin User Manual bit # AllenBradley bit # 15 14 13 12 11 10 9 8 The bit numbers listed in the table below are in RMC format (0 is LSB, 15 is MSB): AllenBradley and SoftPLC Register Description N18:72 CPU Digital Inputs 0 and 1 in LSBs of low byte, Outputs 0 and 1 in LSBs of high byte N18:73 Unused N18:74 Unused N18:75 Sensor Digital I/O Inputs 0-15 N18:76 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) N18:77 Sensor Digital I/O Outputs 0-7 in high byte (low byte unus
Ethernet 5.2 N18:84 Axis 4 plot time interval N18:85 Axis 5 plot time interval N18:86 Axis 6 plot time interval N18:87 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
RMC100 and RMCWin User Manual N18:99 Loader firmware year N18:100 Control firmware month (MSB) and day (LSB) N18:101 Control firmware year N18:102 Control firmware Beta Code. This will be 0 for standard release firmware, 'B' for Beta firmware, or 'SI' for Superimposed firmware. N18:103 Feature code.
Ethernet 5.2 AllenBradley and SoftPLC N20:0N47:255 Register Description Unused Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline. This is a much more efficient alternative to using individual New Spline Point and Set Spline Interval/End Segment commands. For details on using this Spline Download Area, see Downloading Splines to the RMC.
RMC100 and RMCWin User Manual N232:0N255:255 Plot data for axis 7 5.2.6.1.3 Using EtherNet/IP with the ControlLogix The ControlLogix PLCs support EtherNet/IP through the 1756-ENET/B and 1756-ENBT/A modules. EtherNet/IP is an exciting and innovative Ethernet protocol. This protocol is an open protocol managed by the Open DeviceNet Vendor Association (ODVA), ControlNet International, and the Industrial Ethernet Agency (IEA).
Ethernet 5.2 DL405 D4430 Cannot use Plots and the Spline Download Area. D4440 Cannot use Plots. D4450 Cannot use Plots. Note: The documentation below assumes the user to be familiar with DirectLogic PLC programming, and instead focuses on how to initiate reads and writes to an RMC. The standard method of initiating data transfers from a DirectLogic 205/405 PLC is to use the RX and WX instructions. These instructions send data over raw Ethernet packets without using TCP/IP at all.
RMC100 and RMCWin User Manual 3. Start NetEdit on your PC. 4. Under Protocol, select UDP/IP. The program will take approximately 1 second to scan the network for devices. 5. You should now see one or more devices in the Module list. The devices beginning with 00 50 A0 are RMCs. Devices beginning with 00 E0 62 are most likely ECOM modules. 6. Click the RMC in the Module list. The rest of the NetEdit application should update to hold the information for the RMC.
Ethernet 5.2 specify a register holding the value to put on the stack. For the most part these additional methods are not described in this manual but can be found in the DL205 PLC User Manual and DL405 PLC User Manual. Note: Recall that DirectLogic V-memory addresses are given in octal. Refer to the DL205/405 PLC User Manual for a description of octal. Here is a description of the values placed on the stack: Value Description First This 16-bit BCD value is divided into three fields.
RMC100 and RMCWin User Manual Example 2 The user has an ECOM in slot 1 of the CPU base and an RMC with Module ID 5. The user wants to write all six command words to all eight axes on the RMC, using the commands in V3000V3057. This is done as follows: Indirect Addressing When communicating with the RMC with its large memory map, there may be times where it is desirable to read continuous blocks of data.
Ethernet 5.2 protocols, see the following topics: • RMC Register Map (Allen-Bradley) • RMC Register Map (Modbus/TCP and Modbus/RTU) • RMC Register Map (Omron FINS) • RMC Register Map (Siemens TI505) • RMC Register Map (Siemens S7) • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The various Automationdirect.com DL205/405 PLCs have different ranges of V-memory that can be accessed via the Ethernet.
RMC100 and RMCWin User Manual V12-V23 Same as above but for axis 1 V24-V35 Same as above but for axis 2 V36-V47 Same as above but for axis 3 V50-V61 Same as above but for axis 4 V62-V73 Same as above but for axis 5 V74-V105 Same as above but for axis 6 V106V117 Same as above but for axis 7 Command Registers: PLC Support: D2-240, D2-250, D4-430, D4-440, and D4-450 These registers can be read or written. Note: V0-V177 may be displayed as TA0-TA177, called aliases.
Ethernet 5.2 V163 V164V171 Same as above but for axis 6 V172V177 Same as above but for axis 7 Parameter Registers: PLC Support: D2-240, D2-250, D4-430, D4-440, and D4-450 These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed. Note: V1000-V1177 may be displayed as CTA0-CTA177, called aliases.
RMC100 and RMCWin User Manual V1020V1037 Same as above but for axis 1 V1040V1057 Same as above but for axis 2 V1060V1077 Same as above but for axis 3 V1100V1117 Same as above but for axis 4 V1120V1137 Same as above but for axis 5 V1140V1157 Same as above but for axis 6 V1160V1177 Same as above but for axis 7 Event Step Table Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450: Full 256-step table D2-240: Only the first 160 steps (up to V4377) These registers can be read or written.
Ethernet 5.2 V2001+n*10 Step n (0-255) Acceleration V2002+n*10 Step n (0-255) Deceleration V2003+n*10 Step n (0-255) Speed V2004+n*10 Step n (0-255) Command Value V2005+n*10 Step n (0-255) Command/Commanded Axes V2006+n*10 Step n (0-255) Link Type/Link Next V2007+n*10 Step n (0-255) Link Value Input to Event Table Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) These registers can be read or written.
RMC100 and RMCWin User Manual n Falling Edge Status Map Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by Automationdirect.com Ethernet. Vmemory Address V6400V6437 Register Description Status Map Entries Plot Type Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) The plot type registers can be read or written.
Ethernet 5.2 Digital (Discrete) I/O Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs.
RMC100 and RMCWin User Manual V6522 Axis 2 plot time interval V6523 Axis 3 plot time interval V6524 Axis 4 plot time interval V6525 Axis 5 plot time interval V6526 Axis 6 plot time interval V6527 Axis 7 plot time interval Last Parameter Error Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) Note: To use these registers, you must have RMC100 CPU control firmware dated 19990715 or later.
Ethernet 5.2 Address Register Description V6540 Boot firmware month (MSB) and day (LSB) V6541 Boot firmware year V6542 Loader firmware month (MSB) and day (LSB) V6543 Loader firmware year V6544 Control firmware month (MSB) and day (LSB) V6545 Control firmware year V6546 Control firmware Beta Code. This will be 0 for standard release firmware, 'B' for Beta firmware, or 'SI' for Superimposed firmware. V6547 Feature code.
RMC100 and RMCWin User Manual V10000V17777 Spline Download Area Plot Registers: Due to the limited addressing supported by the Automationdirect.com DirectLogic 205/405 PLCs, plots cannot be read through the Ethernet. 5.2.6.3 EtherNet/IP Controllers 5.2.6.3.1 Using EtherNet/IP with the RMC ENET EtherNet/IP is an exciting and innovative Ethernet protocol.
Ethernet 5.2 it initiate messaging transactions. Therefore, an active EtherNet/IP device or client is required to control the RMC or request data from the RMC. As of this writing, the only EtherNet/IP client available is the Allen-Bradley ControlLogix PLC. Therefore, much of this documentation is geared toward setting up EtherNet/IP between RMCs and ControlLogix PLCs.
RMC100 and RMCWin User Manual 4. In the shortcut menu that appears, click New Module.
Ethernet 5.2 5. Click the ETHERNET-MODULE type and click OK.
RMC100 and RMCWin User Manual 6. Fill in the fields in this dialog box as follows: General: Name Type a valid module name for the RMC. Description Type a description. Comm Format Select one of the following formats: Data - INT Input and Output Data will be allocated. Only a single connection originator (ControlLogix CPU) can use this format for any given RMC. Input Data - INT Input Data only will be allocated. Up to four connection originators can use this format simultaneously.
Ethernet 5.2 8. Type a Requested Packet Interval (RPI) between 5.0 and 3200.0 ms in steps of 1.0 ms. The RMC ignores fractions of a millisecond and cannot support an RPI below 5.0 ms. 9. Set the Inhibit Module and Major Fault On Controller if Connection Fails While in Run Mode check boxes as required by your application. 10. Click Finish. The above steps will allocate two or three tags in the Controller Tags database in RSLogix 5000.
RMC100 and RMCWin User Manual 5.2.6.3.3 Establishing Multiple I/O Connections with a Single RMC Each RMC can support I/O connections with up to four EtherNet/IP clients such as the ControlLogix 1756-L1. Each connection in an RMC must use the same RPI and Input Data size. Also, only one of these can use a controlling connection. The rest must use Input Only connections. A controlling connection is one that has both input and output data.
Ethernet 5.2 Notice how the RMC produces one data frame that is consumed by all three clients using what is called a multicast. All three clients produce data frames consumed by the RMC, but only one has data for the RMC (CL1 in this example). The other two are heartbeat frames to time out old connections. These heartbeat connections are shown as dotted lines in the above diagram.
RMC100 and RMCWin User Manual 1 10 11 21 31 41 51 61 71 10 10 10 10 10 10 10 for details. Axis 0 Status. These ten registers correspond to the ten status registers displayed in RMCWin for an axis. Axis 1 Status. Same as for axis 0. Axis 2 Status. Same as for axis 0. Axis 3 Status. Same as for axis 0. Axis 4 Status. Same as for axis 0. Axis 5 Status. Same as for axis 0. Axis 6 Status. Same as for axis 0. Axis 7 Status. Same as for axis 0.
Ethernet 5.2 Otherwise, when the Sync Out Register is changed, the commands would be re-issued. 3. Write all required command fields to the Output Data for all commands you want to issue. You can issue up to one command per axis. Leave the Command field set to 0 for each axis that you do not want to issue a command to. 4. Change the Sync Out Register. The easiest way to do this is to add one to it. Some PLCs report an error when a register overflows (e.g.
RMC100 and RMCWin User Manual • The controlling connection is broken due to a timeout. This will occur when the cable is disconnected, when excessive collisions cause the connection to timeout, or when the client is powered off or reset. • The controlling client intentionally closes the connection. This can happen when an I/O connection is removed, when a new program is downloaded to the client, or when the connection is reconfigured to have a different RPI or data size.
Ethernet 5.2 The core of this ladder segment is reading the EntryStatus and FaultCode attributes from the RMC MODULE object using the GSV blocks. The MODULE objects are internal to the ControlLogix and represent external modules. In the Instance Name field of the GSV blocks, type the name you selected for the particular RMC module. If the connection to the module is running, then the high four bits of the EntryStatus will be equal to 4 and the FaultCode will be equal to 0.
RMC100 and RMCWin User Manual 5.2.6.3.6 RMC EtherNet/IP Definition 5.2.6.3.6.1 RMC EtherNet/IP Object Model This section describes the EtherNet/IP objects included in the RMC ENET. This information is useful only to advanced EtherNet/IP users or those who want to use the RMC ENET with an EtherNet/IP master other than the ControlLogix. For ControlLogix users, the other topics in this section should be adequate for using the RMC ENET over EtherNet/IP.
Ethernet 5.2 six command words per axis. 4 SINT 1 Configuration Various configuration options. Currently only the Broken Connection Action can be configured. See Controlling the RMC over EtherNet/IP I/O for details on the contents of these registers. For each I/O connection, the following options are allowed (the terms producing and consuming as used below are from the RMC's perspective): Setting Value Requested Packet Interval (RPI) 5,000 to 1,000,000,000 usec.
RMC100 and RMCWin User Manual Must be 4 (Configuration) Configuration Connection Point May be omitted or contain any number of bytes. All bytes except the first one must be zero. The first byte specifies the Broken Connection Action, as described in Handling Broken I/O Connections. Configuration Data (Data Segment) 5.2.6.3.7 EtherNet/IP Performance 5.2.6.3.7.
Ethernet 5.2 Connections 1 RPI 5.0 ms 7.0 ms 9.0 ms 12.0 ms 2 3 4 Example: Suppose you will be establishing one I/O connection to an RMC, and the RPI will be 15.0 ms. Use the formula above to compute the RMC ENET load: Frames/Second = (1 + connections) / RPI = (1 + 1) / 0.015s = 133 This is only 27% of the RMC ENET bandwidth. Therefore, a lot of processing time will be available for handling non-I/O traffic such as from RMCWin and ControlLogix MSG blocks. 5.2.6.3.7.
RMC100 and RMCWin User Manual 6 7 8 9 10 17.0 ms 20.0 ms 23.0 ms 25.0 ms 28.0 ms * The 1756-ENET has enough bandwidth for a single connection with an RPI as low as 3.0 ms, but the RMC does not support that low of an RPI. If the 1756-ENET is controlling other non-RMC I/O, the bandwidth required by these other connection will also need to be taken into consideration. The EtherNet/IP Performance and Application Guide covers these more advanced configurations.
Ethernet 5.2 Frames/Second = (2 x connections) / RPI + (2 x connections) / RPI = (2 x 1) / 0.005s + (2 x 2) / 0.015s = 400 + 267 = 667 This load is under the recommended 80% bandwidth (720 frames/second) of the 1756-ENET. Therefore, this network should work. 5.2.6.3.7.4 Evaluating the Load on the 1756-ENBT The 1756-ENBT has a total bandwidth of 5000 frames/second. If we reserve 10% of this bandwidth for non-I/O communications (RSLogix 5000, etc.), then we are left with 4500 frames/second.
RMC100 and RMCWin User Manual collision domains, each with two devices competing for its bandwidth. These smaller collision domains will yield a more deterministic and higher performance network. This is why we recommend using a switch instead of a hub. • A network has four RMCs and one 1756-ENET connection to a switch. The switch is then connected through a router to the rest of the plant network.
Ethernet 5.2 1 or more 2 or more 3 or more 4 or more 5 or more 6 or more 7 or more 8 or more 9 or more 0.14% 0.028% 0.0020% 0.000025% 0.0% 0.0% 0.0% 0.0% 0.0% 1.0% 0.23% 0.023% 0.0013% 0.000049% 0.000001% 0.0% 0.0% 0.0% 3.0% 0.80% 0.12% 0.011% 0.00066% 0.000041% 0.000002% 0.0% 0.0% 5.6% 1.7% 0.35% 0.052% 0.0044% 0.00029% 0.000017% 0.0% 0.0% 8.9% 3.0% 0.74% 0.14% 0.017% 0.0020% 0.00038% 0.000069% 0.000005% The above statistics were captured on a network using a switch.
RMC100 and RMCWin User Manual Computing Utilization for RMC/ControlLogix Ethernet Networks In order to predict the probability of collisions on collision domains of an Ethernet network used by EtherNet/IP between a ControlLogix 1756-ENET or ENBT and RMCs, we must compute the utilization on the various collision domains. The first step in computing utilization is to compute the bandwidth requirement for the collision domain.
Ethernet 5.2 For the first two collisions domains types, we will assume all devices are connected to a switch. For the third, we will assume all devices are connected to a hub. • The collision domain from the switch to an RMC ENET. When the switch does not support IGMP, this collision domain will receive all frames consumed by the RMC, plus all frames produced by any RMC on the network. When the switch does support IGMP, then this collision domain will receive all frames consumed and produced by the RMC.
RMC100 and RMCWin User Manual Example (IGMP not supported by switch): The ControlLogix/switch collision domains include all frames produced by any RMC on the network. This was computed for the previous collision domain: 543 frames/second. In addition to these frames, the ControlLogix/switch collision domains also include frames produced by the ControlLogix and consumed by the RMCs. CLX1 produces frames for RMC1, RMC2, and RMC3. CLX2 produces frames for RMC1, RMC2, and RMC4.
Ethernet 5.2 Finally, use the above frames/second results to compute the utilization by dividing the actual bandwidth requirement by the maximum bandwidth and multiplying by 100%: Utilization = 100% x actual bandwidth / maximum bandwidth As noted above, the maximum bandwidths for 10 and 100 Mbps networks are 5,296 and 52,966 frames/second respectively.
RMC100 and RMCWin User Manual How not to Control Collisions Do NOT set the Ethernet switch port to the RMC100 to full-duplex. This is why: 1. A collision is defined on a half-duplex 10/100baseT Ethernet segment as happening when the Tx wire pair and Rx wire pair are active at the same time. Notice that there is no electrical contention on 10/100baseT during a collision like there was on a truly shared media like Coax (10base2) Ethernet. 2.
Ethernet 5.2 Suppose you need to control 40 RMCs from a single ControlLogix 1756-L1. If you use a single 1756-ENBT for this task, the bandwidth required for this system at a 5 ms RPI is calculated as follows: Frames/Second = (2 x connections) / RPI = (2 x 40) / 0.005 s = 16,000 This is well over the allowed 4500 frames/second on the 1756-ENBT. However, if the system can get by with a slower RPI, the bandwidth drops dramatically.
RMC100 and RMCWin User Manual compared to the total cost of the system and gives much higher reliability. • Upgrade to Smarter Switches. EtherNet/IP utilizes IP multicasting, and as such uses a protocol called IGMP (Internet Group Management Protocol). Most low-cost switches do not utilize IGMP to control which ports care about the multicast packets, but instead broadcast multicast packets to all ports.
Ethernet 5.2 • MSTR Block Read Operation • MSTR Block Write Operation • MSTR Block Error Codes 5.2.6.4.2 RMC Register Map (Modbus/TCP and Modbus/RTU) Tip: RMCWin's Address Tool provides an easy way to identify addresses in the RMC. Simply open the Address Tool and then move the cursor to any field in RMCWin that represents an RMC Register, and the Address Tool will display the address in the address format of your choice. See Address Tool for details.
RMC100 and RMCWin User Manual 2 Axis 0 Target Position 3 Axis 0 Actual Position 4 Axis 0 Transducer Counts 5 Axis 0 Status Word 6 Axis 0 Drive 7 Axis 0 Actual Speed 8 Axis 0 Null Drive 9 Axis 0 Event Step 10 Axis 0 Link Value 11-20 Same as above but for axis 1 21-30 Same as above but for axis 2 31-40 Same as above but for axis 3 41-50 Same as above but for axis 4 51-60 Same as above but for axis 5 61-70 Same as above but for axis 6 71-80 Same as above but for axis 7 Command
Ethernet 5.2 99-104 Same as above but for axis 3 105-110 Same as above but for axis 4 111-116 Same as above but for axis 5 117-122 Same as above but for axis 6 123-128 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed.
RMC100 and RMCWin User Manual 177-192 Same as above but for axis 3 193-208 Same as above but for axis 4 209-224 Same as above but for axis 5 225-240 Same as above but for axis 6 241-256 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written.
Ethernet 5.
RMC100 and RMCWin User Manual • • • • 2: Event Step and Link Value 3: Raw Transducer Counts 4: Internal Target and Actual Speeds 5: Integral Drive For more information on these four types of plot information, see Selecting the Data to Plot and Reading Plots from the Communication Module.
Ethernet 5.2 2636 Sensor Digital I/O Inputs 0-15 2637 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) 2638 Sensor Digital I/O Outputs 0-7 in high byte (low byte unused) 2639 Unused 2640 Unused Plot Time Registers: The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples.
RMC100 and RMCWin User Manual Modbus Address Register Description 2649 Last parameter error on axis 0 2650 Last parameter error on axis 1 2651 Last parameter error on axis 2 2652 Last parameter error on axis 3 2653 Last parameter error on axis 4 2654 Last parameter error on axis 5 2655 Last parameter error on axis 6 2656 Last parameter error on axis 7 Firmware Date Registers: Note: To use these registers through Ethernet, you must have RMC100 control firmware dated 19990715 or later and E
Ethernet 5.2 is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (value 0x0001) is set, a sensor DI/O is present, otherwise there is no sensor DI/O. Reserved Registers: Reading these values will return zero, and writes are ignored. Modbus Address 266512288 Register Description Unused Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline.
RMC100 and RMCWin User Manual 4710553248 Plot data for axis 5 5324959392 Plot data for axis 6 5939365536 Plot data for axis 7 5.2.6.5 Omron CS1 and CV PLCs 5.2.6.5.1 Using Omron PLCs with the RMC ENET Overview The CS1 and CV families of PLCs from Omron Electronics Inc. can be used to control the RMC over Ethernet. These PLCs require the ETN01 Ethernet Unit and use Omron's FINS protocol to communicate with the RMC.
Ethernet 5.2 on setting up the RECV and SEND instructions for details on what values to use for the Network, Node, and Unit numbers when communicating with an RMC. The RMC has 64K registers. When accessed by Omron PLCs, this data appears in Data Memory (DM) registers D0 to D16383, and Extended Data Memory (EM) registers En_0 to En_6143, where n is the bank number from 0 through 7.
RMC100 and RMCWin User Manual set to whichever Node Number will be mapped to the RMC's IP address. 0. C+3 Port Number: 00 to 07. The Port Number is used to allow simultaneous communications in the PLC. Use a different number for each communication that may be requested simultaneously. No. of Retries: 00 to 0F (0 to 15). For RMC communications, this value should be between 2 and 5. C+4 Timeout: 0001 to FFFF (0.1 to 6553.5 seconds). The default setting of 0000 sets a monitoring time of 2 seconds.
Ethernet 5.2 C+2 Remote Node Number. For RMCs, this value should be set to whichever Node Number will be mapped to the RMC's IP address. Remote Unit Number. For RMCs, this value should be 0. C+3 Port Number: 00 to 07. The Port Number is used to allow simultaneous communications in the PLC. Use a different number for each communication that may be requested simultaneously. No. of Retries: 00 to 0F (0 to 15). For RMC communications, this value should be between 2 and 5. C+4 Timeout: 0001 to FFFF (0.
RMC100 and RMCWin User Manual In this example, the RECV(098) instruction will be triggered each time the Communication Port 0 Enabled Flag (A202.00) is set. This flag will be set any time port 0 is not busy. Therefore, the PLC will read these registers from the RMC continuously as fast as it can. Depending on the load of the PLC, this will read the RMC's status as often as every 18 ms. The SEND(090) instruction uses port 1.
Ethernet 5.2 The Omron PLC must have one entry in its Local Network Table. This entry assigns Network Address 1 (the Ethernet network) to Module Address 0 (the ETN01 Ethernet Unit). The user wishes to continuously read the 80 status words starting at address D0 in the RMC and store them at D0 in the PLC. The user also wishes to write 48 words from D100-D147 to the RMC's command registers D80-D127 whenever the 1200.00 coil is set.
RMC100 and RMCWin User Manual 5.2.6.5.2 RMC Register Map (Omron FINS) Tip: RMCWin's Address Tool provides an easy way to identify addresses in the RMC. Simply open the Address Tool and then move the cursor to any field in RMCWin that represents an RMC Register, and the Address Tool will display the address in the address format of your choice. See Address Tool for details. The RMC module has 64K (65536) 16-bit registers that can be read from or written to over Ethernet, Modbus Plus, and PROFIBUS-DP.
Ethernet 5.2 D00008 Axis 0 Event Step D00009 Axis 0 Link Value D00010D00019 Same as above but for axis 1 D00020D00029 Same as above but for axis 2 D00030D00039 Same as above but for axis 3 D00040D00049 Same as above but for axis 4 D00050D00059 Same as above but for axis 5 D00060D00069 Same as above but for axis 6 D00070D00079 Same as above but for axis 7 Command Registers: These registers can be read or written.
RMC100 and RMCWin User Manual D00109 D00110D00115 Same as above but for axis 5 D00116D00121 Same as above but for axis 6 D00122D00127 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed.
Ethernet 5.2 D00160D00175 Same as above but for axis 2 D00176D00191 Same as above but for axis 3 D00192D00207 Same as above but for axis 4 D00208D00223 Same as above but for axis 5 D00224D00239 Same as above but for axis 6 D00240D00255 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written.
RMC100 and RMCWin User Manual D00263+n*8 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.
Ethernet 5.2 Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph. The values written to these registers tell the controller which extra plot information to obtain on the next plot.
RMC100 and RMCWin User Manual D02636 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) D02637 Sensor Digital I/O Outputs 0-7 in high byte (low byte unused) D02638 Unused D02639 Unused Plot Time Registers: The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.
Ethernet 5.2 D02648 Last parameter error on axis 0 D02649 Last parameter error on axis 1 D02650 Last parameter error on axis 2 D02651 Last parameter error on axis 3 D02652 Last parameter error on axis 4 D02653 Last parameter error on axis 5 D02654 Last parameter error on axis 6 D02655 Last parameter error on axis 7 Firmware Date Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later.
RMC100 and RMCWin User Manual Reserved Registers: Reading these values will return zero, and writes are ignored. Omron Address D02664D12287 Register Description Unused Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline. This is a much more efficient alternative to using individual New Spline Point (X) and Set Spline Interval/End Segment (T) commands.
Ethernet 5.2 E6_00000E6_06143 Plot data for axis 6 E7_00000E7_06143 Plot data for axis 7 Note: Omron PLCs can only access as many Extended Data Memory banks as they have. Therefore, many Omron PLCs will only be able to access a limited number of the banks listed above, or may not be able to access the plot registers at all. 5.2.6.6 Rockwell Software RSView32 5.2.6.6.
RMC100 and RMCWin User Manual 192.168.0.23. 6. Click Accept. 7. Click OK. Step 2: Test the RSLinx Driver 1. Start RSLinx. 2. On the Communications menu, click RSWho. 3. Click on the plus (+) sign to the left of the driver configured in the steps above (e.g. AB_ETHRMC). 4. If the driver is working correctly, you should see a node under the driver with the RMC IP address, a device type of SLC-5/05, and a processor name of RMC100.
Ethernet 5.2 7. In the Channel drop-down list, click the TCP/IP channel created above. 8. For the Station text box, type the IP address of the RMC. Alternatively, you can click the ellipse (¼) button to start RSWho and select the RMC100 node graphically. 9. In the Type drop-down list, click SLC 5 (Enhanced). Using RSWho in the above step will set this field automatically. 10. Click Accept. 11. Close the Node window.
RMC100 and RMCWin User Manual The RMC module has 64K (65536) 16-bit registers that can be read from or written to over Ethernet, Serial, Modbus Plus, and PROFIBUS-DP. Each register is assigned an address. However, under the different communication methods, different addressing schemes are used. This topic describes using Allen-Bradley PLC addressing. For details on addressing from other modules refer to the following topics: • RMC Register Map (Automationdirect.
Ethernet 5.2 N7:6 Axis 0 Actual Speed N7:7 Axis 0 Null Drive N7:8 Axis 0 Event Step N7:9 Axis 0 Link Value N7:10-19 Same as above but for axis 1 N7:20-29 Same as above but for axis 2 N7:30-39 Same as above but for axis 3 N7:40-49 Same as above but for axis 4 N7:50-59 Same as above but for axis 5 N7:60-69 Same as above but for axis 6 N7:70-79 Same as above but for axis 7 Command Registers: These registers can be read or written.
RMC100 and RMCWin User Manual N7:122-127 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed.
Ethernet 5.2 N7:240-255 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written. When using the Allen-Bradley addressing scheme with these registers, you must keep in mind that the Event Step Table is split over eight register files (this is done because the SLC 5/05 only supports 256 words per file).
RMC100 and RMCWin User Manual N9:7 Step 0 Link Value Nf:r + 0 Step n (0-255) Mode Word Nf:r + 1 Step n (0-255) Acceleration Nf:r + 2 Step n (0-255) Deceleration Nf:r + 3 Step n (0-255) Speed Nf:r + 4 Step n (0-255) Command Value Nf:r + 5 Step n (0-255) Command/Commanded Axes Nf:r + 6 Step n (0-255) Link Type/Link Next Nf:r + 7 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.
Ethernet 5.2 N17:248 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol. AllenBradley and SoftPLC N18:0-63 Register Description Status Map Entries Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph.
RMC100 and RMCWin User Manual These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs.
Ethernet 5.2 and SoftPLC N18:80 Axis 0 plot time interval N18:81 Axis 1 plot time interval N18:82 Axis 2 plot time interval N18:83 Axis 3 plot time interval N18:84 Axis 4 plot time interval N18:85 Axis 5 plot time interval N18:86 Axis 6 plot time interval N18:87 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later.
RMC100 and RMCWin User Manual Allen-Bradley and SoftPLC Register Description N18:96 Boot firmware month (MSB) and day (LSB) N18:97 Boot firmware year N18:98 Loader firmware month (MSB) and day (LSB) N18:99 Loader firmware year N18:100 Control firmware month (MSB) and day (LSB) N18:101 Control firmware year N18:102 Control firmware Beta Code. This will be 0 for standard release firmware, 'B' for Beta firmware, or 'SI' for Superimposed firmware. N18:103 Feature code.
Ethernet 5.2 L19:5 32-bit Transducer Counts for axis 5 L19:6 32-bit Transducer Counts for axis 6 L19:7 32-bit Transducer Counts for axis 7 Reserved Registers: Reading these values will return zero, and writes are ignored. AllenBradley and SoftPLC N20:0N47:255 Register Description Unused Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline.
RMC100 and RMCWin User Manual N159:255 N160:0N183:255 Plot data for axis 4 N184:0N207:255 Plot data for axis 5 N208:0N231:255 Plot data for axis 6 N232:0N255:255 Plot data for axis 7 5.2.6.7 Siemens Simatic TI505 5.2.6.7.1 Using the Siemens Simatic TI505 with the RMC Ethernet Module The TI505 does not have built-in Ethernet TCP/IP support. However, Control Technology, Inc. sells a module called the CTI 2572 that fits into the TI505 backplane and adds Ethernet TCP/IP to the TI505.
Ethernet 5.2 • RMC Register Map (Modbus/TCP and Modbus/RTU) • RMC Register Map (Omron FINS) • RMC Register Map (Siemens S7) • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The Siemens TI505, when equipped with the CTI 2572 Ethernet TCP/IP module, can communicate with the RMC Ethernet module. From the TI505, the RMC registers are addressed as values 1-65536. They can be thought of as the RMC's V-memory addresses V1-V65536.
RMC100 and RMCWin User Manual 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written.
Ethernet 5.
RMC100 and RMCWin User Manual 263 Step 0 Link Type/Link Next 264 Step 0 Link Value 257+n*8 Step n (0-255) Mode Word 258+n*8 Step n (0-255) Acceleration 259+n*8 Step n (0-255) Deceleration 260+n*8 Step n (0-255) Speed 261+n*8 Step n (0-255) Command Value 262+n*8 Step n (0-255) Command/Commanded Axes 263+n*8 Step n (0-255) Link Type/Link Next 264+n*8 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.
Ethernet 5.2 : 2553 + n : Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol. TI505 Address 25612592 Register Description Status Map Entries Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph.
RMC100 and RMCWin User Manual These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs.
Ethernet 5.2 2642 Axis 1 plot time interval 2643 Axis 2 plot time interval 2644 Axis 3 plot time interval 2645 Axis 4 plot time interval 2646 Axis 5 plot time interval 2647 Axis 6 plot time interval 2648 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later.
RMC100 and RMCWin User Manual 2657 Boot firmware month (MSB) and day (LSB) 2658 Boot firmware year 2659 Loader firmware month (MSB) and day (LSB) 2660 Loader firmware year 2661 Control firmware month (MSB) and day (LSB) 2662 Control firmware year 2663 Control firmware Beta Code. This will be 0 for standard release firmware, 'B' for Beta firmware, or 'SI' for Superimposed firmware. 2664 Feature code.
Ethernet 5.2 Note: Reading plots is not a trivial task; for further details, see Reading Plots from the Communication Module. TI505 Address Register Description 1638522528 Plot data for axis 0 2252928672 Plot data for axis 1 2867334816 Plot data for axis 2 3481740960 Plot data for axis 3 4096147104 Plot data for axis 4 4710553248 Plot data for axis 5 5324959392 Plot data for axis 6 5939365536 Plot data for axis 7 5.2.6.8 Siemens S7 5.2.6.8.
RMC100 and RMCWin User Manual • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The Siemens S7-300 and S7-400 families of PLCs, when equipped with the CP 343-1 TCP or CP 443-1 TCP modules, can communicate with the RMC Ethernet module. From the S7, the RMC registers are viewed as data block (DB) registers. Status Registers: These registers can only be read; writes are ignored. S7 Address Register Description DB1.DBW0 Axis 0 Command Position DB1.
Ethernet 5.2 S7 Address Register Description DB1.DBW160 Axis 0 Mode Word DB1.DBW162 Axis 0 Acceleration DB1.DBW164 Axis 0 Deceleration DB1.DBW166 Axis 0 Speed DB1.DBW168 Axis 0 Command Value DB1.DBW170 Axis 0 Command DB1.DBW172182 Same as above but for axis 1 DB1.DBW184194 Same as above but for axis 2 DB1.DBW196206 Same as above but for axis 3 DB1.DBW208218 Same as above but for axis 4 DB1.DBW220230 Same as above but for axis 5 DB1.DBW232242 Same as above but for axis 6 DB1.
RMC100 and RMCWin User Manual DB2.DBW12 Axis 0 Integral Gain DB2.DBW14 Axis 0 Differential Gain DB2.DBW16 Axis 0 Extend Feed Forward DB2.DBW18 Axis 0 Retract Feed Forward DB2.DBW20 Axis 0 Extend Acceleration Feed Forward DB2.DBW22 Axis 0 Retract Acceleration Feed Forward DB2.DBW24 Axis 0 Dead Band Eliminator DB2.DBW26 Axis 0 In Position Window DB2.DBW28 Axis 0 Following Error DB2.DBW30 Axis 0 Auto Stop DB2.DBW32-62 Same as above but for axis 1 DB2.
Ethernet 5.2 DB3.DBW10 Step 0 Command/Commanded Axes DB3.DBW12 Step 0 Link Type/Link Next DB3.DBW14 Step 0 Link Value DB3.DBW0+n*16 Step n (0-255) Mode Word DB3.DBW2+n*16 Step n (0-255) Acceleration DB3.DBW4+n*16 Step n (0-255) Deceleration DB3.DBW6+n*16 Step n (0-255) Speed DB3.DBW8+n*16 Step n (0-255) Command Value DB3.DBW10+n*16 Step n (0-255) Command/Commanded Axes DB3.DBW12+n*16 Step n (0-255) Link Type/Link Next DB3.
RMC100 and RMCWin User Manual n*2 : DB4.DBW496 + n*2 : Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol. S7 Address DB5.DBW0-62 Register Description Status Map Entries Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph.
Ethernet 5.2 These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs. S7 Address Register Description DB6.DBW16 CPU Digital Inputs 0 and 1 in LSBs of low byte, Outputs 0 and 1 in LSBs of high byte DB6.DBW18 Unused DB6.DBW20 Unused DB6.DBW22 Sensor Digital I/O Inputs 0-15 DB6.DBW24 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) DB6.
RMC100 and RMCWin User Manual Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis. This is useful for determining the cause of the Parameter Error bit in the status word. For a description of the values read from these registers, see Parameter Error Values. S7 Address Register Description DB6.
Ethernet 5.2 bits that may be useful to some users: • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (value 0x0001) is set, a sensor DI/O is present, otherwise there is no sensor DI/O. Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline.
RMC100 and RMCWin User Manual communicate with the RMC. As with the Allen-Bradley PLC-5, the SoftPLC uses the MeSsaGe (MSG) block. This block takes a number of parameters, which are briefly described below. For a complete description of the parameters, refer to Allen-Bradley's Instruction Set Reference Manual. SoftPLC can read or write from registers in compatible remote devices such as another SoftPLC, PLC-5, or the RMC.
Ethernet 5.2 5.2.6.10 Other PLCs and PC-based Control Packages 5.2.6.10.1 Using Other Ethernet Packages with the RMC ENET The RMC can emulate a number of Ethernet PLC devices. A list of those supported is described in RMC Ethernet Module Overview. Any device or PC-based software package that can read and write registers in devices that the RMC ENET can emulate can most likely also read and write registers in the RMC.
RMC100 and RMCWin User Manual method is not limited to Windows or even PCs. This method is discussed in this topic. Choosing a TCP/IP Stack and API The PC or device to be programmed must have a TCP/IP Stack and Application Programming Interface (API). All Windows platforms (since Windows 95) include support for a TCP/IP stack and include the Winsock API. Unix platforms typically also have a TCP/IP stack and the BSD Sockets API.
Modbus Plus 5.3 and Modbus/RTU). The addresses documented in RMC Register Map (PROFIBUS-DP Message Mode) happen to already have one subtracted, so you may prefer to use that register map even though it describes PROFIBUS-DP. • The RMC handles incoming packets on a first-in first-out (FIFO) basis, making it possible to send multiple requests and then wait for the replies.
RMC100 and RMCWin User Manual Programming from a Modicon PLC When using a Modicon PLC as the master, the user uses a special function block called MSTR. For details on using this function block, see Using the MSTR Modicon Ladder Logic Block. Understanding the Active LED The Modbus Plus communication module has a single green LED labeled ”r;Active”. This LED blinks according to the Modbus Plus standard: • Fast flash (once per 160msec) – This node is working correctly.
Modbus Plus 5.3 When the master wishes to read from or write to a node it must take the following steps: 1. Wait for the token from the other nodes. 2. Send the request to the slave over the network to read or write data. 3. Give up the token. 4. Wait for the slave to receive the token and respond over the network. Data Paths This operation can take several milliseconds to complete, especially if many nodes are on the network, which increases the token loop time.
RMC100 and RMCWin User Manual • RMC Register Map (Omron FINS) • RMC Register Map (Siemens TI505) • RMC Register Map (Siemens S7) • RMC Register Map (PROFIBUS-DP Message Mode) To communicate with any Modbus Plus device, the RMC requires the Modbus Plus communication module. Under Modbus Plus, the RMC registers are addressed as values 165536. They can be thought of as equivalent to Modicon Holding Registers.
Modbus Plus 5.3 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written.
RMC100 and RMCWin User Manual 134 Axis 0 Proportional Gain 135 Axis 0 Integral Gain 136 Axis 0 Differential Gain 137 Axis 0 Extend Feed Forward 138 Axis 0 Retract Feed Forward 139 Axis 0 Extend Acceleration Feed Forward 140 Axis 0 Retract Acceleration Feed Forward 141 Axis 0 Dead Band Eliminator 142 Axis 0 In Position Window 143 Axis 0 Following Error 144 Axis 0 Auto Stop 145-160 Same as above but for axis 1 161-176 Same as above but for axis 2 177-192 Same as above but for axis
Modbus Plus 5.3 263 Step 0 Link Type/Link Next 264 Step 0 Link Value 257+n*8 Step n (0-255) Mode Word 258+n*8 Step n (0-255) Acceleration 259+n*8 Step n (0-255) Deceleration 260+n*8 Step n (0-255) Speed 261+n*8 Step n (0-255) Command Value 262+n*8 Step n (0-255) Command/Commanded Axes 263+n*8 Step n (0-255) Link Type/Link Next 264+n*8 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.
RMC100 and RMCWin User Manual : 2553 + n : Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: These registers can be read or written, although you should not manually change the values in this table. You should use the Status Map Editor to change this table and then download it to the RMC. You may then read this table into the PLC and send the table to the RMC each time the PLC is restarted.
Modbus Plus 5.3 2631 Axis 6 plot type 2632 Axis 7 plot type Digital (Discrete) I/O Registers: These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs.
RMC100 and RMCWin User Manual used plot interval. Modbus Address Register Description 2641 Axis 0 plot time interval 2642 Axis 1 plot time interval 2643 Axis 2 plot time interval 2644 Axis 3 plot time interval 2645 Axis 4 plot time interval 2646 Axis 5 plot time interval 2647 Axis 6 plot time interval 2648 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Modbus Plus, you must have RMC100 CPU control firmware dated 19990819 or later.
Modbus Plus 5.3 module. The Boot and Loader firmware versions have no effect on the actual performance of the RMC and therefore can usually be ignored. Modbus Address Register Description 2657 Boot firmware month (MSB) and day (LSB) 2658 Boot firmware year 2659 Loader firmware month (MSB) and day (LSB) 2660 Loader firmware year 2661 Control firmware month (MSB) and day (LSB) 2662 Control firmware year 2663 Control firmware Beta Code.
RMC100 and RMCWin User Manual Register Description 1228916384 Spline Download Area Plot Registers: These registers can only be read; writes are ignored. Note: Reading plots is not a trivial task; for further details, see Reading Plots from the Communication Module.
Modbus Plus 5.3 addr - the slot and port on the TSX Premium to communicate with, plus the first byte in the routing address. For example, to communicate with Modbus Plus node #30, this would be "ADR#0.1.30". func - Which SEND_REQ operation to run (read, write, etc.). Refer to TSX Premium documentation for details. control - A block of 5 registers, specifying additional information: control:0: Second and third routing address bytes.
RMC100 and RMCWin User Manual 5.3.6 Modbus Plus Global Data 5.3.6.1 Using Modbus Plus Global Data Note: Global data should be used in all applications; it is not only for advanced users. You should first familiarize yourself with the standard method of reading and writing to a slave from a master, as described in Reading and Writing Modbus Plus Registers. Global data greatly speeds up the time required for a master to retrieve data from a slave such as the RMC.
Modbus Plus 5.3 differ between versions of Modsoft and Concept: 1. Reserve Config Extension Memory in the PLC: Peer Cop uses Config Extension memory. Refer to Modicon Modsoft Programmer User Manual for details on the exact procedure for allocating Config Extension memory and the method of calculating the memory requirements. 2. Add the RMC Device as a Peer Cop Node: Some versions of Modsoft require that the Peer Cop node be added. 3.
RMC100 and RMCWin User Manual 7 14 8 2632 Axis 1 Status Word CPU Digital Inputs 0 and 1 in LSBs of low byte, Outputs 0 and 1 in LSBs of high byte. Next suppose that we want to copy the first eight global registers into PLC holding registers from 400401 through 400408. In addition, we want the two status words also to be copied into coils at 000801 through 000816 for axis 0 and 000817 through 000832 for axis 1 so that each bit can be used easier.
Modbus Plus 5.3 5.3.7 MSTR Modicon Ladder Logic Block 5.3.7.1 Using the MSTR Modicon Ladder Logic Block When using a Modicon PLC with the Modbus Plus or Modbus/TCP network, the MSTR (for MaSTeR) ladder logic function block must be used. Before reading this topic for use with Modbus Plus, you should understand Reading and Writing Modbus Plus Registers and Using Modbus Plus Global Data.
RMC100 and RMCWin User Manual In the second method, you must not reset the condition that triggers the MSTR block until the block completes. Outputs There are three possible outputs: • Active: This output will be ON while an operation is in progress • Unsuccessful: The operation failed. Refer to the Error Status register described below under Control Block for details on the failure.
Modbus Plus 5.3 Read Global Data: Gets filled by the PLC with the number of registers of global data available from the slave Peer Cop Health: Gives the number of registers to read from the Peer Cop Health map. 5th-9th Routing 1-5: Read/Write Data: The uses of these fields depend on whether Modbus Plus or Modbus/TCP is being used. Modbus Plus: For local addresses, Routing 1 gives the node address, and Routing 2 gives the data path (1-8) to use in the node. Routing 3 through 5 are zeros.
RMC100 and RMCWin User Manual Register Content 1st Operation: 2 2nd Error Status: This register is filled by the operation. See MSTR Block Error Codes for a complete list. 3rd Length: Indicates the number of registers to read. 4th Operation-dependent Value: Indicates the address in the slave to read from. Note: When entering register addresses into an MSTR block, do not add 40000 or 400000 to indicate holding registers. MSTR blocks expect the addresses to start at 1, rather than 40001 or 400001.
Modbus Plus 5.3 This network waits until the state is equal to 1 and then triggers the MSTR block using the control block below. When the MSTR read operation completes, the state is set to 0. Notice that the MSTR enable input is powered for the duration of the operation.
RMC100 and RMCWin User Manual 400100 2 (decimal): Operation type: Read data 400101 0000 (hex): Error status: will be filled in by function 400102 64 (decimal): Length: there are 16 parameters on each of four axes 400103 129 (decimal): Address in slave (RMC) memory: This is the address of the first parameter on the first axis 400104 0300 (hex): Routing 1: The high byte holds the Quantum backplane slot ID (3).
Modbus Plus 5.3 MSTR block, do not add 40000 or 400000 to indicate holding registers. MSTR blocks expect the addresses to start at 1, rather than 40001 or 400001. 5th-9th Routing 1-5: The uses of these fields depend on whether Modbus Plus or Modbus/TCP is being used: Modbus Plus: For local addresses, Routing 1 gives the node address, and Routing 2 gives the data path (1-8) to use in the node. Routing 3 through 5 are zeros.
RMC100 and RMCWin User Manual registers on each axis 400113 81 (decimal): Address in slave (RMC) memory: This is the address of the first command register on the first axis 400114 3 (decimal): Routing 1 (Node address) 400115 2 (decimal): Routing 2 (Data path): This could have been 1-8 400116 0 (decimal): Routing 3 400117 0 (decimal): Routing 4 400118 0 (decimal): Routing 5 Example (Modbus/TCP): Suppose that you wish to write the six command registers to the first axes of the RMC located at IP a
Modbus Plus 5.3 400114 0300 (hex): The high byte holds the Quantum backplane slot ID (3). The low byte holds the Map Index, which should be set to zero when communicating with the RMC. 400115 192 (decimal): Routing 2: First byte of the IP address: 192.168.0.5 400116 168 (decimal): Routing 3: Second byte of the IP address: 192.168.0.5 400117 0 (decimal): Routing 4: Third byte of the IP address: 192.168.0.5 400118 5 (decimal): Routing 5: Fourth byte of the IP address: 192.168.0.5 5.3.7.
RMC100 and RMCWin User Manual 6th-9th Routing 2-5: Unused. Set to zeros. Example Suppose that you wish to read four global data registers from each of the first four axes of the RMC located at node address 3. The commands to write are located in holding register 400400 through 400423. You must first choose a location for the 9-register control block. In this example, 400120 to 400128 is the location.
Modbus Plus 5.
RMC100 and RMCWin User Manual The MSTR block indicates it will do an operation using the control block beginning at 400130, using the one register at 400200. When this block is finished, we look at the third least significant bit, which represents node 3. If this bit is cleared, then the RMC is disconnected.
Modbus Plus 5.3 2006 Invalid slave device data area 2007 Invalid slave device network area 2008 Invalid slave device network routing 2009 Route equal to your own address 200A Attempting to obtain more global data registers than available 200B Conflict with Peer Cop (Read Global Data cannot be used if Peer Cop is used) 30xx Modbus slave exception response.
RMC100 and RMCWin User Manual 6m07 Bad destination address 6m08 Invalid node type in routing path 6m10 Slave has rejected the command. Check the routing information to see if a valid data path (1-8) has been entered after the node address. 6m20 Initiated transaction forgotten by slave device 6m40 Unexpected master output path received 6m80 Unexpected response received F001 Wrong destination node specified for the MSTR operation 5.4 PROFIBUS-DP 5.4.
PROFIBUS-DP 5.4 Compact Mode keeps the number of words sent over the PROFIBUS to a minimum. This is desirable to keep network traffic down and more importantly to keep the number of registers required in the PLC or PC to a minimum. Compact mode requires only two words in and out per axis, plus, optionally, one additional synchronization word in and out. Note: Compact Mode without Sync requires RMC CPU firmware dated 19990916 or later (or RMC beta firmware dated 19990727B or later) and GSD file (DELT1630.
RMC100 and RMCWin User Manual Flash memory. The default station address is 126. There are two methods of changing this address: • RMCWin has the ability to change the RMC100 station address. Use the following steps: 1. Start RMCWin. 2. Establish a connection between RMCWin and the RMC. See Connecting RMCWin to an RMC for details. 3. On the Tools menu, click Module Configuration. 4. In the Slots list, click the PROFIBUS-DP item. 5. Click Slot options. 6.
PROFIBUS-DP 5.4 n Axes and DI/O with Sync RMC with n Axes and DI/O RMC with n Axes and Sensor DI/O -- n Axes without Sync -- -- -- n Axes and DI/O without Sync -- -- -- The DELT1630.GSD file contains many configuration module entries. When adding an RMC to your PROFIBUS network in the step below, you will need to select exactly one of these configuration modules. Each of these modules is assigned a title, which is often referred to by PROFIBUS configuration software as an Order Number.
RMC100 and RMCWin User Manual 2. Open your PROFIBUS-DP master configuration program. 3. If you are modifying an existing PROFIBUS-DP network, open your current configuration file. 4. If you are creating a new PROFIBUS-DP network, you must create a new network, add a master device to the network, and select the baud rate of the network. 5. Add the DELT1630.GSD file to your configuration program’s GSD database if it is not already there. 6. Add a Delta RMC Family slave device to the network.
PROFIBUS-DP 5.4 The following steps have been tested with COM PROFIBUS versions 3.0 and 3.3: 1. Start COM PROFIBUS. 2. If you are modifying an existing PROFIBUS-DP network, open your current configuration file. 3. If you are creating a new PROFIBUS-DP network, you must create a new network and add a master device to the network. • On the File menu, click New.
RMC100 and RMCWin User Manual • Right-click on the RMC slave device icon, and select Configure from the shortcut menu. • Move the cursor to the top row’s I Addr cell, and either enter the offset that you wish to access the data at, or click the Auto Addr. button. Do the same for the O Addr cell. • Click OK. 7. Add any other RMC devices you want on the same network. To do this, repeat steps 5 and 6. 8. Save your configuration. 9. Send the configuration to the master device.
PROFIBUS-DP 5.4 Delta RMC Family entry. On the shortcut menu, click Properties. • In the Labels tab, look at the Revision field. If the revision displayed is new enough for the features you will use, you do not need to update the GSD file. To update the GSD file do the following: • In the GSD library tree, expand Slaves and Delta Computer Systems, Inc. and right-click on the Delta RMC Family entry. On the shortcut menu, click Delete. Click Yes when asked.
RMC100 and RMCWin User Manual 3. If you are creating a new PROFIBUS-DP network, you must create a new network and add a master device to the network. • On the File menu, click New. If you have multiple networks installed you will need to then select the network type: select PROFIBUS. If you are not given the option of selecting PROFIBUS, you may not have installed the PROFIBUS driver for SyCon. • On the Insert menu, click Master.
PROFIBUS-DP 5.4 7. Add any other RMC devices you want on the same network. To do this, repeat steps 5 and 6. 8. Save your configuration. 9. Send the configuration to the master device. This step varies depending on the master you selected. 5.4.6 Compact Mode 5.4.6.1 Using the PROFIBUS-DP Compact Mode Compact Mode is one of two modes that can be used with the RMC PROFIBUS-DP module. The other mode is called Message Mode, which is described Using the PROFIBUS-DP Message Mode.
RMC100 and RMCWin User Manual Compact Mode without Sync CAUTION: In this mode, the synchronization is left to be the PROFIBUS master’s responsibility. This is very important to realize, because attempting to control the RMC over PROFIBUS in this sub-mode from a PLC that asynchronously updates the PROFIBUS data will not work. No additional synchronization registers are added to the two registers per axis. Instead, the RMC processes a new command any time either output register for an axis changes.
PROFIBUS-DP 5.4 Mode for details on using this register and the differences between these two sub-modes. The order of the input registers for an n-axis module with a Sensor DI/O running in Compact Mode with Sync is shown below. I represents the RMC’s input base address.
RMC100 and RMCWin User Manual For most commands, the value returned in the second register for each axis is selected using the Status Area Request bits in the command register. Refer to the individual commands for exceptions.
PROFIBUS-DP 5.4 I+1 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 0 +2 Actual Position of axis 0 XXXX|XXXX|XXXX|XXXX (XXXX) I+3 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 1 +4 Drive of axis 1 XXXX|XXXX|XXXX|XXXX (XXXX) Compact Mode without Sync Example Suppose you have an RMC100-M1-PROFI and would like the Status and Actual Position for axis 0, and you would like the Status and Drive for axis 1.
RMC100 and RMCWin User Manual If Compact Mode with Sync is used (versus Compact Mode without Sync), one additional 16-bit register to hold the Synchronization Output register. See Using the PROFIBUS-DP Compact Mode for details on using this register and the differences between these two sub-modes. The order of the output registers for an n-axis module with a Sensor DI/O running in Compact Mode with Sync is shown below. O represents the RMC’s output base address.
PROFIBUS-DP 5.4 1 O + 2*n + 2 Reserved by Sensor DI/O O + 2*n + 3 Reserved by Sensor DI/O PROFIBUS-DP has a much larger set of commands than the normal ASCII commands that can be used in the Command field, although ASCII commands are still available. For a complete description of using the Command and Data out registers, refer to Command Words for PROFIBUS-DP Compact Mode. See also: Using the PROFIBUS-DP Compact Mode Compact Mode Input Register Overview Command Words for PROFIBUS-DP Compact Mode 5.4.
RMC100 and RMCWin User Manual bits that are toggled to indicate a request. The command block is described in further detail below. Note: Users of Compact Mode should be aware that commands issued over Message Mode are always handled. Specifically this means that if you send a command multiple times it will be processed every time it is received. Under Compact Mode duplicate commands are ignored.
PROFIBUS-DP 5.4 • • • • • • • Wait until the Read Request bit is equal to the Read Acknowledge bit. When they are equal, the RMC will have updated the Read Data area with the requested data. Use the data in the Read Data area of the Response Block input registers. Make sure that you do not change the Read Request bit until you are done with the data in the Read Data area. To request a write to the RMC, use the following steps: Wait until the Write Request bit is equal to the Write Acknowledge bit.
RMC100 and RMCWin User Manual describes the addressing through the PROFIBUS-DP Message Mode.
PROFIBUS-DP 5.4 40-49 Same as above but for axis 4 50-59 Same as above but for axis 5 60-69 Same as above but for axis 6 70-79 Same as above but for axis 7 Command Registers: These registers can be read or written.
RMC100 and RMCWin User Manual 130 Axis 0 Offset 131 Axis 0 Extend Limit 132 Axis 0 Retract Limit 133 Axis 0 Proportional Gain 134 Axis 0 Integral Gain 135 Axis 0 Differential Gain 136 Axis 0 Extend Feed Forward 137 Axis 0 Retract Feed Forward 138 Axis 0 Extend Acceleration Feed Forward 139 Axis 0 Retract Acceleration Feed Forward 140 Axis 0 Dead Band Eliminator 141 Axis 0 In Position Window 142 Axis 0 Following Error 143 Axis 0 Auto Stop 144-159 Same as above but for axis 1 16
PROFIBUS-DP 5.
RMC100 and RMCWin User Manual 2311 Event Step for Axis 7 on Input 0 Rising Edge 2312 + n Event Step for Axes n (0-7) on Input 1 Rising Edge : : 2424 + n Event Step for Axes n (0-7) on Input 15 Rising Edge 2432 + n Event Step for Axes n (0-7) on Input 0 Falling Edge : 2552 + n : Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: These registers can be read or written, although you should not manually change the values in this table.
PROFIBUS-DP 5.4 Address Register Description 2624 Axis 0 plot type 2625 Axis 1 plot type 2626 Axis 2 plot type 2627 Axis 3 plot type 2628 Axis 4 plot type 2629 Axis 5 plot type 2630 Axis 6 plot type 2631 Axis 7 plot type Digital (Discrete) I/O Registers: These registers indicate the current state of the digital inputs and outputs. These registers may only be read; writes will be ignored, as this product does not support forcing inputs or outputs.
RMC100 and RMCWin User Manual 2636 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) 2637 Sensor Digital I/O Outputs 0-7 in high byte (low byte unused) 2638 Unused 2639 Unused Plot Time Registers: The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
PROFIBUS-DP 5.4 Register Description 2648 Last parameter error on axis 0 2649 Last parameter error on axis 1 2650 Last parameter error on axis 2 2651 Last parameter error on axis 3 2652 Last parameter error on axis 4 2653 Last parameter error on axis 5 2654 Last parameter error on axis 6 2655 Last parameter error on axis 7 Firmware Date Registers: Note: To use these registers through PROFIBUS, you must have RMC CPU firmware dated 19990819 or later.
RMC100 and RMCWin User Manual • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (value 0x0001) is set, a sensor DI/O is present, otherwise there is no sensor DI/O. Reserved Registers: Reading these values will return zero, and writes are ignored. PROFIBUS Address 266412287 Register Description Unused Spline Download Area: These registers are write only. Reading them will return zero.
Serial (RS-232/422/485) 5.5 2867234815 Plot data for axis 2 3481640959 Plot data for axis 3 4096047103 Plot data for axis 4 4710453247 Plot data for axis 5 5324859391 Plot data for axis 6 5939265535 Plot data for axis 7 5.5 Serial (RS-232/422/485) 5.5.1 RMC SERIAL Overview The RMC SERIAL module adds a single serial port to the RMC for communications with other devices such as HMIs and PLCs. This port cannot be used for communications with RMCWin or the RMCLink ActiveX Control and .
RMC100 and RMCWin User Manual can be intimidating to users new to serial communications.
Serial (RS-232/422/485) 5.5 The following options are available in the Serial Module Options dialog box: • Protocol: Select the protocol supported by your master device. The Test Mode protocol is a special one used to test the communications. With this protocol, for each character the RMC receives, it will add one to it and respond with that character. For example, if you send the character A, it will respond with B. This can be used from HyperTerminal included in Windows 98/NT/2000/Me/XP.
RMC100 and RMCWin User Manual firmware, see Downloading New Serial/Ethernet Firmware. • Boot Version This field gives the version of the Boot firmware in the RMC SERIAL module. • Loader Version This field gives the version of the Loader firmware used for updating the main communication program. • Hardware Revision The hardware revision of the RMC SERIAL module is displayed. Unlike the above versions, the hardware revision cannot be field-upgraded.
Serial (RS-232/422/485) 5.5 the RMC SERIAL offers three drivers: RS-232, RS-422/RS-485 (4-wire), and RS-485 (2-wire). Each of the above features is described below: • Duplex (Full or Half): Full-duplex means that each device on a serial network can send and receive at the same time, effectively doubling the bandwidth of the network. Half-duplex means that only one device on the network can send data at one time. For the above drivers, fullduplex requires separate send and receive wires.
RMC100 and RMCWin User Manual Note: The above four-wire RS-422/485 diagram shows biasing internal to the RMC on the Tx wire pair. This is not available on RMC SERIAL hardware revision 1. Biasing will have to be provided externally or in the host.
Serial (RS-232/422/485) 5.5 The RS-422 and RS-485 diagrams above show biasing and termination included. Termination and biasing can be left out of networks at the expense of maximum cable distance and noise immunity. See RS-422/485 Termination and Biasing for details. Multi-Drop Only RS-485 supports multi-drop. Multi-drop is the connecting of multiple slaves with a single master. Slaves should be chained together.
RMC100 and RMCWin User Manual The following four-wire RS-485 network diagram is also supported by the RMC and allows full-duplex communications to the host from the RMC. Most multi-drop protocols do not support full-duplex communications between devices and so the actual utility must be carefully weighed against the extra cost of the cabling required for implementation.
Serial (RS-232/422/485) 5.5 Note: The above 4-wire multi-drop RS-485 network diagram shows internal termination and biasing on the RMC for the Tx wire pair. This is not available on RMC SERIAL hardware revision 1. Termination will have to be provided externally. Biasing will have to be provided externally or in the host. 5.5.2.5 RS-232 Wiring for the RMC SERIAL Connectors The RMC SERIAL's 9-pin male DB connector is used for RS-232 communications.
RMC100 and RMCWin User Manual in the RMC SERIAL configuration. The RMC RS-232 communications require only three conductors in the cable: RxD, TxD, and GND. A five-conductor cable must be used if the CTS and RTS signals are used. Delta recommends that a shielded cable be used to limit susceptibility to outside electrical interference. Cable Length One of the characteristics that limit the length of an RS-232 cable is capacitance. Most cables have a capacitance rating in pF/ft.
Serial (RS-232/422/485) 5.5 RS-485 (2-wire) Pin-out Pin 1 2 3 4 5 6 RS-485 (2-wire) Function Unused Unused Rx/Tx A (-) Rx/Tx B (+) Common Case Note: Some manufacturers use A and B labeling, while others use + and - labeling. If you need to interface to equipment that uses an alternate labeling scheme, keep in mind that A corresponds to - and B corresponds to +. See also General Wiring Information. Cabling All cabling for balanced or differential communications should consist of twisted pairs.
RMC100 and RMCWin User Manual 115,200 57,600 38,400 19,200 9,600 4,800 2,400 475 950 1900 3750 4000 4000 4000 3250 4000 4000 4000 4000 4000 4000 5.5.2.7 RS-422/485 Termination and Biasing Termination and Biasing are concepts that only apply to differential wiring. As such, they only apply to RS-422 and RS-485 and not RS-232. The Termination and Biasing concepts are described in detail below. First, however, we will describe the options provided by the RMC SERIAL module.
Serial (RS-232/422/485) 5.5 As described above, hardware revision 1 differs in its biasing and termination. It has the following differences: • There is no biasing or termination on the Tx wire pair. • There is no capacitor in the Rx/Tx termination circuit. • The values of the resisters in the Rx/Tx biasing circuit are 2.2 kW instead of 1.15 kW. Termination Cable termination is a way of absorbing transmitted energy at the end of a network.
RMC100 and RMCWin User Manual • For RS-485 (4-wire, point-to-point or multi-drop), terminate the receivers of each end device in the chain, and the transmitter of the last slave (but not master). Termination is not required on all differential networks, but it does typically extend the maximum cable length.
Serial (RS-232/422/485) 5.5 Distance = 4,340 ns * 0.66 ft / ns = 2890 ft Since it requires three round trips for the signal transition to dampen and each round trip is twice the length of the cable, the total distance in feet is divided by six to get the final unterminated cable length: Length = 2890 ft / 6 = 482 ft This value is then rounded down to allow for inexact cable velocities and damping rates, giving us 475 ft.
RMC100 and RMCWin User Manual 48kW || 48kW Resistance = 118W Then, we calculate how much DC resistance the network has between power rails: Total Resistance = 1150W + 118W + 1150W = 2418W Next, we calculate how much current is flowing through this DC resistance: Current = 5VDC / 2418W = 2.068mA Finally, we calculate the voltage drop across the termination resistor: Voltage = 2.
Serial (RS-232/422/485) 5.5 • 03: Read Holding Registers • 06: Preset Single Register • 16 (10 Hex): Preset Multiple Registers • 23 (17 Hex): Read/Write 4X Registers Each of the above functions acts on 4X or Holding registers. The RMC has these 4X registers mapped as described in the following topic: • RMC Register Map (Modbus/TCP) Protocol-Specific Settings The RMC Modbus/RTU implementation has one protocol-specific setting: the node address.
RMC100 and RMCWin User Manual • SLC Protected Typed Write with 3 Address Fields (CMD=0x0F, FNC=0xAA) • SLC Protected Typed Read with 3 Address Fields (CMD=0x0F, FNC=0xA2) • Echo (CMD=0x06, FNC=0x00) • Diagnostic Status (CMD=0x06, FNC=0x03) Most of the above functions address memory in the remote device.
Serial (RS-232/422/485) 5.5 • • • Communication Command: From this drop-down list, select PLC-5 Typed Read to read values from the RMC, or PLC-5 Typed Write to write values to the RMC. • Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to write to RMC registers from. • Size in Elements: Enter the number of RMC registers to read or write in this field. Transfers are limited to 1000 bytes for PLC-5 Typed Reads and Writes.
RMC100 and RMCWin User Manual • • • This Controller: This section holds parameters for the SLC 5/05. • Communication Command: This parameter will be set to PLC5 Read, PLC5 Write, 500CPU Read, or 500CPU Write, depending on what was selected in the MSG block itself (as described above). • Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to write to RMC registers from.
Serial (RS-232/422/485) 5.5 500CPU Read, or 500CPU Write. The type of PLC selected is not important, but the Read or Write determines whether you will read registers from the RMC or write registers into the RMC. • • Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to write to RMC registers from. • Size in Elements: Enter the number of RMC registers to read or write in this field. The MicroLogix can transfer 1 to 41 integers.
RMC100 and RMCWin User Manual Read or Write Once This sample takes care to keep the MSG block energized until the MSG block starts, as indicated by the enable (EN) bit turning on. Once this happens, the application-controlled TriggerOnce coil is turned off. The message control's Done (DN) or Error (ER) bits can be used to process the results of the transaction. 5.5.3.
Serial (RS-232/422/485) 5.5 • Baud Rate: 19,200 • Data Bits: 8 bit • Parity: Even Mitsubishi PLC Settings: The Mitsubishi PLCs use D8120 to control its communication format.
RMC100 and RMCWin User Manual RMC should have returned its response as shown above. The checksum in the response can then be checked using the CCD function again. The Mitsubishi-RMC Protocol defines the following three request/response packets. Each is composed of 16-bit fields, with each being sent low-byte first by the Mitsubishi.
Serial (RS-232/422/485) 5.5 Dxx02 Data. First data word to write. Dxx03 Data. Second data word to write. … Dxx01+N Data. Last data word to write. Dxx02+N Checksum. Set using the CCD instruction. Notice that Dxx03+N will also be modified by CCD with the parity, but this register should not be sent. Response (from RMC): Dyy00 Length. Will match the request's length. Dyy01 Address. Will match the request's address. Dyy02 Checksum. Validate with the CCD instruction.
RMC100 and RMCWin User Manual for the length, address, and checksum. To write commands for 8 axes or 48 words: To write 12 steps to the step table where each step is 8 words: If more than 12 steps need to be transferred then more RS blocks are required to transfer the remaining steps. Data Consistency When writing to the RMC it is often important that all the data is written at once so the RMC gets the data in one scan.
Serial (RS-232/422/485) 5.5 -3 Framing Error: The RMC’s serial port received a incorrectly formed character. This is normally due to baud rate mismatch between the RMC and the PLC although it could be due to a corrupted character due to noise. -4 Parity Error: This is caused by noise causing the RMC's serial port to incorrectly receive the character. -5 Break: A break signal has been detected by the RMC's serial port. This is caused by the serial line being held low for an extended period of time.
RMC100 and RMCWin User Manual • Parity Mitsubishi PLC Settings: Set the QJ71C24 intelligent function module switches for the desired serial settings. The serial settings on the Mitsubishi must match the settings on the RMC100. For details on the Mitsubishi serial settings, see section 4.5.2 of the Mitsubishi manual: Q Corresponding Serial Communication Module (User’s Manual). The sample GX Developer program RMCBIDIR should be used as a starting point for any Mitsubishi Q program using a RMC Serial module.
Serial (RS-232/422/485) 5.
RMC100 and RMCWin User Manual Reading from the RMC100 To read data, first use the BIDOUT instruction to request the data, then use the BIDIN instruction to read the data. The Head number of the data sent to the RMC100 is designated by (S2) in the BIDOUT instruction. The data must be according to the following format: Each box is a 16-bit word. Count: The number of registers to read. Address: The address of the first register to read. The address follows the PROFIBUS address format.
RMC CPU RS232 Port 5.6 The head number of the data sent to the RMC100 is designated by (S2) in the BIDOUT instruction. The data must be according to the following format: Each box is a 16-bit word. Count: The number of registers to write to. The count must be negated to indicate that it is a write. For example, to write to 6 registers, the count must be -6. Address: The address of the first register to write to. The address follows the PROFIBUS address format.
RMC100 and RMCWin User Manual Communicate with any RMC from a Custom Application The RMCLink component enables direct communication with any of Delta Computer System's RMC family of motion controllers from numerous programming languages and applications. Supporting serial RS-232 and Ethernet communications, RMCLink provides full functionality to read and write registers, read bits, and issue commands to all RMC family controllers. RMCLink comes with sample projects to help you get up and running quickly.
RMC CPU RS232 Port 5.6 Supported RMC Communication Ports RMCLink can communicate via Ethernet or serial RS-232. The table below lists the ports on the RMCs that it can communicate with.
RMC100 and RMCWin User Manual For details on using the serial port with RMCWin, see Using with RMCWin. For details on using the serial port with the RMCCOM ActiveX control, see Using with the RMCCOM ActiveX Control. See also General Wiring Information. Note: The communication cable attached to the serial port is a potential source of electromagnetic radiation from the RMC.
RMC CPU RS232 Port 5.6 • Any other cable you have will work if you can verify that pins 2, 3, and 5 on the RMC-end of the cable are connected as shown in the above diagram. An Ohmmeter or continuity checker will work for verifying the cable connections.
RMC100 and RMCWin User Manual 5.7 LCD420 Terminal 5.7.1 LCD Display Terminal Overview Using the LCD420 display as documented requires the following components: • • • • RMCWin 1.14.0 or newer RMC100 CPU with an RJ-11 port RMC CPU Firmware 20001204 or newer LCD420 purchased after December 4, 2000 (new units have an ESC key while the old units do not) Prior to the December 4, 2000 release, the LCD420 display had a different keypad and the firmware behaved much differently.
LCD420 Terminal 5.7 5.7.2 Using the LCD420 Terminal General When the RMC powers up, it displays the first screen. If the RMC has no screens programmed, the following message will be displayed: The screen is updated about 4 times per second. This allows updating fields continuously. This also allows hot-swapping LCD420 terminals, because when a display is plugged into the RMC it will be refreshed within 250 ms.
RMC100 and RMCWin User Manual Editing a Numerical Field First, select the screen and field you wish to edit as described above. Then type in the value you wish to use for that field and press ENTER. While editing, the cursor moves to the last character in the field. The following table summarizes the keys used for editing: Press To 0-9 Add another digit to the right end of the number. +/- Switch the sign of the number. This key can also be used to start an edit with a negative number.
LCD420 Terminal 5.7 Next, enter the value of 4.8 in/s. Notice that the cursor moves to the end of the field during the edit. Press 4: Press 8: Notice that pressing ENTER at this point would enter a value of 0.048 in/s and not the desired 4.8 in/s, so you must pad the number of zeros. Press 0: Press 0: Now, press ENTER to accept the edit: The cursor moves to the start of the field to indicate that the edit is complete.
RMC100 and RMCWin User Manual 1 Set the bit's value to ON. BKSP Cancel the edit. ESC Cancel the edit. ENTER Accept the edit. The bit will be changed in the RMC. Example 2: Suppose the user has commands in an event step sequence that turn on and off discrete outputs that control pneumatic clamps. By controlling the bits in the command value of the Set Outputs ([) command, the user can enable and disable using these clamps.
Status Map 5.8 documented in the Using RMCWin section of this help document. You can find that section through the following methods: • In the table of contents, open the Using RMCWin book, then open the LCD Screen Editor book. • Look up LCD Screen Editor in the index.
RMC100 and RMCWin User Manual Under the RMC’s Modbus Plus and PROFIBUS-DP Message Mode interfaces, the RMC keeps 32 status registers readily accessible to network masters. For Modbus Plus, these registers are available through Modbus Plus Global Data. See Using Modbus Plus Global Data for a description of Modbus Plus Global Data. For PROFIBUS-DP in Message Mode, these registers come back as the first 32 input words of cyclic data, called the status block. See Using the PROFIBUS-DP Message Mode for details.
Status Map 5.8 5.8.2 Default Status Map Data The following table lists the default mappings held in the Status Map table. For details on the Status Map, see Using the Status Map Editor.
RMC100 and RMCWin User Manual 20 50 Address of axis 5 Command Position 21 51 Address of axis 5 Target Position 22 52 Address of axis 5 Actual Position 23 54 Address of axis 5 Status Word 24 60 Address of axis 6 Command Position 25 61 Address of axis 6 Target Position 26 62 Address of axis 6 Actual Position 27 64 Address of axis 6 Status Word 28 70 Address of axis 7 Command Position 29 71 Address of axis 7 Target Position 30 72 Address of axis 7 Actual Position 31 74 Addre
Communication Tasks 5.9 Status Word 18433 + 6144*n 18432 + 6144*n N(72+24*n):0 DB(210+6*n).DBW0 Drive 19457 + 6144*n 19456 + 6144*n N(76+24*n):0 DB(211+6*n).DBW0 Extra Plot Data #1† 20481 + 6144*n 20480 + 6144*n N(80+24*n):0 DB(212+6*n).DBW0 Extra Plot Data #2† 21505 + 6144*n 21504 + 6144*n N(84+24*n):0 DB(213+6*n).DBW0 †See the sections below for details on these arrays. Position Units The positions returned in these arrays are not in position units.
RMC100 and RMCWin User Manual Extra Plot Data #1 holds the Integral Drive in drive count units. There are 8192 drive count units in 10000 mV. Therefore a value of 819 is equal to 1000 mV. Extra Plot Data #2 holds the fractional part of the Integral Drive, where this register is the numerator and the denominator is 65,536. The fractional part can usually be ignored except when determining the rate the integral is winding up or down.
Communication Tasks 5.9 Interval/End Segment Commands. This method is supported by all communication modules but requires issuing a new command (1) for every spline point, (2) for each time the interval between points changes, and (3) to indicate that the spline download is finished. This means that it does take a fair amount of time to download a spline using this method, but applications that only download the splines infrequently work well with this mode.
RMC100 and RMCWin User Manual o Static Spline Download Area format. If the value is 2, the interval and point locations are dynamically sized and then positioned one after the other. The intervals for each spline are equal. This format makes the data in the Spline Download Area more compact and can significantly reduce the time it takes to download the splines to the RMC, at the expense of added complexity. This format is called Dynamic Spline Download Area format.
Communication Tasks 5.9 Axis 0 Point Count 14337 14336 N56:0 V14000 DB200.DBW0 Axis 0 Point Table** 1433815360 1433715359 N56:1N59:255 V1400115777 DB200.DBW22046 Axis 1 Point Count 15361 15360 N60:0 V16000 DB201.DBW0 Axis 1 Point Table** 1536216384 1536116383 N60:1N63:255 V1600117777 DB201.DBW22046 AllenBradley and SoftPLC DL205/405 Siemens S7-300/400 * The Interval Table contains 1022 intervals max. ** The Point Table contains 1023 points max.
RMC100 and RMCWin User Manual Interval Table* 14336 14335 N55:255 13777 1022 Axis 0 Point Count 14337 14336 N56:0 V14000 DB200.DBW0 Axis 0 Point Table** 1433814848 1433714847 N56:1N57:255 V1400114777 DB200.DBW21022 Axis 1 Point Count 14849 14848 N58:0 V15000 DB201.DBW0 Axis 1 Point Table** 1485015360 1484915359 N58:1N59:255 V1500115777 DB201.DBW21022 Axis 2 Point Count 15361 15360 N60:0 V16000 DB202.
Communication Tasks 5.9 Axis 2 Interval Table Format 12801 12800 N50:0 V11000 DB194.DBW0 Axis 2 Interval Table* 1280213056 1280113055 N50:1N50:255 V1100111377 DB194.DBW2510 Axis 3 Interval Table Format 13057 13056 N51:0 V11400 DB195.DBW0 Axis 3 Interval Table* 1305813312 1305713311 N51:1N51:255 V1140111777 DB195.DBW2510 Axis 4 Interval Table Format 13313 13312 N52:0 V12000 DB196.DBW0 Axis 4 Interval Table* 1331413568 1331313567 N52:1N52:255 V1200112377 DB196.
RMC100 and RMCWin User Manual Count Axis 0 Point Table** 1433814592 1433714591 N56:1N56:255 V1400114377 DB200.DBW2510 Axis 1 Point Count 14593 14592 N57:0 V14400 DB201.DBW0 Axis 1 Point Table** 1459414848 1459314847 N57:1N57:255 V1440114777 DB201.DBW2510 Axis 2 Point Count 14849 14848 N58:0 V15000 DB202.DBW0 Axis 2 Point Table** 1485015104 1484915103 N58:1N58:255 V1500115377 DB202.DBW2510 Axis 3 Point Count 15105 15104 N59:0 V15400 DB203.
Communication Tasks 5.9 3 - 4 spline capable axes: 512 5 - 8 spline capable axes: 256 The Spline Download Area register map for Modbus, TI505, and PROFIBUS is given in the table below. For Allen Bradley, Soft PLC, DL205/405, and Siemens s7-300-400, add the Register # to the first Spline Download Area register: First Register Allen Bradley and Soft PLC DL205/405 Siemens s7-300400 Register Description N48:0 V10000 DB192.
RMC100 and RMCWin User Manual Axis 4 Interval Axis 5 Interval Axis 6 Interval Axis 7 Interval (MaxPts+2)*3 2+ (MaxPts+2)*4 2+ (MaxPts+2)*5 2+ (MaxPts+2)*6 2+ (MaxPts+2)*7 (MaxPts+2)*3 12291+ (MaxPts+2)*4 12291+ (MaxPts+2)*5 12291+ (MaxPts+2)*6 12291+ (MaxPts+2)*7 (MaxPts+2)*3 12290+ (MaxPts+2)*4 12290+ (MaxPts+2)*5 12290+ (MaxPts+2)*6 12290+ (MaxPts+2)*7 Interval Table Format This single-register field defines the format of the Interval Table.
Communication Tasks 5.9 Example 1 In this spline segment, all points are equidistant along the X (time or geared) axis: Assuming this segment is being downloaded to axis 0 on an RMC with just two spline-capable axes, here is the register assignment: Address Register Value 12288 I.T.
RMC100 and RMCWin User Manual 0 1. 2. 3. 4. 5. • • • • 5-290 14338 Point Table – 1 P1 14339 Point Table – 2 P2 14340 Point Table – 3 P3 14341 Point Table – 4 P4 Spline Download Procedure Write to the Interval Table Format register to indicate the format of the Interval Table. Write to the Interval Table. If the Interval Table Format register is zero (0), you will only need to write to the first register in the table.
Communication Tasks 5.9 • • You can simultaneously download splines to all spline-capable axes at one time. It is important that you avoid trying to download a spline from RMCWin’s curve tool while downloading through the Spline Download Area. 5.9.3 Parameter Error Values The Parameter Error bit in each axis’s Status word is used to indicate a wide range of problems. This bit indicates that, either directly or indirectly, a command given to the RMC by the user cannot be executed as requested.
RMC100 and RMCWin User Manual 5-292 237 Storage of parameters to Flash failed 238 Storage of splines to Flash failed 239 Steps per Rev and Position Units per Rev must not be zero 240 Reserved parameters must be zero 241 Maximum Steps per Millisecond parameter out of range 242 Invalid Address Used in Add (+) or Subtract (-) Command 243 Step Number in Teach (t) or Function (,) Command Out of Range 244 No Axes Selected for Use by the Function (,) Command 245 Function in the Function (,) Comm
Communication Tasks 5.
RMC100 and RMCWin User Manual 6 Transducer Interface Modules 6.1 Analog 6.1.1 Analog Transducer Overview There are four analog modules available for the RMC. Each is listed below: • Analog 16-bit with Pressure Four analog inputs with 16-bit Analog/Digital Converters. • Two analog outputs with 12-bit Digital/Analog Converters assigned to analog channels 0 and 2. • Able to utilize Pressure control firmware.
Analog 6.1 The first step for setting up analog module is to assign roles to each analog channel.
RMC100 and RMCWin User Manual TIP: If you are using a 10V transducer output, but are only using values in the low 5V, it is recommended that you select a 5V setting to increase the resolution of the analog to digital conversion. Using the Exciter Output Pin with Potentiometer Feedback An exciter output pin is provided on the RMC analog modules as a convenience and also to increase the accuracy of the analog to digital conversion. This pin generates +10V with respect to the CMN pin.
Analog 6.1 Analog Input Ranges See the COUNTS topic for detailed information on the maximum and minimum limits of the various analog input ranges. See also: General Wiring Information Analog Transducer Overview Analog Transducer Configuration Using Analog Channels as Position Inputs Using Analog Channels as Velocity Inputs Using Analog Channels as Pressure Inputs Using Analog Channels as Differential Force Inputs 6.1.
RMC100 and RMCWin User Manual 5. Click Update RMC. 6. The Update Module Configuration dialog box will be displayed to indicate the progress. If the RMC could not be reset automatically, you may be prompted to reset the RMC manually. 7. In the RMC Configuration dialog box, click Close. Each channel-assignment option button gives the assignment of both channels.
Analog 6.1 • Differential Force Control This mode uses both channels in the pair and an analog drive output. The input channels are connected to pressure transducers, the drive output is connected to the force-controlling valve or motor, and they work together to hold a force or ramp the force in closed-loop control. The first channel’s input will be converted to a force using the Scale A and Offset A parameters, and will be displayed in the Actual Force A field.
RMC100 and RMCWin User Manual Using Analog Channels as Position Inputs Using Analog Channels as Velocity Inputs Using Analog Channels as Pressure Inputs Using Analog Channels as Differential Force Inputs 6.1.4 Analog Transducer LED Indicators Only the 16-bit analog modules have LED indicators. They correspond to the operational status of channels 0 and 2 when either is used in position mode.
Analog 6.1 16-bit Module (-H) Inputs Inputs Isolation Overvoltage Protection Input Ranges Input impedance Input filter slew rate Conversion Rate Offset drift with temperature Gain drift with temperature Non-linearity Exciter Output Part # Designation Four 16-bit differential 750VDC 40V +10V, ±10V, +5V, ±5V, and 4-20mA (each channel is independently configured using RMCWin) 1MW 25V/ms 122ms on 1ms loop modules; 244ms on 2ms loop modules (8 times oversampling) 0.
RMC100 and RMCWin User Manual 6.1.6 Analog Transducer Scaling Defining the Valid 16-bit Pressure/Force/Position/Velocity Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit words for positions, pressures, forces, and speeds, these quantities must all fit within a range of 65,536 position units. Because the units used are user definable, this range does not limit most applications. See the section below on defining the units themselves.
Analog 6.1 Translating to Speed Units The Scale, Offset, and the Prescale Divisor bits of the Configuration word parameters are used to define velocity units as a function of transducer counts. The following formula summarizes the translation from transducer counts to Actual Speed units for velocity control or velocity reference axes: The Actual Speed calculation does not use the Offset parameter. To add an offset for the Actual Speed, see the Set Count Offset Command topic.
RMC100 and RMCWin User Manual scale: Scale Divisor Effective Scale Error from 6324.70 6325 1 6325/1 = 6325 0.005% 12649 2 12649/2 = 6324.5 0.003% 25299 4 25299/4 = 6324.75 0.0008% 50598 8 Invalid scale Invalid Therefore, in this example, a Scale of 25299 and a Prescale Divisor of 4 should be used. These calculations can be done automatically using the Position Scale/Offset Calibration Utility feature in RMCWin.
Analog 6.1 Because only channels 0 and 2 have drive outputs associated with them on the analog modules with drive outputs, it is only these two channels that can be configured as Position Control; any channel may be configured as Position Reference. Use the following steps: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3. Click Slot options. 4. In the Analog Channel Assignment dialog box, click the tab of the channel pair (0-1 or 2-3) you wish to reassign.
RMC100 and RMCWin User Manual 6.1.7.2 Using Analog Channels as Velocity Inputs Analog channels may be configured to be used as one of two velocity input types: • Velocity Control The input is used with the corresponding drive output (analog modules without drive outputs cannot be used for velocity control) for closed loop control. As described below, the position for the axis changes at a speed determined by the transducer input. See Controlling Speed from a Tachometer Feedback for details.
Analog 6.1 with drive outputs, it is only these two channels that can be configured as Velocity Control; any channel may be configured as Velocity Reference. Use the following steps: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3. Click Slot options. 4. In the Analog Channel Assignment dialog box, click the tab of the channel pair (0-1 or 2-3) you wish to reassign. 5.
RMC100 and RMCWin User Manual Using Analog Channels as Differential Force Inputs 6.1.7.3 Using Analog Channels as Pressure Inputs Analog channels may be configured to be used as one of three pressure input types. All three modes require the Pressure Control firmware option: • Pressure Control The input is used with the corresponding drive output (in this mode, analog modules without drive outputs cannot be used for pressure control) for closed-loop, pressure control.
Analog 6.1 type. Step 3: Set the Scale A and Offset A Parameters for the Pressure Inputs Refer to the individual field sections for details on setting these parameters. Analog Input Ranges See the COUNTS topic for detailed information on the maximum and minimum limits of the various analog input ranges.
RMC100 and RMCWin User Manual 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3. Click Slot Options. 4. In the Analog Channel Assignment dialog box, click the tab of the channel pair (0-1 or 2-3) you wish to assign. 5. Click the option button of a channel assignment of either differential force control or auxiliary differential force. 6. Click Update RMC. 7. The Update Module Configuration dialog box will be displayed to indicate the progress.
Analog 6.1 To use a joystick to control speed together with a tachometer requires an analog module with drive outputs; therefore, only the 16-bit modules can be used. For details on speed control, see the Speed Control topic. For details on configuring the analog module for your control and transducer type, refer to Using Analog Channels as Velocity Inputs, and Configuring the Analog Transducer Type. The joystick feedback can be filtered to provide smooth motion.
RMC100 and RMCWin User Manual Step-by-Step External Target Generation Follow these steps to set up a system using an external target generator: 1. Assign the Analog Axes Each of the channels on the analog module(s) must be assigned to a role. The reference input must be assigned to one of the three reference types (position, velocity, or pressure). Refer to Analog Transducer Configuration for details on assigning channels. 2.
Analog 6.1 The procedure for speed control with tachometer feedback is similar to speed control with position feedback. However, a tachometer with analog feedback will often have a small offset. When the tachometer is stopped, the feedback voltage may be slightly different than zero. This may cause the axis to rotate slowly when it has been commanded to stop in closed loop control. To adjust the tachometer feedback, use the Set Count Offset (#) command.
RMC100 and RMCWin User Manual Controlling Speed from a Tachometer Feedback Transitioning from Position to Auxiliary Pressure/Force Control 6.2 MDT 6.2.1 MDT Overview Magnetostrictive displacement transducers are designed for use in rugged industrial environments. They are non-contact, wear-free, highly reliable, and offer accurate and repeatable linear position measurement.
MDT 6.2 Pulse Width Modulated Transducer The RMC must then convert the counts accumulated during the transducer interrogation to an ACTUAL POSITION in user-defined Position Units (usually 0.001 inch) for use in the PID control loop. See also: MDT Wiring MDT Configuration MDT LED Indicators MDT Specifications 6.2.2 MDT Wiring Note: When positive voltage is sent to an axis’s drive, the axis must extend. The extend direction is defined as the direction that causes the transducer to return increasing counts.
RMC100 and RMCWin User Manual between the transducer and the RMC for the interrogation signal, and the '+Ret' and '-Ret' between the transducer and the RMC for the return signal. Connect the transducer DC ground to MDT Cmn. For a single-ended transducer with positive interrogation, connect the transducer '- interrogation in' wire to the ’r;MDT Cmn’ pin and the transducer '+ interrogation in' wire to the '+ Int' pin. CONNECT NOTHING TO THE '-Int' PIN OF THE RMC.
MDT 6.2 Some Temposonics I transducers from MTS have 200 Ohm termination resistors installed between their interrogation pins and common. If yours do not, it may be necessary to install them as close to the transducers as possible to reduce electrical noise in the system. RMC Drive Outputs Four-Pin Plug-in Terminal Block Pin Function 1 Axis 0 Drive 2 Drive Common 3 Axis 1 Drive 4 Case When positive voltage is sent to an axis’s drive, the axis must extend.
RMC100 and RMCWin User Manual MDT Specifications 6.2.3 MDT Configuration The RMC supports a wide range of Magnetostrictive Displacement Transducers. To select the type of the transducer and polarity of the drive output, the following settings can be changed: • Support for Pulse-Width Modulated or Start-Stop MDTs. • Support for between 1 and 15 recirculations on PWM MDTs. • Support for using either edge of a Start-Stop pulse. This is required to support some Balluff transducers.
MDT 6.2 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the MDT module you want to edit. 3. Click Slot options. The MDT Options dialog box will be displayed with a tab for each axis on that slot. 4. Click the Axis 0 tab. 5. Click Standard (21ms), unless the transducer on that axis is a clevis-mounted transducer, in which case you would click Short (5ms). 6. Click the Axis 1 tab. 7.
RMC100 and RMCWin User Manual Overdrive Error Parameter Error Position Overflow Integrator Windup Following Error Status good. None of the above are true. Continuous Green Note: Prior to RMC CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED states. Therefore, the only way to keep the LED from showing red was to clear the error. See also: MDT Overview MDT Wiring MDT Configuration MDT Specifications 6.2.
MDT 6.2 Drive Outputs Range ±10 V @ 5 mA (2 kW or greater load) (For current drive, use the VC2100 accessory: ±10 mA to ±200 mA in 10 mA steps) Tolerance At 10 V: +200 mV, -100 mV At 0 V: ±50 mV At -10 V: +100 mV, -200 mV Resolution 12 bits Output isolation Overload protection Overvoltage protection 750 VDC, optically isolated One-second short-circuit duration Outputs are protected by clamp diodes See also: MDT Overview MDT Wiring MDT Configuration MDT LED Indicators 6.2.
RMC100 and RMCWin User Manual However, because the Offset is also used to convert transducer counts to position units, it cannot be set independently. Translating to and from Position Units The Scale, Offset, and the Prescale Divisor bits of the Configuration word parameters are used to define position units as a function of transducer counts.
MDT 6.2 following table shows the possible Scales and Prescale Divisors you could use and the effective scale: Scale Divisor Effective Scale Error from 6324.70 6325 1 6325/1 = 6325 0.005% 12649 2 12649/2 = 6324.5 0.003% 25299 4 25299/4 = 6324.75 0.0008% 50598 8 Invalid scale Invalid Therefore, in this example, a Scale of 25299 and a Prescale Divisor of 4 should be used. If the Scale you calculate comes to 32768, enter 0 instead.
RMC100 and RMCWin User Manual inch. At the desired 0 position, the MDT produces 425 counts. We first calculate the exact Scale: With the exact Scale value, we must choose the Prescale Divisor and the rounded Scale value. The highest divisor value we can use is 1; multiplying the scale by 2, 4, or 8 would all overflow the Scale limits of ±32767.
Quadrature with Analog Output 6.3 We begin by calculating the exact Scale: With the exact Scale value, we must choose the Prescale Divisor and the rounded Scale value. The highest divisor value we can use is 8. Multiplying the exact scale by this divisor value and rounding gives us the following parameters: Scale = 30418 Prescale Divisor = 8 Next, we must calculate the offset: 6.3 Quadrature with Analog Output 6.3.
RMC100 and RMCWin User Manual • Status LED • Digital Noise Filters on All Inputs • All Discrete Inputs are Isolated • Use with Servo Drives in Velocity or Torque/Force Modes Quadrature Encoder Inputs The A and B signals from the encoder are decoded to generate a positive or negative count; the count is then used to monitor the axis position. Each signal from the encoder is received into a differential line receiver for compatibility with differential line driver encoders.
Quadrature with Analog Output 6.3 See also: Quadrature Wiring Quadrature Configuration Quadrature LED Indicators Quadrature Specifications Quadrature Scaling Quadrature Homing 6.3.2 Quadrature Wiring Use shielded twisted pairs for all connections to inputs and outputs. Route the quadrature encoder wiring separate from other wiring. You must provide the power supplies needed by your quadrature encoders.
RMC100 and RMCWin User Manual Encoder Wiring 5 Volt differential driver: NPN Open Collector (NOT RECOMMENDED): Note: Open collector encoders should only be used in lab environments with very little electrical noise and short wire runs. Noise immunity can be improved in the diagram above by adding a capacitor across each RMC encoder input: from +A to -A, from +B to -B, and from +Z to -Z. Notice the capacitors are connected to the minus inputs even though no signal wires are connected there.
Quadrature with Analog Output 6.3 0.0047 0.010 0.022 0.047 0.10 0.22 0.47 1.
RMC100 and RMCWin User Manual From TTL output: From Open Collector Output: Enable Output Wiring To TTL input (high = enable): To active low Enable input: See also: General Wiring Information Quadrature Overview Quadrature/Analog Cable Quadrature Configuration Quadrature LED Indicators Quadrature Specifications Quadrature Scaling Quadrature Homing 6-36
Quadrature with Analog Output 6.3 6.3.3 Quadrature/Analog Cable A cable can be purchased that connects directly to an axis's DB-25 connector on the RMC QUAD module. The cable can be purchased in one of three lengths. It separates the wires into three groups: drive, encoder, and limits. Each group has its own braided shield and insulation. Quadrature Input/Analog Output Cable Part Number RMC-CB-QUAD-01 Length 6 feet (2 m), 10 ft (3 m), or 15 ft (4.
RMC100 and RMCWin User Manual • Encoder Error only. This bit will go high if the encoder circuitry detects an error, which is defined as an invalid transition of the A and B lines. This usually occurs due to over-speed or noise conditions. • Fault Input only. This bit will go high if the Fault input goes active. The fault input is intended to be a means for the drive amplifier to let the RMC know that it no longer has control.
Quadrature with Analog Output 6.3 Alternating Red/Green One or more of the following status bits are on and are enabled in the Auto Stop: Encoder Fault Limit Switches Home Input Overdrive Error Parameter Error Integrator Windup Following Error Continuous Green Status good. The above is not true. Note: Prior to RMC CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED states. Therefore, the only way to keep the LED from showing red was to clear the error.
RMC100 and RMCWin User Manual ESD Protection 15 kV Max. Encoder Frequency 4,000,000 quadrature counts/second Index (Z) Response Time 125 nanoseconds Inputs and Outputs Fault Inputs, Home 2.7 V @ 2.8 mA typical (3.2 V @ 3.5 mA max) Inputs, and Limit Inputs threshold, 26.4 V maximum input voltage, 500 (Ext. & Ret.
Quadrature with Analog Output 6.3 6.3.7 Quadrature Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units. Because position units are user definable, this range does not limit most applications. See the section below on defining position units.
RMC100 and RMCWin User Manual change in position units: The RMC ensures that no fractional position units are lost in this conversion. Determining the correct Scale and Prescale Divisor is a three-step process. First, the exact Scale value is calculated assuming a Prescale Divisor of 1. Next, the optimum Prescale Divisor is selected. Finally, the exact Scale is multiplied by the Prescale Divisor and rounded to the nearest integer. The best way to do this is to use RMCWin’s Quadrature Calibration Utility.
Quadrature with Analog Output 6.3 50598 8 6324.75 Invalid scale Invalid Therefore, in this example, a Scale of 25299 and a Prescale Divisor of 4 should be used. Notice that this reduced the error in the scale factor. 3. Entering the Correct Scale Value Now that the Prescale Divisor has been calculated, you must multiply the exact Scale value you found in step one by this Prescale Divisor and round to the nearest integer. For example, if you had a scale that came to 2949.
RMC100 and RMCWin User Manual be 800 x 15 or 12000 quadrature counts for each revolution of the shaft B. Notice that we could increase the position units to be 10,000ths of a revolution and still have more counts than position units, but we will assume that the user really doesn’t want to use this extra resolution. Increasing the position unit resolution would lower the maximum speed, as speeds are limited to 65535 position units per second.
Quadrature with Stepper Output 6.4 Note: If the Auto Home Re-arm configuration bit is cleared after the Arm Home command has been issued, the axis will still be armed. However, once the axis is homed, it will not be automatically re-armed. When the axis is armed and there is a falling edge in the Home active, the exact quadrature counts at the time of the falling edge are used as the physical home position.
RMC100 and RMCWin User Manual • Two Complete Axes per Module.
Quadrature with Stepper Output 6.4 FAULT + and - is an input from the drive or some other source that can be set up to trigger the RMC to stop its target generator and stop generating step pulses. The user can select the active state of this input by the Fault Active State bit in the axis’s Config word; by default the RMC is setup to fault when current stops flowing through the input. This way the axis will fault on loss of control power.
RMC100 and RMCWin User Manual 6.4.2 Stepper Wiring Use shielded twisted pairs for all connections to inputs and outputs. Route the quadrature encoder wiring separate from other wiring. You must provide the power supplies needed by your quadrature encoders and drives, although the RMC can provide +5 VDC for the optoisolators on the drive module as shown in the Stepper Output Wiring section below.
Quadrature with Stepper Output 6.4 Drive with common anode inputs: Drive with common cathode inputs: Input Wiring The wiring for all inputs is identical to the wiring for the quadrature interface module with analog outputs. See Quadrature Wiring for diagrams on these inputs.
RMC100 and RMCWin User Manual Stepper Compensation Homing 6.4.3 Stepper Configuration The RMC supports a wide range of quadrature encoders and homing configurations. The following settings should be set to match your system: • Active state of the Index (Z), Home (H), Fault, and Limit inputs. This is set in the Configuration word. See the Quadrature/Stepper Specific Configuration help topic for details. • How the Home status bit is used. This is set in the Configuration word.
Quadrature with Stepper Output 6.4 4. Click the Axis 0 tab. 5. Check the conditions that you want to have set this status bit. You can check one, both, or neither condition. 6. Click the Axis 1 tab. 7. Check the conditions that you want to have set this status bit. You can check one, both, or neither condition. 8. Click Update RMC. 9. The Update Module Configuration dialog box will be displayed to indicate the progress.
RMC100 and RMCWin User Manual Note: Prior to RMC CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED states. Therefore, the only way to keep the LED from showing red was to clear the error. See also: Stepper Overview Stepper Wiring Stepper Configuration Stepper Specifications Stepper Scaling Stepper Compensation Homing 6.4.5 Stepper Specifications For general specifications on the RMC, see RMC100 Specifications.
Quadrature with Stepper Output 6.4 Direction Change Delays Hold time = 16 us Setup time = 112 us plus half step period See also: Stepper Overview Stepper Wiring Stepper Configuration Stepper LED Indicators Stepper Scaling Stepper Compensation Homing 6.4.6 Stepper Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units.
RMC100 and RMCWin User Manual between the Target Position and the outgoing steps. Each scale is defined as a ratio of two numbers. The user can enter both numbers in each of the ratios, although one number is shared by both ratios. Here is the definition of the two scales: The three values the user can enter are Steps/Rev, Pos Units/Rev, and Quad Cnts/Rev. These are parameters for each stepper axis. You will notice that both scales use Pos Uints/Rev.
Quadrature with Stepper Output 6.4 Following Error from being generated. There are several of ways that these scales can be set up. The following examples illustrate the potential uses of these scale parameters. Example 1: The user has a 100-line encoder, a 1.8°-per-step (200 steps per revolution) motor, and a stepper drive configured to use half steps. The encoder is mounted on the same shaft as the stepper motor, so each will turn one revolution in the same amount of time.
RMC100 and RMCWin User Manual Therefore, our parameters should be as follows: Parameter Value Steps/Rev Position Units/Rev Quad Counts/Rev 720 360 1024 Therefore, each quadrature count will affect the actual position by 360/1024 of a position unit. Each target position unit causes 720/360 of a step or 2 steps. Therefore, half of a position unit causes one step.
Quadrature with Stepper Output 6.4 We can improve both of these problems by using hundredths of an inch as our position units. Since we have about 1571 hundredths of an inch per revolution, we could use the following parameters. Parameter Value Steps/Rev Position Units/Rev Quad Counts/Rev 5000 1571 4000 This eliminates the first problem if a hundredth of an inch is an adequate resolution. It also reduces the position error to 0.013% or 0.002” per revolution.
RMC100 and RMCWin User Manual gives a range of 6553.5 inches, and using inches gives a range of 65535 inches. However, this usually increases the scaling error. In indexing applications, the range limitation of 655.35 inches may become a problem in another way. Suppose that one cycle moves only 6 inches and this cycle is repeated 10,000 times per day. Therefore, in one day the total movement will be 60,000 inches, which is beyond our maximum of 655.35 inches.
Resolver 6.5 When the axis is stopped outside the In Position Window, compensation will be applied to try to move the it back inside the window. If the axis is not able to move back into the In Position Window in the time specified by the Compensation Timeout parameter, the Timeout bit will be set in the Status word. This bit can be used to trigger a hard stop on the axis, as controlled by the Auto Stop Mask parameter.
RMC100 and RMCWin User Manual Resolvers are rotary transformers with one primary winding and two secondary windings. The primary winding is generally on the rotor and the two secondary windings are on the stator. The secondary windings are arranged 90 degrees from each other such that when one is lined up with the rotor winding (full coupling) the other is at a right angle (no coupling). The primary winding is driven with an alternating current signal at a specified voltage and frequency.
Resolver 6.5 This gives a value between -Scale and +Scale 4. The result is compared with the Coordinate Limit to determine if it is within the allowable range of Position Units. (See the Resolver Scaling topic for the definition of valid range). If it is outside the valid range then Scale x 2 is added or subtracted to bring it back within range.
RMC100 and RMCWin User Manual S1 Sine Input + S3 Sine Input - S2 Cosine Input + S4 Cosine Input - Case Controller chassis ground (shield) Note: The RMC case must be mounted to a grounded panel or otherwise grounded to avoid Transducer Faults when operating at the 16-bit resolution setting. RMC Drive Outputs Four-Pin Plug-in Terminal Block Pin Function 1 Axis 0 Drive 2 Drive Common 3 Axis 1 Drive 4 Case When positive voltage is sent to an axis’s drive, the axis must extend.
Resolver 6.5 6.5.3 Resolver Configuration The resolver interface must be configured properly to work with your resolver. To configure it, use the Module Configuration dialog: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the Resolver module you want to edit. 3. Click Slot Options. The dialog displayed will offer three tabs. See the descriptions of each below. After you have chosen your settings, click Update RMC. 4.
RMC100 and RMCWin User Manual Resolver Overview Resolver LED Indicators Resolver Wiring Resolver Scaling Resolver Specifications Rotational Mode 6.5.4 Resolver LED Indicators The two LEDs above the Drive connector on the RMC’s Resolver interface card are axis status LEDs. These LEDs will reflect the operational status of their corresponding axis according to the following table.
Resolver 6.5 Resolver Interface Axes Two per module Reference Frequency 800 Hz to 5 kHz Reference Output Voltage 1.41 to 4.8 V RMS Reference Output Current 28 mA max Resolver Transformation Ratio 0.42 to 1.
RMC100 and RMCWin User Manual Resolver Wiring Resolver Specifications Resolver Scaling 6.5.6 Resolver Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units. Because position units are user definable, this range does not limit most applications. See the section below on defining position units.
SSI 6.6 Each revolution of the resolver generates 65536 counts. To calculate the Scale parameter, determine how many position units there are in one turn of the resolver. The sign of the Scale is positive if the counts and the position units increase and decrease together. The sign is negative if the counts and position units move in opposite directions. You can use the Resolver Calibration Tool to assist with this step. To access it, on the Tools menu, click Resolver Calibration Tool. 2.
RMC100 and RMCWin User Manual • Transmission rate independent of data length and resolution • Transmission over long distances • Direct connection to the RMC’s SSI interface module Each RMC100 SSI interface module has circuitry for two SSI transducers. Each axis can be configured independently for different types of SSI transducers.
SSI 6.6 RMC SSI Input Six-Pin Plug-in Terminal Block Pin Function 1 SSI Axis + Clock 2 SSI Axis - Clock 3 SSI Axis Common 4 SSI Axis + Data 5 SSI Axis - Data 6 Case SSI uses differential line driver (RS422) clock and data signals. Connect both the +Clock and Clock between the RMC and transducer for the clock signal, and both the +Data and Data between the RMC and transducer for the data signal.
RMC100 and RMCWin User Manual 4 Case When positive voltage is sent to an axis’s drive, the axis must extend. The extend direction is defined as the direction that causes the transducer to return increasing counts. CAUTION: If the outputs from the RMC are reversed, the axis will be uncontrollable when power is connected. Confirm that your wiring is correct! See also: General Wiring Information SSI Overview SSI Configuration SSI LED Indicators SSI Specifications 6.6.
SSI 6.6 2. Set all options to your desired settings. 3. Click the Axis 1 tab. 4. Set all options to your desired settings. 5. Click Update RMC. 6. The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module yourself. 7. In the RMC Configuration dialog box, click Close. Data Length SSI devices may be purchased which provide a specific number of bits of data.
RMC100 and RMCWin User Manual The number of counts at the starting and ending positions are 300,000 and 400,000. However, because there will be no controlling taking place before 300,000 counts, we can immediately subtract 300,000 counts from the position and act as though the counts received are 0 through 100,000. Therefore, the position units are between 0 and 50,000, which fits within the 16-bit, 65,535 limit. The above example should describe the need for this field.
SSI 6.6 3 = Gray Code decreasing (24 bits) 6 = Binary increasing (25 bits) 7 = Gray Code increasing (25 bits) 8 = Binary decreasing (25 bits) 9 = Gray Code decreasing (25 bits) Use the Binary/Gray Code and Data Length fields in the SSI Configuration dialog to match the code format of the BTL transducer. The increasing/decreasing option indicates whether the counts increase or decrease away from the head of the transducer.
RMC100 and RMCWin User Manual 2 = 0.01 mm (10 µm) 3 = 0.05mm (50 µm) 4 = 0.1 mm (100 µm) 5 = 0.02 mm (20 µm) 6 = 0.002 mm (2 µm) This setting does not affect the SSI Configuration dialog, but must be taken into account when setting the Scale. d: Performance 1 = Standard This setting does not affect the Configuration word. e, f: Scale Orientation 00 = Forward-acting 01 = Reverse-acting 02 = Forward-acting, Synchronized This setting does not affect the Configuration word.
SSI 6.6 occurred: No Transducer Transducer Noise Transducer Overflow Alternating Red/Green None of the above errors occurred, and one or more of the below errors have occurred and are enabled in the Auto Stop: Overdrive Error Parameter Error Position Overflow Integrator Windup Following Error Status good. None of the above are true. Continuous Green Note: Prior to RMC CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED states.
RMC100 and RMCWin User Manual Clock frequency Cable type Cable length maximum ESD protection Resolution Count encoding Count data length 220 kHz Twisted pair, shielded Transducer dependent (approx. 300-600 ft) 15 kV Transducer dependent (up to 2 mm or approximately 0.
SSI 6.6 For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units. Because position units are user definable, this range does not limit most applications. See the section below on defining position units. For SSI axes, the Offset parameter is used with the Scale parameter to define the position range.
RMC100 and RMCWin User Manual recommended that one of these utilities is used, but the underlying math is described below. Method 1: P0/P1 Calculation The simplest way is to physically measure the axis’s position at two points and read how many counts the RMC reports at each position. If we call the two positions, in user position units, P0 and P1, and call the corresponding counts C0 and C1, the following two equations will give a Scale and Offset.
SSI 6.6 These calculations are done automatically using the SSI Scale/Offset Calibration Utility feature in RMCWin. Example 1 A system has an MDT with an SSI interface that has a resolution of 5 microns. The user wishes to have positions in thousandths of an inch. At the desired 0 position, the MDT produces 3221 counts. We first calculate the exact Scale: With the exact Scale value, we must choose the Prescale Divisor and the rounded Scale value.
RMC100 and RMCWin User Manual 7 Support and Troubleshooting 7.1 Warranty The RMC100 shall be free from defects in materials and workmanship under normal and proper use and service for a period of fifteen (15) months from the date of shipment by Delta Computer Systems, Inc. (Delta) or Delta's authorized distributor so long as the module was under warranty when shipped to the customer by the distributor.
Troubleshooting 7.2 7.2.2 Error Handling The RMC reports errors to the Programmable Controller within one control loop of detection. Errors are reported by setting bits in the affected axis’s Status word and turning on the appropriate LEDS. The Programmable Controller is responsible for checking errors by reading the Status words. It is up to the Programmable Controller to determine what should be done if an error is detected.
RMC100 and RMCWin User Manual Overdrive Error Position Overflow Parameter Error Integrator Windup Transducer counts field not indicating transducer location See ”r;Axis LEDS are red” above. Transducer counts field changes but output drive does not work See ”r;During a move, the drive comes to a halt for no apparent reason” above. The System is unresponsive and hard to tune This problem could have several causes. The first items to check are: 1.
Troubleshooting 7.2 It is nonlinear when the output is not directly proportional to the input. You may find two types of valve non-linearity: Overlapped valves - Oil does not start to flow through these valves until the spool has moved some distance. This causes a dead band in the system, where small amounts of drive do not produce motion. Overlapped valves are designed for manual and on/off type control and are not suited for servo control. These valves should be replaced with non-overlapped valves.
RMC100 and RMCWin User Manual oscillate around the set point as the RMC overshoots first in one direction, then the other. Hoses Long hoses between the valves and cylinder act as accumulators and make the system respond as if it has a spring in it (imagine trying to control the position of one end of a Slinky™ by moving the other end!). The lines between the valves and cylinders must be as short and rigid as possible.
Troubleshooting 7.2 Your valve probably has overlap. Replace the valve with a linear one or try increasing the Dead Band Eliminator value. If the speeds show: Your valve is probably curvilinear. Replace the valve with a linear one or increase the proportional gain and tune the system for high-speed stability; expect poor control at low speed and when stopped. If the speeds show: You may have too much hose between the valve and the cylinder.
RMC100 and RMCWin User Manual Your valve may have slow response. Change to a faster valve or add Acceleration Feed Forward. With normal gain values, if the graph shows: Your pump and/or accumulator may be inadequate (you are running out of oil). Reduce speed, increase pump pressure, add accumulator volume, or get a bigger pump. 7.3 Technical Support 7.3.1 Technical Support Delta Technical Support Numbers Phone: 360-254-8688 (24-hour emergency support available) Fax: 360-254-5435 www.deltamotion.
Parameter Errors 7.4 problem. Send the module to: Delta Computer Systems, Inc. 1818 SE 17th St Battle Ground, WA 98604 Returns Contact Delta for details on returning items. An RMA number must be issued before an item is returned. 7.4 Parameter Errors 7.4.1 A valid segment has not been calculated This indicates that a Follow Spline Segment command was issued but there are no completed segments to follow.
RMC100 and RMCWin User Manual For more details on controlling pressure, refer to Controlling Pressure or Force. 7.4.4 Attempt to go beyond extend limit This parameter error will occur whenever either a Go or Relative Move command requests that the axis moves to a position beyond the EXTEND LIMIT. The COMMAND POSITION will be set to the EXTEND LIMIT. The move will continue if the bits for the Parameter Error are cleared in the AUTO STOP word.
Parameter Errors 7.4 7.4.8 Auto-Repeat Should Not be Used on Linear Axes with a Curve that Does Not Match Endpoints All of the following was true: • An Auto-Repeat curve was downloaded to an axis with an absolute transducer type such as MDT, SSI, or Analog, which cannot be offset. • The curve's first and last points were at different positions. • The curve was followed beyond its last point, thus triggering an Auto-Repeat. If any of the above was not true, then an error would not have been generated.
RMC100 and RMCWin User Manual 7.4.13 Cannot home an axis while synchronized Homing an axis changes the current position and would confuse a synchronized axis. For this reason, homing is not allowed while an axis is synchronized. 7.4.14 Cannot issue a ’r;Z’ or ’r;z’ command to a synchronized axis These commands change the current position of the axis, which would confuse the synchronized axes; therefore, these commands cannot be issued while an axis is synchronized. 7.4.
Parameter Errors 7.4 7.4.18 Command pressure cannot be less than pressure set B When using Pressure Set Mode, the Command Pressure—which is issued as the Command Value in a Set Pressure command—must always be greater than or equal to Pressure Set B. 7.4.19 Dead band eliminator out of range This parameter error indicates that the DEAD BAND ELIMINATOR parameter was set to a value greater than ±2000. This maximum prevents a dead band of greater than 2 volts.
RMC100 and RMCWin User Manual RETRACT FEED FORWARD parameters have opposite signs, this parameter error will be generated. 7.4.24 Fewer segments than were requested to be cleared existed This indicates that a Clear Spline Segments cleared all segments available, but there were fewer segments than the user requested to be cleared available to clear. This indicates that the user somehow lost track of the count of segments, which can indicate problems with the controlling program. 7.4.
Parameter Errors 7.4 7.4.27 Gear ratio denominator is zero The error indicates that this axis was given a geared command with a zero denominator. The gear ratio is given with the numerator in the Command Value field and the denominator in the Speed field. To fix this error, simply enter the correct ratio in these two fields before issuing the geared command or, if you unintentionally issued the geared command, check that you have set up the Mode word correctly. 7.4.
RMC100 and RMCWin User Manual commands are specific to only quadrature or only pressure/force control. 7.4.33 Invalid command value This parameter error is set when the command value exceeds the range for that command, as described in the table below. The command will be ignored, except Set Null Drive, which will be truncated to +/-2000.
Parameter Errors 7.4 7.4.35 Invalid Interval Table Format in the Spline Download Area The Interval Table Format register in the Spline Download Area may either have a value of 0 or 1, as described in Downloading Splines to the RMC. You will also get this parameter error if you download the Spline Points without having set this register at all. 7.4.
RMC100 and RMCWin User Manual 7.4.39 Invalid Screen Number in the Display LCD Screen ($) Command The screen number indicated in the Command Value field of the Display LCD Screen ($) command was out of range. The valid screen numbers range from 0 to the highest screen number available. Therefore, if the RMC has four screens loaded into it, then the valid range of screens would be 0 to 3. 7.4.
Parameter Errors 7.4 7.4.44 No initialized pressure axis is assigned This parameter error occurs when a move is started with the Monitor Pressure bit set in the MODE word, but either no pressure axis assigned to the position axis, or the pressure axis assigned has not been initialized. Consider the following three possibilities: • Did you intend to set the Monitor Pressure bit in the MODE word? If not, then you should open the MODE word popup editor in RMCWin and clear the Monitor Pressure check box.
RMC100 and RMCWin User Manual 7.4.47 One or more synced axes are uninitialized This error indicates that at least one of the axes selected to participate in the synchronized move has not been initialized. The axis that is not initialized will be marked with the Parameter Error bit and will not have the Parameters Initialized bit set in the STATUS word. To initialize the parameters on this axis, issue a Set Parameters command. 7.4.48 Overflow while adding point.
Parameter Errors 7.4 pressures. 7.4.53 Reached command position while regulating pressure This parameter error indicates that the axis was regulating pressure, but then reached the COMMAND POSITION specified on the move that was monitoring pressure. At this point, the axis does a hard stop. If you do not want the axis to reach the COMMAND POSITION, then you should artificially place the COMMAND POSITION where it cannot be reached. 7.4.
RMC100 and RMCWin User Manual 7.4.58 Resetting the position would cause a position overflow This error occurs when either a Set Position (Z) or Offset Position (z) command is issued and the Target or Command position is shifted below the minimum possible position or above the highest possible position. For the Offset Position (z) command, the positions are offset by the amount requested by the user.
Parameter Errors 7.4 7.4.62 Step Number in Teach (t) or Function (,) Command Out of Range The Command Value of the Teach (t) and Function (,) commands refer to the step number. Therefore, these values must be between 0 and 255, since there are only 256 steps in the RMC. A value above 255 was issued in either one of these commands. 7.4.
RMC100 and RMCWin User Manual or if the axis was accidentally left out of a new synchronized command. Either one of the following two steps should be taken: • • If the axis no longer should be synchronized, then first explicitly unsynchronize the axis by giving it a Go or Relative Move without any sync bits set in the Mode word before giving a new synchronized command to the remaining synchronized axes. NOTE: If the axis that is being unsynchronized was the master axis, then all slave axes will halt.
Parameter Errors 7.4 7.4.70 The Accel Field Must Be Zero in the Command Issued The Add (+), Subtract (-), and Function (,) commands all require that the Acceleration command field be 0. One of these commands was issued with a non-zero Acceleration value. This field is reserved for future use. 7.4.
RMC100 and RMCWin User Manual Reference command: The ACCELERATION parameter is the Acceleration Limit, and must be a valid value. If this error occurs, the value will be truncated. 7.4.74 The command deceleration is invalid This parameter error indicates that an invalid DECELERATION was given for a Set Bias Drive command. The DECELERATION must be less than 20000 millivolts per millisecond in Deceleration Mode 1, and greater than zero in Deceleration Mode 3.
Parameter Errors 7.4 7.4.78 Requested sine-move speed too low Note: This parameter error has been eliminated in RMC100 CPU firmware dating 19991130 or later. In this newer firmware all speeds are allowed. This parameter error occurs when, for a Sine Move command, the time it would take to move at the requested maximum speed exceeds 65.535 seconds, resulting in an internal overflow. There are several alternatives if you receive this error: • Reduce the distance you wish to move with the Sine Move command.
RMC100 and RMCWin User Manual 7.4.80 Too many spline points. Point not added This parameter error indicates that the maximum total number of spline points allowed has been reached. This limit is described in Spline Overview. The following is a list of ways around this problem: • Use the Clear Spline Segments to clear out unused spline segments when possible. • Break the spline down into smaller segments and follow each segment before issuing the next. 7.4.
Parameter Errors 7.4 When this error occurs, the velocity will be truncated at 65536 position units per second. 7.4.85 Unknown Parameter Error Automatic parameter identification is a feature that has been added to the RMC in RMC100 CPU firmware dated 19971016 (year-month-day) and newer. If you have firmware older than this date and would like to use this feature, contact Delta Computer Systems, Inc. technical support and ask for the latest firmware.
Appendix A: Command Reference Appendix A: Command Reference A.1 General ASCII Commands A.1.1 I-PD Position Move Command Character: ! Decimal: 33 Hexadecimal: 0x21 Command Value: Requested Position, in position units The I-PD Position Move command initiates a position move using the I-PD control algorithm. All other motion commands in the RMC100 use the PID control algorithm. The Acceleration and Deceleration fields are not used. The Speed field is the maximum velocity allowed during the move.
RMC100 and RMCWin User Manual described below. Use the following tips when tuning I-PD motion: • The Proportional Gain works the same as in the PID. • The ratio of the Integral Gain to Proportional Gain determines the response. For a faster response (to get into position quicker), increase the Integral Gain/Proportional Gain ratio. • The Differential Gain works the same as in the PID. • Feed Forwards and Accel Feed Forwards are ignored.
Appendix A: Command Reference correctly showing 0. The axis will now control properly. A.1.3 Display LCD Screen Command Character: $ Decimal: 36 Hexadecimal: 0x24 Command Value: LCD Screen Number (0-15) Note: This command is supported in RMC100 CPU firmware dated 20010522 or newer. This command will change which screen is currently displayed on the LCD Screen. As described in the LCD Screen Editor topics, there can be up to sixteen screens stored in a single RMC.
RMC100 and RMCWin User Manual addresses. See Address Tool for details. This command uses the command fields as follows: Mode: The Mode field controls how the 16-bit source, destination, and constant values are signextended. Its bits are defined as follows: Bits 7-15 Reserved. Must be 0. Bits 4-6 Position Range Axis. These bits are used only if bit 1 (Register Sign Extension) is set. They then determine which axis's position range is used for the source and destination registers. Bits 2-3 Reserved.
Appendix A: Command Reference Suppose that Axis1 needs to go to a position that is 90% of Axis0's Actual Position. This can be done using two Event Steps. The first will calculate 90% of the Axis0 Actual Position and store it in the second step's Command Value. The second step will issue a Go (G) command to the newlycalculated position.
RMC100 and RMCWin User Manual Step 19: This step issues a Go (G) command to Axis1. The Command Value will have been overwritten by step 18 with a value that is 90% of the Axis0 Actual Position. This step then waits for the In Position bit to set before linking to step 20. See also: Add Command, Subtract Command A.1.5 Add Command Character: + Decimal: 43 Hexadecimal: 0x2B Command Value: Destination Address (80-2303) Note: This command is supported in RMC100 CPU firmware dated 20010402 or newer.
Appendix A: Command Reference If this bit is 0, then the source and destination registers are sign extended the same way as the constant. Bit 0 Constant Sign Extension. If this bit is 0, then the constant in the Speed field is signed. Otherwise, this constant is unsigned. Tip: To simplify computing and entering the Mode value, use the pop-up editor. First enter the command so that RMCWin knows which Mode dialog box to display.
RMC100 and RMCWin User Manual This command performs any of a number of functions on the Actual Positions of any group of axes. The result of the function is stored in the Command Value of the Event Step specified by the Command Value. The available functions include the following: Function Description Min (0) Uses the minimum Actual Position among the selected axes. Max (1) Uses the maximum Actual Position among the selected axes. Mid (2) Uses the middle Actual Position among the selected axes.
Appendix A: Command Reference The binary value 00110011must be converted to hexadecimal or decimal so it can be put into the speed parameter. This binary value converts to the hexadecimal value 0x0033 or the decimal value 51. Tip: The Windows calculator is an easy way to convert from binary to decimal or hexadecimal. To open, click the Start button, point to Programs, then Accessories, and click Caculator. On the View menu click Scientific.
RMC100 and RMCWin User Manual If this bit is 0, then the source and destination registers are sign extended the same way as the constant. Bit 0 Constant Sign Extension. If this bit is 0, then the constant in the Speed field is signed. Otherwise, this constant is unsigned. Tip: To simplify computing and entering the Mode value, use the pop-up editor. First enter the command so that RMCWin knows which Mode dialog box to display.
Appendix A: Command Reference Note: This command should only be used in the Event Step table. This command does nothing when issued directly from the PLC. The Poll (?) command modifies the operation of most link types (exceptions are listed below). This command can only be issued in the Event Step table and affects the link type on the same step as the Poll command. The Poll command is useful in applications where it is necessary to check for two or more conditions at the same time.
RMC100 and RMCWin User Manual These links types already define both true and false actions, and therefore should not be used with the Poll command. • Math Compares/Errors link types These links types already define both true and false actions, and therefore should not be used with the Poll command. • Jump (J) link type This link type will already take a link immediately in all cases and therefore should not be used with the Poll command.
Appendix A: Command Reference entire polling loop by one control loop (1 or 2 ms). Step 15 will be jumped to when an Overdrive Error occurs. It simply turns on discrete output 0, perhaps to indicate the overflow to the operator in the form of a red light. To summarize, the above sequence starts a move to position 4000, jumps to step 15 if an overdrive error occurs, jumps to step 14 if the axis gets in position, and loops through steps 1113.
RMC100 and RMCWin User Manual overdrive error occurs, and otherwise jumps to step 13 when the axis gets in position. Here is a summary of the advantages and disadvantages of doing a polled loop using this method versus the method shown in Example 1: • The advantage of this method is that both conditions will be checked every two control loops since there are only two steps in the polling loop (steps 11 and 12).
Appendix A: Command Reference Command Value: 0 = Disable AMP, 1 = Enable AMP Note: This command is only available in RMC100 CPU firmware dated 19991124 or later. This command is for Quadrature and Stepper axes only. It controls the Amp Enable output for the axis that receives this command. If the Command Value is 0, then this output goes low. If the Command Value is 1, then this output goes high. A.1.
RMC100 and RMCWin User Manual • You specified a positive command value, but not that many segments are available on that axis. All segments will be deleted, but the Parameter Error bit will be set to indicate that it did not delete as many segments as you requested. If you get this error, keep in mind that spline segments are automatically discarded after they are executed. • You specified a negative command value, but not that many segments are available to keep.
Appendix A: Command Reference change in deceleration takes place immediately if a move is in progress. A.1.15 Start Events Command Character: E Decimal: 69 Hexadecimal: 0x45 Command Value: Event Step to Start Execution This command starts an event step sequence at the step specified in the Command Value field. If the axis already was in the middle of an event sequence, that sequence will end and the new event sequence will begin.
RMC100 and RMCWin User Manual a spline. The In Position bit of the Status will be cleared when this command begins and will be set when the axis reaches the end of the spline. The State A and State B status bits will be cleared throughout the spline. The axis must already be at the position of the first spline point (the Follow Spline Relative command does not require this).
Appendix A: Command Reference includes superimposed mode. The above description of this command is appended in the following ways: • The Geared Mode bit is used, despite the note about firmware versions. • The Superimposed Mode bit is used as follows: o If set, the move may be superimposed on top of a Geared move, a Speed Control move, a Sine Move, or another Spline. If cleared, the spline will be the only move. Notice, that if the axis is stopped, the Superimposed bit may still be used without harm.
RMC100 and RMCWin User Manual Speed Control with Velocity Loop (Rotational bit set): This command is identical to Speed Control with Position Loop except that closed loop control is performed on the speed, not the position. See Speed Control for details on this mode. Geared Control (Gear bit set): This command requests the axis to ramp its gear ratio up or down. The requested gear ratio is held in the Command Value and Speed fields. Please see Gearing Axes for details on using the Go command for gearing.
Appendix A: Command Reference A.1.21 Set Integral Drive to Null Drive Command Character: i Decimal: 105 Hexadecimal: 0x69 Command Value: Unused This command sets the Integral Drive to the Null Drive value. This can be used to unwind the integrator. In most cases this is more desirable than using the Set Integral Drive command because this accounts for the valve being non-nulled. You can also use the Save Integral Drive and Restore Integral Drive commands to unwind the integrator. A.1.
RMC100 and RMCWin User Manual Command Value: Drive Limit, in millivolts Note: This command is available only in RMC CPU firmware dated 20000331 or later. This command sets the drive limits for the axis receiving the command. The limits are set to plus or minus the Command Value in millivolts. For example, issuing this command with a Command Value of 5000 will limit the drive output for the axis to ±5000 mV. This command can only be issued to axes with analog outputs.
Appendix A: Command Reference Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational Mode. Changing this bit while the axis is doing a Point-to-Point, Synchronized, Quick, or Speed Control move will have no effect, since Point-to-Point, Quick, and Synchronized moves are only defined in non-Rotational mode and Speed Control is only defined in Rotational mode. It is allowed in Open Loop, Stopped, Spline, Gear, and Reference control modes.
RMC100 and RMCWin User Manual Note: For pressure/force axes, this command will take effect on the analog module’s drive output, if one is available. Only 16-bit analog cards have drive outputs, therefore this command will have no affect on 12-bit analog cards. Also, because drive outputs are only assigned to input channels 0 and 2 on 16-bit cards, only analog or pressure axes using those input channels will be able to issue this command.
Appendix A: Command Reference and then accelerate from 0 to 2000mV. To ensure that this deceleration happens quickly, the deceleration must be set properly (by setting it to 0 in Mode 3, and to a high number (1000 or greater) in Mode 1). Stepper Axes (QST Modules) Stepper axes do not have an analog output so the Open Loop command generates pulses on the Step+ and Step- Outputs. It also sets the polarity on the Direction+ and Direction- signals.
RMC100 and RMCWin User Manual position axes, issuing this command to a pressure or force axis will result in a parameter error. A.1.32 Reset Position Command Character: q Decimal: 113 Hexadecimal: 0x71 Command Value: New Position Command Value (Resolver): Not used This command is used to put a quadrature encoder axis into a known state. The COMMAND POSITION, TARGET POSITION and ACTUAL POSITION are set to the value specified in the Command Value register.
Appendix A: Command Reference middle of a move. For example, suppose the integral drive is saved while the move is taking place. If during the move, the axis gets stuck and the integrator winds up, then the integral drive can be restored after the cause of the stall is fixed to avoid an overshoot. For alternative ways to unwind the integrator, see the Set Integral Drive and Set Integral Drive to Null Drive commands. A.1.
RMC100 and RMCWin User Manual create unrealistic accelerations and are therefore not allowed. This error is indicated by the Parameter Error bit in the Status word: End Spline Segment (zero command value) When the command value is zero, this command will perform final calculations on the spline points in a segment. After each segment is added, a ’r;T’ command with a command value of 0 must be sent. Any points sent after this ’r;T’ command will belong to the next spline segment.
Appendix A: Command Reference End Spline Segment (zero command value) When the command value is zero, this command will perform final calculations on the spline points in a segment. After each segment is added, a ’r;T’ command with a command value of 0 must be sent. Any points sent after this ’r;T’ command will belong to the next spline segment. When used to perform final calculations, this command may not finish immediately. This command will process up to four points immediately.
RMC100 and RMCWin User Manual power loss or reset. While a Flash update is in progress, the green CPU LED will flash. Removing power while the LED is still flashing will result in the parameters being lost. Note: The Update Flash command does not write the splines to Flash. For details on writing splines to Flash, see the Update Flash Segment command. A.1.
Appendix A: Command Reference Hexadecimal: 0x76 Command Value: New Speed Value (Signed) This command sets the Speed of the axis to the Command Value, which is a value between 32,768 and 32,767. In addition, the axis is given a Command Position of either the extend or retract limit depending on the sign of the Command Value. If the Command Value is positive, the axis will move in the direction of increasing position units.
RMC100 and RMCWin User Manual between the Retract Limit and the Extend Limit. Acceleration Acceleration Limit: This parameter limits the rate that the Target Velocity can change. It is specified in position units per second per millisecond. Notice that this limit is ignored if the Filter Time Constant (described below) is zero. Deceleration Reference Deadband: This parameter configures a deadband that is used to eliminate jitter in the Target Position when the input is at rest.
Appendix A: Command Reference The Spline Relative Sine Move (w) command parameters are defined as follows: Command Parameter Mode Description The superimposed and gear bits must be set. Acceleration Time/Distance Select: If the Speed parameter is zero, this parameter specifies the time for this move to complete. Deceleration Spline Position: Specifies the position of the leftmost point of the spline.
RMC100 and RMCWin User Manual A.1.46 New Spline Point Command Character: X or x Decimal: 88 or 120 Hexadecimal: 0x58 or 0x78 Command Value: Requested Spline Position, Position units This command adds a point to the current spline segment. This segment cannot be followed (using the Follow Spline Segment command) until the End Spline Segment command has been issued to calculate the final curve.
Appendix A: Command Reference This command is used to set the Target Position to any value. This command also changes the Command Position and Actual Position by the difference between the new target position and the old target position. When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog, the Offset parameter is adjusted in order to make the position match the requested position.
RMC100 and RMCWin User Manual This command uses the Command Value to determine which outputs to reset. It uses the Command Value in the same manner as the Set Outputs command, except that it resets each output that corresponds to a bit set in the Command Value. See also: Set Outputs A.1.51 Set Outputs Command Character: [ Decimal: 91 Hexadecimal: 0x5B Command Value: Mask of Digital Output Bits to Set This command uses the Command Value to determine which outputs to set. The value is treated as a bit mask.
Appendix A: Command Reference Value Digit Digit Hex F = 1 1 1 1 1 1 1 1 1 Hex E = 1 1 1 0 1 1 1 0 1 Hex D = 1 1 0 1 1 1 0 1 1 C= 1 1 0 0 1 1 0 0 1 B= 1 0 1 1 1 0 1 1 1 A= 1 0 1 0 1 0 1 0 1 9= 1 0 0 1 1 0 0 1 1 8= 1 0 0 0 1 0 0 0 1 7= 0 1 1 1 0 1 1 1 0 6= 0 1 1 0 0 1 1 0 0 5= 0 1 0 1 0 1 0 1 0 4= 0 1 0 0 0 1 0 0 0 3= 0 0 1 1 0 0 1 1 0 2= 0 0 1 0 0 0 1 0 0 1= 0 0 0
RMC100 and RMCWin User Manual This command is used to start event sequences on one or more axes simultaneously. This is done by simulating a rising edge on an input row of the Input to Event table, even if there is no physical discrete input on the controller. Each row of the Input to Event table holds the event number to start on each axis. For further details on the Input to Event table, see Editing the Input to Event Table.
Appendix A: Command Reference o …the Graph Disable, Rotational, and Monitor Pressure bits may be set if desired. o The Acceleration field is reserved. It should be set to zero. o The Deceleration field is used as the requested time in milliseconds that the move may take to complete. This time may not actually be used if the maximum speed (described below) would be exceeded. In this case a longer time will be used.
RMC100 and RMCWin User Manual o The distance the user wishes the slave to travel (given by the Command Value) is added to the distance that the slave’s target position lags behind the master’s target position.
Appendix A: Command Reference The 16-bit Command Value is split into two bytes. The upper 8 bits specify which bits are to be cleared. For example, setting bits 8 and 10 of the Command Value would clear wait bits 0 and 2. Likewise the lower 8 bits specify the bits to be set. It is possible to set and clear multiple bits with just one command. Example: Axis 4 may need to know when axes 0 to 3 have cleared a position.
RMC100 and RMCWin User Manual Acceleration: Not Used. Stopping a Sine Move Continuous in Progress: The cycling can be stopped by issuing a Sine Move Continuous command with the count set to 1. When the actuator gets to the starting position the cycling will stop. Note: Do not change the frequency or amplitude on-the-fly unless the actuator is back at the start position.
Appendix A: Command Reference position will be truncated to the maximum or minimum position until the spline re-enters the limits. A.1.58 Map Output to Axis Position Character: None Decimal: 127 Hexadecimal: 0x7F Command Value: Axis and Position Select (see below) This command maps the drive output for this axis to an axis’s position. Note that this command is not valid on pressure axes.
RMC100 and RMCWin User Manual 1 0 Target Positive 2 0 Actual Positive 10 1 Command Positive 11 1 Target Positive 12 1 Actual Positive n*10+0 n Command Positive n*10+1 n Target Positive n*10+2 n Actual Positive -1 0 Command Negative -2 0 Target Negative -3 0 Actual Negative -11 1 Command Negative -12 1 Target Negative -13 1 Actual Negative -(n*10+1) n Command Negative -(n*10+2) n Target Negative -(n*10+3) n Actual Negative A.1.
Appendix A: Command Reference eight axes as the base for the move.
RMC100 and RMCWin User Manual Why Bother? These commands are handy when exiting open loop or pressure mode and re-synchronizing axes. Remember the Target and Actual Positions are the same in these modes. That is why there is not a relative move from an actual position. A.1.60 Set Parameter On-the-Fly Character: None Decimal: 208-223 Hexadecimal: 0xD0-0xDF Command Value: Value of the Parameter Note: This command is supported in RMC100 CPU firmware dated 19980414 or later.
Appendix A: Command Reference 0xDC 220 Dead Band Eliminator Compensation Window (2) Invalid command 0xDD 221 In Position Window In Position Window (2) Invalid command 0xDE 222 Following Error Window Following Error Window (2) Invalid command 0xDF 223 Auto Stop Error Mask Auto Stop Error Mask (2) Invalid command 1. Changing these parameters on-the-fly requires firmware 20000913 or later. 2. Changing these parameters on-the-fly requires firmware 20001204 or later. 3.
RMC100 and RMCWin User Manual the Bias Drive command. The possible values are: Mode 1 The Pressure Set A and Pressure Set B fields use units of millivolts per millisecond. For example, if the current Bias Drive is 0 volts, the Command Value is 1000 millivolts, and the Pressure Set A field is set to 50, it will take 20 milliseconds for the Bias Drive to reach 1000 millivolts. Mode 3 The Pressure Set A and Pressure Set B fields are given in milliseconds.
Appendix A: Command Reference in mode 2. • Monitor Pressure Bit (bit 8): Clearing this bit while regulating pressure will drop the axis out of pressure regulation. Changing this bit at any other time will simply make the axis stop or resume monitoring the pressure for entering pressure control. • Rotational Bit (bit 9): Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational Mode.
RMC100 and RMCWin User Manual requested value. Acceleration is used when the drive output is moving away from 0 and deceleration is used when drive output is moving toward 0. The actual meaning of the values depends on the Acceleration/Deceleration mode bits in the Mode word. Notice that only modes 1, 2 and 3 are used: Mode 1 Acceleration and deceleration are given in millivolts per millisecond.
Appendix A: Command Reference Command Value: Unused When a 'P' command is given all initialization parameters are updated. Tip: If you wish to change parameters without stopping the axis, see the Set Parameter On-the-Fly commands. Non-pressure/force Axes The minimum requirement of this command is to set the Extend and Retract Limits to their proper values (see Start-Up and Tuning). When a 'P' command is given, the RMC will copy the Actual Position of the axis into the Target and Command Positions.
RMC100 and RMCWin User Manual seconds into the ramp, this command is issued with a Command Value of 4000. Therefore, because one fourth of the original Ramp Time was remaining, one fourth of the new Ramp Time (one fourth of 4000 milliseconds or 1000 milliseconds) will remain. So, the rest of the ramp will take a full second. A.2.8 Set Pressure Command Character: ^ Decimal: 94 Hexadecimal: 0x5E Command Value: Pressure Value This command is used as the main command for regulating pressure.
Appendix A: Command Reference details. A.2.10 Set Pressure Set B Command Character: _ Decimal: 95 Hexadecimal: 0x5F Command Value: Pressure Value This command sets the Pressure Set B value to the Command Value. The new value for Pressure Set B is used as soon as the command is processed. Refer to Pressure Set B for details. A.2.
RMC100 and RMCWin User Manual 0xD8 216 Extend Feed Fwd. Steps/Rev (2) Extend Feed Fwd 0xD9 217 Retract Feed Fwd. Pos. Units/Rev (2) Retract Feed Fwd 0xDA 218 Extend Acc. Feed Fwd. Quad Counts/Rev (2) Integrator Preload ( 0xDB 219 Retract Acc. Feed Fwd. Max.
Appendix A: Command Reference 1111|11 | | Bit#5432|1098|7654|3210 ------------------0AAA|RRRR|0000|0000 No command 0AAA|RRRR|0000|CCCC Open Loop Using Profile 0AAA|RRRR|0001|CCCC Set Parameter 0AAA|RRRR|0010|CCCC Set Profile 0AAA|RRRR|0011|XXXX Reserved 0AAA|RRRR|01CC|CCCC ASCII Commands 0AAA|RRRR|1000|CCCC Go/Set Pressure Using Profile 0AAA|0000|1001|CCCC Get Parameter 0AAA|0000|1010|CCCC Get Profile 0AAA|RRRR|1011|XXXX Reserved 0AAA|RRRR|1100|XXXX Reserved 0AAA|RRRR|1101|CCCC Set Parameter On-the-fly
RMC100 and RMCWin User Manual 0 0 0 0 0 0 1 1 0 1 0 2* 0 1 1 3* 1 0 0 4* 1 0 1 5* 1 1 0 6* 1 1 1 7* * Commands to invalid axes are ignored. C (Command Index) Bits: These bits are used by the selected command. Refer to the command you wish to use for information on bits marked with C in the chart above. R (Status Area Request) Bits: These bits are used to select the data returned in digital inputs 0-7. Refer to the following chart for selecting the data of your choice.
Appendix A: Command Reference 1 0 1 0 In Position/Auto Stop Errors† 1 0 1 1 Reserved 1 1 X X Reserved * These are 16-bit values. At the time this data is requested, the full 16-bit value is stored in the RMC, and is thus latched. The low byte (bits 0-7) is returned on digital outputs 0-7 after the command word is acknowledged, and the high byte (bits 8-15) is returned on the same outputs after the command value is acknowledged. † This value returns the In Position and Auto Stop Error bits.
RMC100 and RMCWin User Manual After the command value is acknowledged, the Auto Stop Error bits are returned on the following digital outputs: Output Represents… 0 Axis 0 Auto Stop Error 1 Axis 1 Auto Stop Error 2 Axis 2* Auto Stop Error 3 Axis 3* Auto Stop Error 4 Axis 4* Auto Stop Error 5 Axis 5* Auto Stop Error 6 Axis 6* Auto Stop Error 7 Axis 7* Auto Stop Error * This bit is always zero if the axis is not available. X (Don’t Care) Bits: These bits are ignored. A.3.
Appendix A: Command Reference The following table lists all commands that can be issued over the RMC’s PROFIBUS-DP Compact Mode: 1111|11 | | Bit#5432|1098|7654|3210 ------------------0000|RRRR|0000|0000 No command 0000|RRRR|0000|CCCC Open Loop Using Profile 0000|RRRR|0001|CCCC Set Parameter 0000|RRRR|0010|CCCC Set Profile 0000|RRRR|0011|XXXX Reserved 0000|RRRR|01CC|CCCC ASCII Commands 0000|RRRR|1000|CCCC Go/Set Pressure Using Profile 0000|0000|1001|CCCC Get Parameter 0000|0000|1010|CCCC Get Profile 0000|
RMC100 and RMCWin User Manual These bits are used by the selected command. Refer to the command you wish to use for information on bits marked with C in the chart above. R (Status Area Request) Bits: These four bits define the Status Area Request (SAR) field. They request the data to be returned in the second input register for the axis. For details on input registers, see Input Register Overview.
Appendix A: Command Reference A.3.3 Receiving Data from the Motion Controller The method of receiving data from the RMC in the PLC depends on the type of communication module you are using. • If you are using PROFIBUS-DP, refer to Input Register Overview. • If you are using a Communication Digital I/O in Command Mode, refer to Command Words for Command Mode. A.3.4 Sending Data from the PLC The method of sending data to the RMC from the PLC depends on the type of communication module you are using.
RMC100 and RMCWin User Manual ------------------HEX |SAR |CMND|INDX VALUE ------------------0X00 0AAA|XXXX|0000|0000 NO COMMAND 0X01 0AAA|XXXX|0000|0001 OPEN LOOP USING PROFILE 1 0X02 0AAA|XXXX|0000|0010 OPEN LOOP USING PROFILE 2 0X03 0AAA|XXXX|0000|0011 OPEN LOOP USING PROFILE 3 0X04 0AAA|XXXX|0000|0100 OPEN LOOP USING PROFILE 4 0X05 0AAA|XXXX|0000|0101 OPEN LOOP USING PROFILE 5 0X06 0AAA|XXXX|0000|0110 OPEN LOOP USING PROFILE 6 0X07 0AAA|XXXX|0000|0111 OPEN LOOP USING PROFILE 7 0X08 0AAA|XXXX|0000|1000 O
Appendix A: Command Reference O+3 0000|XXXX|0000|1011 (0X0B) +4 4000 (0FA0) Issue an Open Loop using Profile 11 command Requested Drive Example for Digital I/O: Suppose you would like axis 0 to go into open loop at 2000mV of drive using profile 10.
RMC100 and RMCWin User Manual 0X11 0AAA|XXXX|0001|0001 Set SCALE 0X12 0AAA|XXXX|0001|0010 Set OFFSET 0X13 0AAA|XXXX|0001|0011 Set EXTEND LIMIT 0X14 0AAA|XXXX|0001|0100 Set RETRACT LIMIT 0X15 0AAA|XXXX|0001|0101 Set PROPORTIONAL GAIN 0X16 0AAA|XXXX|0001|0110 Set INTEGRAL GAIN 0X17 0AAA|XXXX|0001|0111 Set DIFFERENTIAL GAIN 0X18 0AAA|XXXX|0001|1000 Set EXTEND FEED FORWARD 0X19 0AAA|XXXX|0001|1001 Set RETRACT FEED FORWARD 0X1A 0AAA|XXXX|0001|1010 Set EXTEND ACCEL FEED FORWARD 0X1B 0AAA|XXXX|0001|1011 Set RETRA
Appendix A: Command Reference 0000|XXXX|0001|0011 (0X13) Set axis 0 Extend Limit Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data Send on Command Strobe going high: 0101|1101|1100|0000 (5DC0) New Extend Limit value Receive after Acknowledge: XXXX|XXXX (XX) High byte of requested data A.3.
RMC100 and RMCWin User Manual 0X26 0AAA|XXXX|0010|0110 SET PROFILE 1, 5, 9 or 13 DECEL 0X27 0AAA|XXXX|0010|0111 SET PROFILE 1, 5, 9 or 13 SPEED 0X28 0AAA|XXXX|0010|1000 SET PROFILE 2, 6, 10 or 14 MODE 0X29 0AAA|XXXX|0010|1001 SET PROFILE 2, 6, 10 or 14 ACCEL 0X2A 0AAA|XXXX|0010|1010 SET PROFILE 2, 6, 10 or 14 DECEL 0X2B 0AAA|XXXX|0010|1011 SET PROFILE 2, 6, 10 or 14 SPEED 0X2C 0AAA|XXXX|0010|1100 SET PROFILE 3, 7, 11 or 15 MODE 0X2D 0AAA|XXXX|0010|1101 SET PROFILE 3, 7, 11 or 15 ACCEL 0X2E 0AAA|XXXX|0010|1
Appendix A: Command Reference Looking at the chart above, we can see that we issue Set Profile commands to axis 0 to set profile 2 and we use axis 1 Set Profile commands to set profile 7. Therefore, we can do both at the same time.
RMC100 and RMCWin User Manual 0X2Ah (Set profile 2 DECEL) O+2 70 (Value of profile 2 DECEL) O+3 0X2Eh (Set profile 7 DECEL) 70 (Value of profile 2 DECEL) 0X2Bh (Set profile 2 SPEED) O+2 12000 (Value of profile 2 SPEED) O+3 0X2Fh (Set profile 7 SPEED) 20000 (Value of profile 2 SPEED) O+1 O+4 Fourth scan: O+1 O+4 Example for Digital I/O: We wish to set profile 7 to the following values: PROFILE 7 A-68 MODE 0x0001 ACCEL 100 DECEL 70
Appendix A: Command Reference SPEED 12000 Looking at the chart above, we can see that Set Profile commands must be to axis 1 to set profile 7.
RMC100 and RMCWin User Manual XXXX|XXXX (XX) High byte of requested data Fourth Command: Send on Command Strobe going high: 0001|XXXX|0010|1011 (1X2B) Set profile 7 Speed Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data Send on Command Strobe going high: 0010|1110|1110|0000 (2EE0) Profile 7 Speed Receive after Acknowledge: XXXX|XXXX (XX) High byte of requested data A.3.
Appendix A: Command Reference position axis, it issues a Go (G) command to the axis after copying the selected profile to the Mode, Accel, DECEL and Speed fields. When issued to a pressure axis, it issues a Set Pressure (^) command to the axis after copying the selected profile to the Mode, Pressure Set A, Pressure Set B, and Ramp Time fields. NOTE: In the profile editor, these fields are labeled Mode, Accel, Decel, and Speed.
RMC100 and RMCWin User Manual Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to move axis 0 to 5000 position units using profile 2 and axis 1 to 10000 position units using profile 5.
Appendix A: Command Reference 1111|11 | | BIT# 5432|1098|7654|3210 ------------------HEX | |CMND|INDX VALUE ------------------0X90 0AAA|XXXX|1001|0000 Get CONFIGURATION 0X91 0AAA|XXXX|1001|0001 Get SCALE 0X92 0AAA|XXXX|1001|0010 Get OFFSET 0X93 0AAA|XXXX|1001|0011 Get EXTEND LIMIT 0X94 0AAA|XXXX|1001|0100 Get RETRACT LIMIT 0X95 0AAA|XXXX|1001|0101 Get PROPORTIONAL GAIN 0X96 0AAA|XXXX|1001|0110 Get INTEGRAL GAIN 0X97 0AAA|XXXX|1001|0111 Get DIFFERENTIAL GAIN 0X98 0AAA|XXXX|1001|1000 Get EXTEND FEED FO
RMC100 and RMCWin User Manual O+3 0000|0000|1001|0001 (0091) Requests Scale for axis 1 +4 XXXX|XXXX|XXXX|XXXX (XXXX) Ignored After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match.
Appendix A: Command Reference ------------------HEX | |CMND|INDX VALUE------------------0XA0 0AAA|XXXX|1010|0000 GET PROFILE 0, 4, 8 or 12 MODE 0XA1 0AAA|XXXX|1010|0001 GET PROFILE 0, 4, 8 or 12 ACCEL 0XA2 0AAA|XXXX|1010|0010 GET PROFILE 0, 4, 8 or 12 DECEL 0XA3 0AAA|XXXX|1010|0011 GET PROFILE 0, 4, 8 or 12 SPEED 0XA4 0AAA|XXXX|1010|0100 GET PROFILE 1, 5, 9 or 13 MODE 0XA5 0AAA|XXXX|1010|0101 GET PROFILE 1, 5, 9 or 13 ACCEL 0XA6 0AAA|XXXX|1010|0110 GET PROFILE 1, 5, 9 or 13 DECEL 0XA7 0AAA|XXXX|1010|011
RMC100 and RMCWin User Manual The data returned where the Status Area Request data would be returned is the requested profile field. Example for PROFIBUS-DP in Compact Mode with Sync: We wish to get profiles 2 and 7 into the RMC. Looking at the chart above, we can see that we issue Get Profile commands to axis 0 to get profile 2 and we use axis 1 Get Profile commands to get profile 7. Therefore, we can do both at the same time.
Appendix A: Command Reference I+3 XXXXh (Axis 1 STATUS) I+4 0001h (Profile 7 MODE) We can now send the second set of requests: O+1 00A9h (Get profile 2 ACCEL) O+2 XXXXh (Unused) O+3 00ADh (Get profile 7 ACCEL) O+4 XXXXh (Unused) Third scan: After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match.
RMC100 and RMCWin User Manual Fourth scan: After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match.
Appendix A: Command Reference Profile commands to axis 1 to get profile 7.
RMC100 and RMCWin User Manual 0001|0000|1010|1010 (10AA) Get Profile 7 Decel Receive after Acknowledge: (46) Low byte of Decel 0100|0110 Send on Command Strobe going high: XXXX|XXXX|XXXX|XXXX (XXXX) Unused Receive after Acknowledge: (00) High byte of Decel 0000|0000 Fourth Command: Send on Command Strobe going high: 0001|0000|1010|1011 (10AB) Get Profile 7 Speed Receive after Acknowledge: (E0) Low byte of Speed 1110|0000 Send on Command Strobe going high: XXXX|XXXX|XXXX|XXXX (XXXX) Unused Receive aft
Appendix A: Command Reference ------------------HEX | |CMND|INDX VALUE------------------0xD0 0000|XXXX|1101|0000 SET CONFIG WORD ON-THE-FLY 0xD1 0000|XXXX|1101|0001 RESERVED 0xD2 0000|XXXX|1101|0010 RESERVED 0xD3 0000|XXXX|1101|0011 RESERVED 0xD4 0000|XXXX|1101|0100 RESERVED 0xD5 0000|XXXX|1101|0101 SET PROPORTIONAL GAIN ON-THE-FLY 0xD6 0000|XXXX|1101|0110 SET INTEGRAL GAIN ON-THE-FLY 0xD7 0000|XXXX|1101|0111 SET DIFFERENTIAL GAIN ON-THE-FLY 0xD8 0000|XXXX|1101|1000 SET EXTEND FEED FORWARD ON-THE-FLY 0x
RMC100 and RMCWin User Manual 150 (0096) New Proportional Gain value +2 O+3 0000|XXXX|1101|0101 (0XD5) Sets axis 1 Proportional Gain 175 (00AF) New Proportional Gain value +4 Example for Digital I/O: Suppose you would like to set the Extend Limit for axis 1.
Appendix A: Command Reference 0XE2 0AAA|XXXX|1110|0010 Parameter to Modify (0 to 7) 0XE3 0AAA|XXXX|1110|0011 Value to be Used For command types 0XE0 and 0XE1, the command data represents a step number. For command type 0XE2, the command data represents the field that will be modified by 0XE3.
RMC100 and RMCWin User Manual 0) Second scan: Third scan: Fourth scan: (Set End Step Number) O+1 0XE1h O+2 99 (End Step Number of 99) O+1 0XE2h (Set Parameter to Modify) O+2 7 (Select Link Value) O+1 0XE3h (Set Actual Value) O+2 500 (Link Value itself) Example for Digital I/O: If you have a step table that is 100 steps long and you want to change the time delay link value in each step, it would take 100 scans by using the Event Step Transfer commands.
Appendix A: Command Reference XXXX|XXXX (XX) High byte of requested data Second scan: Send on Command Strobe going high: 0000|XXXX|1110|0001 (0XE1) Set End Step Number Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data Send on Command Strobe going high: 0000|0000|0110|0011 (0063) End Step Number of 99 Receive after Acknowledge: XXXX|XXXX (XX) High byte of requested data Third scan: Send on Command Strobe going high: 0000|XXXX|1110|0010 (0XE2) Set Parameter to Modify Receive after Acknowle
RMC100 and RMCWin User Manual A.3.14 Command/Commanded Axes In order to fit a single Event Step into eight words, the Command and Commanded Axes fields share a single word. The Commanded Axes field is stored in the most significant byte. If all eight bits are zero, the axis running the event sequence executes the command. Otherwise, the command is issued to each axis that has its corresponding bit set (bits 0-7).
Appendix A: Command Reference Example A DelayMS (D) Link Type needs to be used, which will link next to step 10.
RMC100 and RMCWin User Manual +4 1000|0100|0010|0001 (8421) Same as Output Example for Digital I/O: Suppose you want to test using the Digital I/O for sending data. You must send a 0x00F0 to trigger the diagnostic command, and you can then send any data the second scan.
Appendix A: Command Reference reading a full graph can be quite slow. For higher performance, consider using the RMC PROFIBUS in Message Mode instead of Compact Mode. See Using the PROFIBUS-DP Message Mode for details. Following is a list of the Graph Selection Index values. These values are stored in bits 10-15 of the command word. Each Graph Selection Index holds a block of 1024 registers of the same data type and for the same axis.
RMC100 and RMCWin User Manual A-90 24 0x6000-0x63FF Axis 2 Option Data A 25 0x6400-0x67FF Axis 2 Option Data B 26 0x68000x6BFF Axis 3 Target Position/Pressure 27 0x6C000x6FFF Axis 3 Actual Position/Pressure 28 0x7000-0x73FF Axis 3 Status Bits 29 0x7400-0x77FF Axis 3 Drive Output 30 0x78000x7BFF Axis 3 Option Data A 31 0x7C000x7FFF Axis 3 Option Data B 32 0x8000-0x83FF Axis 4 Target Position/Pressure 33 0x8400-0x87FF Axis 4 Actual Position/Pressure 34 0x88000x8BFF Axis 4 Sta
Appendix A: Command Reference 0xB3FF Position/Pressure 45 0xB4000xB7FF Axis 6 Actual Position/Pressure 46 0xB8000xBBFF Axis 6 Status Bits 47 0xBC000xBFFF Axis 6 Drive Output 48 0xC0000xC3FF Axis 6 Option Data A 49 0xC4000xC7FF Axis 6 Option Data B 50 0xC8000xCBFF Axis 7 Target Position/Pressure 51 0xCC000xCFFF Axis 7 Actual Position/Pressure 52 0xD0000xD3FF Axis 7 Status Bits 53 0xD4000xD7FF Axis 7 Drive Output 54 0xD8000xDBFF Axis 7 Option Data A 55 0xDC000xDFFF Axis 7 Op
RMC100 and RMCWin User Manual o o o Raw Transducer Counter. o Option Data A: Low 16 bits of the transducer counter. o Option Data B: Transducer-type dependent; either upper bits and/or status bits. Internal Speeds. o Option Data A: The Target Speed computed internally in position units per second. o Option Data B: The Actual Speed computed internally in position units per second. Integral Drive. o Option Data A: The integral drive in drive count units.
Appendix A: Command Reference 6. The Axis 0 Data In Registers (I+2, I+4, I+6, I+8) will hold Axis 0’s Target Position values from the graph. Store these values in your graph array. 7. Add four to each of the Axis 0 Command Registers (O+1, O+3, O+5, O+7) to request the next four time periods. 8. Repeat steps 5 through 7 until all the desired data has been read. • Tips Do not download more data than you need. For example, if only 256 points are required for a graph, don’t download all 1024 points. A.3.
RMC100 and RMCWin User Manual Command Register Data Register E000 Step 0 MODE E001 Step 0 ACCELERATION E002 Step 0 DECELERATION E003 Step 0 SPEED E004 Step 0 COMMAND VALUE E005 Step 0 COMMAND/COMMANDED AXES E006 Step 0 LINK TYPE/NEXT E007 Step 0 LINK VALUE E008 Step 1 MODE E009 Step 1 ACCELERATION ...
Appendix A: Command Reference E805 Step 0 COMMAND/COMMANDED AXES E806 Step 0 LINK TYPE/NEXT E807 Step 0 LINK VALUE E808 Step 1 MODE E809 Step 1 ACCELERATION ...
Appendix B: Command Field Reference Appendix B: Command Field Reference B.1 Position Command Fields B.1.1 MODE (Non-Pressure/Force) Default: 0x0000 The individual bits of the Mode word determine the way the RMC responds to control commands and parameters. Bit 0 is the LSB and bit 15 is the MSB. Note: It is highly recommended that the Pop-up Editors in RMCWin be used for editing this and other hexadecimal fields.
RMC100 and RMCWin User Manual Position. If this bit is set, the slave is geared based on the Actual Position. For details on gearing, see Gearing Axes. This mode bit can apply to the following commands: • Go (G) • Move Relative (J) • Sine Move (~) • Follow Spline (f) Bit 13 - Gear Mode Bit Note: This feature is only available in RMC100 CPU firmware dated 19990625 or newer (and beta firmware dating 19980827B or newer). This bit makes the move act in Gearing mode.
Appendix B: Command Field Reference Bit 9 - Rotational Bit This bit needs to be set for most applications where the axis will be rotating multiple times. Setting this bit causes the following: 1. The Extend and Retract Limits do not limit the motion.
RMC100 and RMCWin User Manual • Go (G) • Move Relative (J) • Sine Move (~) • Follow Spline (f) • Follow Spline Relative Bit 6 - Quick Mode (When Gear Mode bit is not set) When this bit is set, a move will ramp the drive up in Open Loop Mode to the value specified (in millivolts) in the Speed field and maintain it there until it reaches the deceleration point. It will then ramp down to the requested position (specified by the Command Value) in Closed Loop Mode .
Appendix B: Command Field Reference • Halt Bits 2-3 - Integrator Mode Select These two bits define four integrator modes: Bit # 3 2 Mode 0 - Integrator always active - Default 0 0 Mode 1 - Integrator active only during deceleration and in position 0 1 Mode 2 - Integrator active only during in position 1 0 Mode 3 - Integrator never active 1 1 Why Bother? The integrator can be disabled so that it doesn’t wind up.
RMC100 and RMCWin User Manual B.1.2 Mode (Non-Pressure/Force) Bit Map The axis Mode word contains 16 bits of information. The hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns. B.1.
Appendix B: Command Field Reference Range: 0 to 65535 This parameter defines the acceleration ramp rate used by the axis for a move. It has four meanings depending on the Acceleration and Deceleration Mode bits in the Mode word. In Mode 0, this parameter is interpreted as an acceleration rate and is expressed in Position Units/sec/sec. If Scale is set so one Position Unit equals 0.001", then a value of 200 would represent an acceleration rate of 0.200 inches/sec/sec.
RMC100 and RMCWin User Manual In Mode 3, it defines the time (in milliseconds) it will take to ramp to the specified Speed. B.1.4 Deceleration Default: 1000 Range: 0 to 65535 This parameter is the same as Acceleration except it specifies the deceleration ramp length or deceleration rate. B.1.5 Speed Default: 1000 Range: 0 to 65535 The Speed parameter sets the constant speed to be achieved after acceleration. Speed is expressed in position units/second. If the Scale is set so one position unit equals 0.
Appendix B: Command Field Reference ',' (Function) Destination Step 0 to 255 '?' (Poll) Extended Link Value Depends on usage '@' (Arm Home Input) Home position Valid 16-bit Position 'A' (Change Accel) Acceleration value 0 to 65,535 ’r;a’ (Amp Enable/Disable) Enable/Disable 0=disable, 1=enable ’r;B’ (Set Bias Drive) Millivolts of Drive -10000 to 10000 'D' (Change DECEL) Deceleration value 0 to 65,535 'E' (Start Events) Event number 0 to 255 'G' (Position Mode) Requested position Va
RMC100 and RMCWin User Manual ’r;{ ’r; (Simulate rising edge) Input to simulate 0 to 15 ’r;}’ (Simulate falling edge) Input to simulate 0 to 15 Relative position -32,768 to 32,767 ’r;|’ (Set Pressure Set A) Pressure Any Valid Pressure ’r;\’ (Set Ramp Time) Milliseconds 0 to 65535 ’r;^’ (Set Pressure) Pressure Any Valid Pressure ’r;_’ (Set Pressure Set B) Pressure Any Valid Pressure 0x7F (Map Output to Axis Position) Position to Map Output 0-2, 10-12, …, 70-72 0xD0,0xD5-0xDF (Set Para
Appendix B: Command Field Reference Arm Home Input @ 64 0x40 Change Acceleration A 65 0x41 Amp Enable/Disable a 97 0x61 Clear Spline Segments C 67 0x43 Set Position/Pressure c 99 0x63 Change Deceleration D 68 0x44 Start Events E 69 0x45 Set Feed Forward F 70 0x46 Follow Spline Segment f 102 0x66 Go G or g 71 or 103 0x47 or 0x67 Halt H or h 72 or 104 0x48 or 0x68 Set Integral Drive I 73 0x49 Set Integral Drive to Null Drive i 105 0x69 J or j 74 or 106 0x
RMC100 and RMCWin User Manual Reset Position q 113 0x71 Restore Null Drive R 82 0x52 Restore Integral Drive r 114 0x72 Save Null Drive S 83 0x53 Save Integral Drive s 115 0x73 Set Spline Interval T 84 0x54 Teach Step t 116 0x74 Update Flash U 85 0x55 Update Flash Segment Command u 117 0x75 Set Speed (Unsigned) V 86 0x56 Set Speed (Signed) v 118 0x76 Reference W 87 0x57 X or x 88 or 120 0x58 or 0x78 Start a Graph y 121 0x79 Zero/Set Target Position Z
Appendix B: Command Field Reference 0xDF This chart shows commands that can be issued to pressure axes: Description ASCII Decimal Hex Set Pressure Set A | 124 0x7C Set Bias Drive B 66 0x42 Start Events E 69 0x45 Set Mode M 77 0x4D Open Loop O 79 0x4F Set Parameters P 80 0x50 Quit Events Q 81 0x51 Set Pressure Ramp Time \ 92 0x5C Set Pressure ^ 94 0x5E Set Pressure Set B _ 95 0x5F None 208-223 0xD00xDF Set Parameter on-the-fly B.
RMC100 and RMCWin User Manual Bit 4 - Ramp Time Type This bit affects the value used for the Ramp Time when the axis begins regulating pressure. If this bit is not set, then the Ramp Time field is used. This is always the case when ramping between pressures rather than entering pressure. If this bit is set, then the Ramp Time field is ignored upon entering pressure, and instead the RMC calculates the ramp time required to have a continuous pressure curve.
Appendix B: Command Field Reference B.2.3 Pressure Set A Default: 0 Range: Valid Pressure Units Pressure Set A is used by Pressure Set Mode as the pressure above which the axis will begin regulating pressure. When a command is issued to the position axis with the Pressure Mode bit set, then the pressure is monitored.
RMC100 and RMCWin User Manual Pressure Set A, the axis begins regulating pressure. There are two ways to set the this field: • Issue a Set Pressure (^) command, and the second command parameter will be the new value for Pressure Set A. • Issue a Set Pressure Set A (|) command, and the Command Value will be the new value for Pressure Set A.
Appendix B: Command Field Reference • The second type of ramp occurs when the axis enters pressure mode. In this case the pressure is generally not at rest at the beginning. Therefore, for s-curve ramps, only the deceleration half of the ramp is used and to ramp to a halt at the Command Pressure will take one half the number of milliseconds given in the Ramp Time field. However, the whole Ramp Time will be used in linear mode.
RMC100 and RMCWin User Manual 'A' (Change Accel) Acceleration value 0 to 65,535 ’r;a’ (Amp Enable/Disable) Enable/Disable 0=disable, 1=enable ’r;B’ (Set Bias Drive) Millivolts of Drive -10000 to 10000 'D' (Change DECEL) Deceleration value 0 to 65,535 'E' (Start Events) Event number 0 to 255 'G' (Position Mode) Requested position Valid 16-bit Position 'G' (Rotational Mode) Requested direction 0 or -1 'G' (Geared Mode) Requested numerator -32,768 to 32,767 'I' (Set Integral Drive) In
Appendix B: Command Field Reference ’r;|’ (Set Pressure Set A) Pressure Any Valid Pressure ’r;\’ (Set Ramp Time) Milliseconds 0 to 65535 ’r;^’ (Set Pressure) Pressure Any Valid Pressure ’r;_’ (Set Pressure Set B) Pressure Any Valid Pressure 0x7F (Map Output to Axis Position) Position to Map Output 0-2, 10-12, …, 70-72 0xD0,0xD5-0xDF (Set Parameter Onthe-Fly) New value of parameter Parameterdependent Make sure that the data in the Command Value field is correct before you issue any of thes
RMC100 and RMCWin User Manual Clear Spline Segments C 67 0x43 Set Position/Pressure c 99 0x63 Change Deceleration D 68 0x44 Start Events E 69 0x45 Set Feed Forward F 70 0x46 Follow Spline Segment f 102 0x66 Go G or g 71 or 103 0x47 or 0x67 Halt H or h 72 or 104 0x48 or 0x68 Set Integral Drive I 73 0x49 Set Integral Drive to Null Drive i 105 0x69 J or j 74 or 106 0x4A or 0x6A Disable Drive Output K 75 0x4B Limit Drive L 76 0x4C Set Extended Link Value l 1
Appendix B: Command Field Reference Save Null Drive S 83 0x53 Save Integral Drive s 115 0x73 Set Spline Interval T 84 0x54 Teach Step t 116 0x74 Update Flash U 85 0x55 Update Flash Segment Command u 117 0x75 Set Speed (Unsigned) V 86 0x56 Set Speed (Signed) v 118 0x76 Reference W 87 0x57 X or x 88 or 120 0x58 or 0x78 Start a Graph y 121 0x79 Zero/Set Target Position Z 90 0x5A Offset Positions z 122 0x7A Set Outputs [ 91 0x5B Reset Outputs ] 93 0x5D
RMC100 and RMCWin User Manual Description ASCII Decimal Hex Set Pressure Set A | 124 0x7C Set Bias Drive B 66 0x42 Start Events E 69 0x45 Set Mode M 77 0x4D Open Loop O 79 0x4F Set Parameters P 80 0x50 Quit Events Q 81 0x51 Set Pressure Ramp Time \ 92 0x5C Set Pressure ^ 94 0x5E Set Pressure Set B _ 95 0x5F None 208-223 0xD00xDF Set Parameter on-the-fly B-22
Appendix C: Parameter Field Reference Appendix C: Parameter Field Reference C.1 MDT, SSI, Analog, Resolver Position Parameters C.1.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
RMC100 and RMCWin User Manual assigned. 0 1 The second auxiliary pressure/force axis is assigned. 1 0 The third auxiliary pressure/force axis is assigned. 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis.
Appendix C: Parameter Field Reference the move. The drive will not go negative if the motion controller overshoots the target. This is useful for some injection and blow-molding applications. When the axis is stopped, you must go into open loop mode. Warning: This bit must be set properly when the Set Parameters command is issued. Bit 4 - Continue Mode bit This bit affects what happens when the module loses contact with the Programmable Controller.
RMC100 and RMCWin User Manual and Retract Feed Forward . C.1.2 Configuration Word Bit Map The axis Configuration word contains 16 bits of information. The hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns.
Appendix C: Parameter Field Reference C.1.3 Configuration Bits - MDT Specific Transducer Type - Bits 12-15 15 14 13 12 Transducer Type 0 0 0 0 Start/Stop (S-S) x x x x Pulse-width Modulated (PWM) Setting any of these four bits to non-zero (as described below in the Recirculation Count section) will result in the transducer being treated as pulse-width modulated.
RMC100 and RMCWin User Manual to 65535 minus the "extra" counts. To correct for this effect the module calculates the "extra" counts based on the number of transducer recirculations and subtracts them from the transducer count. If the value of these bits and the transducer recirculations agree, the transducer count will be slightly positive when the transducer is at its minimum position.
Appendix C: Parameter Field Reference C.1.6 Configuration Bits - Resolver Specific Bits 12 - Resolver Resolution This bit selects the resolution of the resolver feedback. 0 = 14-bit resolution 1 = 16-bit resolution The counts from the resolver interface will always be a 16-bit number regardless of the resolution selected. With 14-bit resolution, bits 0 and 1 in the counts (the least significant bits) will always be zero. Using 14 bits allows operation at higher speeds and accelerations than with 16 bits.
RMC100 and RMCWin User Manual C.1.8 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with quadrature or stepper feedback. Quadrature and stepper axes use the Coordinate Limit parameter in place of the Offset parameter. The Offset parameter is used for the following two purposes: • Translating transducer counts to actual position in user-defined position units. • Defining the 16-bit position range.
Appendix C: Parameter Field Reference and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless different limits have been saved in the Flash. C.1.10 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.
RMC100 and RMCWin User Manual Think about this: Internally, the motion controller must compare the error between the Target and Actual Positions with error limits to keep values from overflowing. The error limit is the error at which full drive (10 volts) will occur.
Appendix C: Parameter Field Reference First, this is a gain multiplied by the current rate of change in the position error. The differential drive, in millivolts is computed as follows: where: Kd= Differential Gain in mV/[pos-units/ms] E0= position error this control loop in position units E1= position error last control loop in position units LoopTime = RMC Control Loop Time in ms (1 or 2) A second equivalent way of viewing this parameter is as the gain multiplied by the velocity error.
RMC100 and RMCWin User Manual TIP: After the axis has made a complete move without oscillations or overdrive errors, use the 'F' command to automatically set the Feed Forward value. Feed Forward is an open loop compensation that is proportional to the Target Speed of the axis. This value is expressed in terms of millivolts per 1,000 Position Units per second. Extend Feed Forward drive is added to the output only when the axis is extending.
Appendix C: Parameter Field Reference gains. C.1.15 Retract Feed Forward Default: 100 Range: 0 to 65535 Same as Extend Feed Forward, except that it is used when retracting. Note: Retracting is the direction that returns decreasing Transducer Counts. C.1.16 Extend Acceleration Feed Forward Default: 0 Range: 0 to 65535 The Extend Acceleration Feed Forward causes the controller to give extra drive while accelerating and a braking drive while decelerating (negative acceleration) in the extend direction.
RMC100 and RMCWin User Manual Range: 0 to 2000 Some valves and drives do not react to small changes in output around the null drive value; this effect is termed "dead band". The Dead Band Eliminator helps alleviate this problem by applying extra drive.
Appendix C: Parameter Field Reference If an axis Command Position is 10,000 and the In Position parameter is 30, the In Position bit will be set when the axis is stopped and its Actual Position is between 9,971 and 10,029. The bit will be cleared whenever the Actual Position is outside the range. C.1.
RMC100 and RMCWin User Manual • • • The fault will be reflected in its corresponding status bit in the Status word, but no further action will be taken. For some transducer types, this option may not be available for the following faults: No Transducer, Transducer Overflow, and Transducer Noise. Soft Stop If the axis is in closed loop, the fault will trigger ramping the axis to a stop. The speed will ramp down to zero using the current Deceleration value.
Appendix C: Parameter Field Reference 0 0 1 1 0 1 0 1 Status Only Soft Stop Hard Stop Disable Drive If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault. Similarly, if you select Disable Drive for a fault on an axis that does not have an Amp Enable output, the axis will use the Hard Stop action for the fault. C.1.22 Auto Stop Bit Map The table below provides an easy method to convert bit patterns to hexadecimal numbers.
RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
Appendix C: Parameter Field Reference C.2 Quadrature with Analog Output Parameters C.2.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
RMC100 and RMCWin User Manual 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis. If this does occur, only the first axis to make the assignment followed by the Set Parameters (P) command will succeed in being assigned.
Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
RMC100 and RMCWin User Manual C.2.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word. Fault Input Active State - Bit 15 This bit determines the active state of the Fault Input. The active state of this input indicates that a fault has occurred. The Encoder Error status bit is set when the Fault input is active.
Appendix C: Parameter Field Reference Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached.
RMC100 and RMCWin User Manual 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For details on using this bit, see Homing a Quadrature Axis. C.2.4 Scale Default: Transducer specific Range: -32768 to 32767 • • • • • • This scale is used on MDT, SSI, Analog position axes with the Offset parameter and the Prescale Divisor bits of the Config word to convert the Transducer Counts to an Actual Position.
Appendix C: Parameter Field Reference • Scaling Stepper Axes • Scaling Resolver Axes What if it is displayed under RMCWin incorrectly? The Coordinate Limit parameter may be displayed incorrectly on the RMCWin main screen in some circumstances. The numbers are not necessarily incorrect (the module still functions correctly), but they may not look right.
RMC100 and RMCWin User Manual C.2.8 Proportional Gain Default: 1 Range: 0 to 65535 The Proportional Gain controls how much drive is generated proportional to the Position Error. The Position Error is defined as the Target Position minus the Actual Position. The units on the Proportional Gain is millivolts per 10 units of Position Error. The Proportional Drive is defined as follows: Or more simply: where pu is position units.
Appendix C: Parameter Field Reference that you set the Integral Gain to a value of at least 50. Integral Gain is defined as: Integral Gain = millivolts per 10240 counts of accumulated Position Error Integral Drive is defined as: Integral Drive = Integral Gain x Accumulated Counts / 10240 Note: The actual drive output may be reduced based on the values of the Extend Feed Forward and Retract Feed Forward .
RMC100 and RMCWin User Manual where: Kd= Differential Gain in mV/[pos-units/s] TarVel = target velocity in pos-units/s ActVel = actual velocity in pos-units/s Note: The actual drive output may be reduced based on the values of the Extend Feed Forward and Retract Feed Forward. CAUTION: To avoid oscillation during initial tuning start with values below 10. Why Bother? The Differential Gain field will usually be set to zero.
Appendix C: Parameter Field Reference above and solving for the Feed Forward term gives the follow relationship: Feed Forward <= (10,000 * 1,000) / Target speed That is, the larger the Speed the smaller the maximum Feed Forward value. For example, at 30 in/sec Speed, the maximum Feed Forward is: Max Feed Forward = (10,000 * 1,000)/30,000 = 10,000/30 = 333 If you set Speed to 30,000 and enter a Feed Forward value larger than 333, the value will be reduced to 333.
RMC100 and RMCWin User Manual The Acceleration Feed Forward provides a second order approximation ( prediction ) of how much drive is required to move. If the position unit is 0.001 inches, this equals millivolts of drive per 100 inches per second per second. Why Bother? The acceleration feed forward helps the axis track better while accelerating or decelerating. The acceleration feed forwards should not be adjusted until the velocity feed forwards are adjusted correctly. C.2.
Appendix C: Parameter Field Reference CAUTION: Do not make this value too large or the drive will oscillate. Selecting a Deadband Algorithm To select a Deadband algorithm follow these steps: 1. In RMCWin, on the Tools menu, click Module Configuration. 2. In the Slots list, click the CPU. 3. Click Slot Options. The RMC100/101 CPU Options dialog box will be displayed. 4. Click the Deadband tab. 5. Select an algorithm. 6. Click Update RMC. 7.
RMC100 and RMCWin User Manual which error bits cause which levels of stop, or whether an error will cause a stop at all. The default setting of all the AutoStops is Hard Stop, as described below. During startup and tuning, you will typically need to set some AutoStops to Status Only to keep halts from interfering with the tuning. After completeing the startup procedure, make sure to set the AutoStops to setting that are safe for the machine operation.
Appendix C: Parameter Field Reference fault type and click OK. Changes to this parameter do not take effect until you issue a Set Parameters (P) command. Manual Parameter Entry This parameter can also be edited manually, but this is discouraged since it is much easier to use the popup editor. You can enter hexadecimal numbers by typing a leading 0x, as in 0x1FE0.
RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
Appendix C: Parameter Field Reference C.3 Quadrature with Stepper Output Parameters C.3.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
RMC100 and RMCWin User Manual 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis. If this does occur, only the first axis to make the assignment followed by the Set Parameters (P) command will succeed in being assigned.
Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
RMC100 and RMCWin User Manual C.3.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word. Fault Input Active State - Bit 15 This bit determines the active state of the Fault Input. The active state of this input indicates that a fault has occurred. The Encoder Error status bit is set when the Fault input is active.
Appendix C: Parameter Field Reference Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached.
RMC100 and RMCWin User Manual 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For details on using this bit, see Homing a Quadrature Axis. C.3.4 Coord. Limit Default: 0 Range: -65536 to 65535 (Quadrature), -65536 to 0 (Stepper) This parameter is available only on stepper, resolver, and quadrature axes. It defines the 16-bit position unit range.
Appendix C: Parameter Field Reference C.3.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.) A Command Value below this value will be set to the Retract Limit and will cause the parameter error bit in the Status word to be set. The Retract Limit is given in Position Units.
RMC100 and RMCWin User Manual C.3.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is used with the Pos Units/Rev parameter to determine the scaling between position units and steps output by the RMC. These steps can be interpreted by the stepper drive as either a full step or microstep. The use of this parameter is summarized by the following equation, which is applied every control loop to convert the change in the Target Position to steps that are output.
Appendix C: Parameter Field Reference Degrees 360 Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thousandths of a rev. 10000 For a full discussion, including examples, on scaling with stepper modules, see Stepper Scaling. C.3.11 Quad Cnts/Rev Default: 1 Range: -32768 to 32767 This parameter is available on stepper axes only. It is used with the Pos Units/Rev parameter to determine the scaling between position units and quadrature counts.
RMC100 and RMCWin User Manual Range: 1 to 1024 steps per millisecond This parameter is available only on stepper axes. It is used to ensure that the stepper is never driven beyond a given rate. If the axis is requested to give more steps per millisecond than allowed by this parameter, the Overdrive error bit will be set in the Status word. The axis can be set up to automatically stop based on this bit using the Auto Stop Mask parameter.
Appendix C: Parameter Field Reference Range: 0 to 65535 The Following Error determines how large the difference between the Target Position and Actual Position can get before the Following Error bit is set in the Status word. C.3.
RMC100 and RMCWin User Manual • • and Encoder Error/Fault Input. This is done because the position feedback is not dependable and closed loop control cannot be maintained. Hard Stop If the axis is in closed loop, the fault will trigger the drive output to go immediately to 0 mV on analog outputs and no steps for stepper outputs, and the axis will be placed in open loop mode. If the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis, it will stop executing.
Appendix C: Parameter Field Reference C.3.17 Auto Stop Bit Map The table below provides an easy method to convert bit patterns to hexadecimal numbers. If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
RMC100 and RMCWin User Manual C.4 SSI with Stepper Output Parameters C.4.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Appendix C: Parameter Field Reference 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis. If this does occur, only the first axis to make the assignment followed by the Set Parameters (P) command will succeed in being assigned.
RMC100 and RMCWin User Manual This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
Appendix C: Parameter Field Reference C.4.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word. Fault Input Active State - Bit 15 This bit determines the active state of the Fault Input. The active state of this input indicates that a fault has occurred. The Encoder Error status bit is set when the Fault input is active.
RMC100 and RMCWin User Manual Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached.
Appendix C: Parameter Field Reference 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For details on using this bit, see Homing a Quadrature Axis. C.4.4 Coord. Limit Default: 0 Range: -65536 to 65535 (Quadrature), -65536 to 0 (Stepper) This parameter is available only on stepper, resolver, and quadrature axes. It defines the 16-bit position unit range.
RMC100 and RMCWin User Manual C.4.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.) A Command Value below this value will be set to the Retract Limit and will cause the parameter error bit in the Status word to be set. The Retract Limit is given in Position Units.
Appendix C: Parameter Field Reference C.4.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is used with the Pos Units/Rev parameter to determine the scaling between position units and steps output by the RMC. These steps can be interpreted by the stepper drive as either a full step or microstep.
RMC100 and RMCWin User Manual Degrees 360 Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thousandths of a rev. 10000 For a full discussion, including examples, on scaling with stepper modules, see Stepper Scaling. C.4.11 SSI Counts/Rev Default: 1 Range: -32768 to 32767 This parameter is available only on SSI axes with stepper output. It is used with the Pos Units/Rev parameter to determine the scaling between position units and SSI counts.
Appendix C: Parameter Field Reference C.4.12 Max Steps/MSec Default: 1024 Range: 1 to 1024 steps per millisecond This parameter is available only on stepper axes. It is used to ensure that the stepper is never driven beyond a given rate. If the axis is requested to give more steps per millisecond than allowed by this parameter, the Overdrive error bit will be set in the Status word. The axis can be set up to automatically stop based on this bit using the Auto Stop Mask parameter.
RMC100 and RMCWin User Manual C.4.15 Following Error Default: 250 Range: 0 to 65535 The Following Error determines how large the difference between the Target Position and Actual Position can get before the Following Error bit is set in the Status word. C.4.
Appendix C: Parameter Field Reference • • down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis, it will stop executing. The Halt status bit will also be set in the Status word. Some faults will use the open loop ramp down although the axis was in closed loop: Position Overflow, No Transducer, Transducer Overflow, Transducer Noise, and Encoder Error/Fault Input.
RMC100 and RMCWin User Manual If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault. Similarly, if you select Disable Drive for a fault on an axis that does not have an Amp Enable output, the axis will use the Hard Stop action for the fault. C.4.17 Auto Stop Bit Map The table below provides an easy method to convert bit patterns to hexadecimal numbers.
Appendix C: Parameter Field Reference executed and the Amp Enable output will be opened on QUAD and STEP axes. C.5 Pressure/Force Parameters C.5.1 Configuration Word (Pressure) Default: 0x0000 Six bits of this 16-bit word control the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 12 - 14 - Analog Input Type bits These bits are used to select the type of analog input being used.
RMC100 and RMCWin User Manual Note: This bit is only available on pressure-only and force-only control axes and not on auxiliary pressure and force axes. You can still use absolute mode with auxiliary pressure and force axes, but the Absolute Mode bit of the position axis is used. When this bit is set on a pressure-only or force-only axis, the drive output is limited between 0 and 10 volts.
Appendix C: Parameter Field Reference C.5.
RMC100 and RMCWin User Manual 0 0 0 Voltage: 0V to +10V 0 0 1 Voltage: -10V to +10V 0 1 0 Voltage: 0V to +5V 0 1 1 Voltage: -5V to +5V 1 0 0 Current: 4mA to 20mA For a description of the corresponding transducer count ranges, refer to the Counts topic. Unused - Bits 7 and 15 These bits are reserved for future use and should be cleared on analog axes. C.5.
Appendix C: Parameter Field Reference 1. Transducer Compensation: The Scale parameter compensates for differences in analog transducers. Each transducer will indicate a different current or voltage level for the same pressure. Usually, only a small change from the default value is necessary to compensate the transducer. 2.
RMC100 and RMCWin User Manual C.5.6 Pressure/Force Scale and Offset Calculation Examples Example 1 Suppose a pressure transducer gives an output from 0 to 10 volts. This range is represented by Counts A from 0 to 32500. Also suppose that the range of pressures which will be used are from 0 psi to 2000 psi, and 0 psi gave a reading of 12 counts and 2000 psi gave a reading of 32522 counts. Since the scale is less than 16383.
Appendix C: Parameter Field Reference Example 2 Suppose a pressure transducer gives an output from 4 to 20mA. This range is represented by Counts from 6500 to 32500. Also suppose that the range of pressures which will be used are from 0 to 10 bars, and 0.0 bars read 6487 counts and 10.0 bars read 32662 counts. We must choose our position units first. It is not a good idea to just use bars, as the user will only be able to see 0 to 10 bars and no fractions.
RMC100 and RMCWin User Manual Force on A Side = Pressure x Cross Section of Cylinder Force on A Side at 20mA = 7500 psi x ( p x 3 inches x 3 inches ) Force on A Side at 20mA = 212,057.5 pounds Force on B Side = Pressure x ( Cross Section of Cylinder - Cross Section of Rod ) Force on B Side at 20mA = 7500 psi x ( p x 3 inches x 3 inches - p x 1 inch x 1 inch) Force on B Side at 20mA = 188,495.6 pounds We assume that we will use forces up to 150,000 pounds.
Appendix C: Parameter Field Reference Note: Use positive Feed Forward and Gain values if the pressure increases in the extend direction, and negative values if the pressure increases in the retract direction. The Proportional Gain controls how much drive is generated proportional to the Pressure Error. The Pressure Error is defined as the Target Pressure minus the Actual Pressure. The units on the Proportional Gain is millivolts per 10 units of Pressure Error.
RMC100 and RMCWin User Manual Integral Gain = 0.1 mV per 1024 counts of accumulated Pressure Error Integral Drive is defined as: Integral Drive = Integral Gain x Accumulated Counts Why Bother? Integral Gain should be used to compensate for the fact that loads may vary, valves are nonlinear and the axis may have trouble getting to the Command Pressure without Integral Gain. C.5.
Appendix C: Parameter Field Reference changing. This value is expressed in terms of millivolts per 1,000 Pressure Units per second. Extend Feed Forward drive is added to the output only when the axis is extending. The drive output provided by the Extend Feed Forward is determined as follows: To set the Feed Forward parameters, try ramping the pressure with very small gains. If the axis lags after this parameter has been set, the feed forward is too small or the system response is too slow.
RMC100 and RMCWin User Manual C.5.13 Filter Time Constant (Pressure/Force) Default: 0 (disabled) Range: 1 to 65,535 milliseconds, or 0 to disable Note: This parameter was introduced in RMC CPU firmware dated 20020429 or later. This parameter is reserved in earlier firmware. This parameter allows filtering the pressure/force feedback value. By default the filter is disabled.
Appendix C: Parameter Field Reference C.5.15 At Pressure Default: 50 Range: 0 to 65535 At Pressure specifies the size of a window around the Command Pressure. When the Actual Pressure gets within this window, the At Pressure bit is set (but not latched) in the Status word. The window around the Command Pressure and the Actual Pressure must be less than the At Pressure value. Therefore, an AT PRESSURE value of 0 will prohibit the At Pressure bit in the Status word from being set.
RMC100 and RMCWin User Manual 7 6 5 Encoder Error/Fault Extend Limit Retract Limit Encoder Error/Fault Extend Limit Retract Limit 4 3 2 Overdrive Parameter Error Home Input Overdrive Parameter Error Home Input 1 Integrator Windup 0 Following Error Compensation Timeout Following Error No Transducer Transducer Noise Transducer Overflow Overdrive Parameter Error Pos./Press.
Appendix C: Parameter Field Reference 12 11 10 9 8 S Fault 4 - Bit S Fault 3 - Bit S Fault 2 - Bit S Fault 1 - Bit S Fault 0 - Bit S 4 Fault 4 - Bit H 3 Fault 3 - Bit H 2 Fault 2 - Bit H 1 Fault 1 - Bit H 0 Fault 0 - Bit H For each fault, the two bits in the Auto Stop parameter define the action as follows: Bit H 0 0 1 1 Bit S 0 1 0 1 Description Status Only Soft Stop Hard Stop Disable Drive If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop
RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
Appendix C: Parameter Field Reference C.6 Analog Reference Parameters C.6.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
RMC100 and RMCWin User Manual 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis. If this does occur, only the first axis to make the assignment followed by the Set Parameters (P) command will succeed in being assigned.
Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
RMC100 and RMCWin User Manual C.6.
Appendix C: Parameter Field Reference 0 0 0 Voltage: 0V to +10V 0 0 1 Voltage: -10V to +10V 0 1 0 Voltage: 0V to +5V 0 1 1 Voltage: -5V to +5V 1 0 0 Current: 4mA to 20mA For a description of the corresponding transducer count ranges, refer to the Counts topic. Unused - Bits 7 and 15 These bits are reserved for future use and should be cleared on analog axes. C.6.
RMC100 and RMCWin User Manual C.6.5 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with quadrature or stepper feedback. Quadrature and stepper axes use the Coordinate Limit parameter in place of the Offset parameter. The Offset parameter is used for the following two purposes: • Translating transducer counts to actual position in user-defined position units. • Defining the 16-bit position range.
Appendix C: Parameter Field Reference and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless different limits have been saved in the Flash. C.6.7 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.
RMC100 and RMCWin User Manual By lowering the Velocity Limit parameter, the Target Position changes to the following: The Velocity Limit is ignored if the position filter is disabled through the Filter Time Constant parameter. This and the other position filter parameters can also be changed through the Reference (W) command. For details on reference axis filtering, see Reference Axis Filtering. C.6.
Appendix C: Parameter Field Reference By lowering the Acceleration Limit parameter, the Target Position changes to the following: Notice that the Target Position was smoothed at the start of the step jump by limiting the acceleration of the Target Position. The Acceleration Limit is ignored if the position filter is disabled through the Filter Time Constant parameter.
RMC100 and RMCWin User Manual Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter allows filtering the position on an analog position or velocity reference axis. By default the filter is disabled. If this parameter is set to a non-zero value, then the position feedback is filtered using an Infinite Impulse Response (IIR) filter with a time constant set to this parameter's value in milliseconds.
Appendix C: Parameter Field Reference This and the other position filter parameters can also be changed through the Reference (W) command. For details on reference axis filtering, see Reference Axis Filtering. C.6.11 Reference Dead Band (Reference) Default: 0 Range: 0 to 65,535 position units Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter is used to eliminate jitter in an analog reference input.
RMC100 and RMCWin User Manual Range: 0 to 65535 This parameter specifies the size of a window around the Command Position. When the Actual Position gets within this window, the In Position bit is set in the Status word. Notice that the In Position bit is not latched and therefore could go off again if the axis moves back outside the In Position window.
Appendix C: Parameter Field Reference 2 Home Input Home Input 1 Integrator Windup 0 Following Error Compensation Timeout Following Error Pos./Press. Overflow Integrator Windup Following Error The available actions for each fault are listed below: • • • • Status Only The fault will be reflected in its corresponding status bit in the Status word, but no further action will be taken.
RMC100 and RMCWin User Manual 9 8 S Fault 1 - Bit S Fault 0 - Bit S 1 Fault 1 - Bit H 0 Fault 0 - Bit H For each fault, the two bits in the Auto Stop parameter define the action as follows: Bit H 0 0 1 1 Bit S 0 1 0 1 Description Status Only Soft Stop Hard Stop Disable Drive If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault.
Appendix C: Parameter Field Reference If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
Appendix D: Status Field Reference Appendix D: Status Field Reference D.1 Valid 16-Bit Positions The positions used by the RMC are stored in a 16-bit number. This limits the range of positions to 65536 positions. However, by using the Scale and Offset parameters, the user can shift where this 65,536-position range is located. If Scale is positive, then Offset holds the lowest position value. Any positions displayed below this value are not valid.
RMC100 and RMCWin User Manual Offset: 40,000 Position Range: -25,535 to 40,000 Discussion: Because Scale is negative, the positions range from Offset - 65,535 to Offset. Example 5: Scale: -31,541 Offset: -10,000 Position Range: -65,536 to -10,000 Discussion: Because Scale is negative, the positions range from Offset - 65,535 to Offset. However, because the lower limit would be less than -65,536 (-75,536), it is truncated at -65,536. Notice that positions greater than the Offset (-10,000) are not valid.
Appendix D: Status Field Reference During a move the path of the Target Position toward the Command Position will be the perfect profile for the Actual Position to follow. Note: When an axis is stopped, the Target Position should be the same as the Command Position unless an error or HALT has occurred (see Status). Note: When an axis is not in position Closed Loop Mode, Target Position is set to the Actual Position.
RMC100 and RMCWin User Manual your Scale and Offset settings. For pressure axes, this field is renamed COUNTS A. For force axes, there are two counts fields, COUNTS A and COUNTS B, corresponding to the first and second input channels.
Appendix D: Status Field Reference Example 2: A single-turn rotary absolute encoder with SSI feedback has 8192 counts per revolution. The counts read 6000. The following equation converts the counts to degrees from top-dead-center: Quadrature For quadrature devices, the counts increase by one each time an A or B quadrature input toggles such that the phase of A leads B. The counts decrease by one each time an A or B quadrature input toggles such that phase of B leads A.
RMC100 and RMCWin User Manual >10.08V 32,767* >10.07V 65,535* 10.00V 32,500 10.00V 65,100 0.00V 0 0.00V 100 <-0.50V <-1,625** <-0.02V 0** -10 to 10V Pressure, Force, Velocity Position Input Counts Input Counts >10.08V 32,767* >10.09V 65,535* 10.00V 32,500 10.00V 65,250 0.00V 0 0.00V 32,750 -10.00V -32,500 -10.00V 250 <-10.08V <32,768** <-10.08V 0** 0 to 5V Pressure, Force, Velocity Position Input Counts Input Counts >+5.04V 32,767* >5.03V 65,535* 5.
Appendix D: Status Field Reference Pressure, Force, Velocity Position Input Counts Input Counts >20.16mA 32,767* >20.13mA 65,535* 20.00mA 32,500 20.00mA 65,100 4.00mA 6500 4.00mA 13,100 <3.60mA <5850** <3.60mA 11,800** * Counts in this range will cause the Transducer Overflow bit to be set in the Status Word, as described above. ** Counts in this range will cause the No Transducer bit to be set in the Status Word, as described above. D.2.
RMC100 and RMCWin User Manual Bit 15 (MDT, SSI, Analog, Resolver) - No Transducer This error bit is set to indicate that the transducer is not responding. For MDT and SSI transducers, this occurs when the transducer does not respond within six control loop times (a total of 6 or 12 ms). For Analog transducers, this occurs when the analog counts are below a certain value depending on the input and axis types as described in the Transducer Counts topic.
Appendix D: Status Field Reference This bit only applies to position axes. Therefore, analog velocity, pressure, and force axes never set this bit. Notice that for quadrature feedback axes, this error bit is redefined as described below. This error bit is cleared when any of the commands listed above is issued, and the underlying error condition is no longer present. The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter.
RMC100 and RMCWin User Manual The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter. Bit 13 (QUAD or STEP) - Retract/Counterclockwise Limit Switch This bit is set when the axis is moving in the retract or counterclockwise direction and the Retract/Counterclockwise Limit Switch is activated. Notice that this bit is not latched. That is, it is automatically cleared when the limit switch goes inactive, or the axis changes direction.
Appendix D: Status Field Reference The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter. Because this error bit is used for many types of errors, RMCWin has the ability to display the last several parameter errors in more detail. This list of errors is compiled only while RMCWin is running, so it is recommended that it be left running while configuring the system. To display this list, select Parameter Error List from the Window menu.
RMC100 and RMCWin User Manual 1. The Arm Home (@) command is issued. Without this command the Actual Position will not latch to the home position, nor will the Home Input status bit ever be set in this mode. 2. The Actual Position is homed because both the Home and Index (Z) inputs had been active, but one drops to inactive (the Z in this case). The Home Input status bit is set to indicate the axis has homed. 3. A Go (G) command is issued, which clears the Home Input status bit.
Appendix D: Status Field Reference This error bit is cleared when any of the commands listed above is issued, and the underlying error condition is no longer present. The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter. The integrator will wind up under the following conditions: • Axis is out of null and requires a large drive to stay in position while stopped.
RMC100 and RMCWin User Manual • A spline has been successfully downloaded to this axis through the Spline Download Area. The Spline Download Area is available over Ethernet, PROFIBUS-DP Message Mode, Serial (RS232/422/485 Module), and Modbus Plus. • In PROFIBUS-DP Compact Mode without Sync, the Command register changes, or the Data Out register changes for a command that uses this register. This includes changes to the Status Area Request bits (bits 8-11 of the command).
Appendix D: Status Field Reference Quick moves are initiated using the Go (G and g) command with the Quick Move mode bit set. The state bits indicate the current stage of the move: Bit # 5 0 0 1 1 4 0 1 0 1 Description The move is complete. The drive is increasing to the requested drive. The drive is holding at the requested drive. The target is ramping down in closed loop. Geared Moves Geared moves are issued using the Go (G and g) command with the Gear mode bit set.
RMC100 and RMCWin User Manual Sine Moves Sine moves are started using the Sine Move (~) command. In this state, the state bits indicate whether the move is accelerating, decelerating, or done: Bit # 5 0 0 1 4 0 1 1 Description The sine move is complete. The sine move is currently accelerating. The sine move is currently decelerating. Sine Move Continuous Continuous sine moves are started using the Sine Move Continuous (0x30) command.
Appendix D: Status Field Reference Halt bit ON (1) (Bit 2) State bit A OFF (0) (Bit 4) State bit B OFF (0) (Bit 5) You may also want to monitor the Stopped bit (bit 1) to ensure that the Actual Position has stopped moving, or the In Position bit (bit 0) to ensure that the Actual Position is sufficiently close to the Command Position. Bit 3 - Open Loop This bit is set when the axis is in Open Loop Mode.
RMC100 and RMCWin User Manual Open Loop bit ON (1) (Bit 3) Note: When an axis is halted (Halt bit ON, State A bit OFF and State B bit OFF) then the integral drive is automatically set to Null Drive and the Integrator stops updating. This is done so a Halt command can be given to the axes when the hydraulic system is turned off or the valves are disconnected so the module no longer can control the position.
Appendix D: Status Field Reference * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set. D.2.7 Status Word Bit Map (Quadrature) The axis Status word contains 16 bits of information about the status of the axis. The hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns.
RMC100 and RMCWin User Manual * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set. D.2.8 DRIVE This field displays the drive output in millivolts. This field has a minimum value of 10,000, representing full negative drive of -10,000 mV and a maximum value of +10,000, representing a full positive drive of +10,000 mV.
Appendix D: Status Field Reference using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in steps of 5 mV. The internal drive calculations are done to 14-bit resolution. This additional resolution is used to dither the least significant bit of the output, giving additional resolution. In many applications, the full ±10 V range is not used, and drive output beyond that range may even be unsafe.
RMC100 and RMCWin User Manual T is the sample period (control loop time) Suppose that the sample period (control loop time) is 1 millisecond, the transducer returns one count for every thousandth of an inch, and the axis is moving at 4.8 inches per second (4800 counts/s). As the controller samples the position each control loop, it will see the position change by either 4 or 5 position units, but never the actual rate of 4.8, because the transducer returns a fixed number of counts.
Appendix D: Status Field Reference For DelayMS (D) and DelayTicks (d) link types, this field displays the number of delay units left (in either counter ticks or milliseconds). D.3 Pressure/Force Status Fields D.3.1 Command Pressure/Force This field holds the requested pressure or force. It is set to the Command Value of the Set Pressure command. D.3.2 Target Pressure/Force Note: In this topic, the word pressure is used.
RMC100 and RMCWin User Manual D.3.4 Status (Pressure/Force) The pressure Status word contains 16 bits of information about the condition of the axis. You can use any of the first eight error bits to trigger a STOP on the axis using the Auto Stop parameter. To display the expanded Status bit window, see Using the Status Bits Window, or click here for the Axis Status Bit Map. Error bits 8 through 14 are cleared whenever a Set Pressure (^) command is given.
Appendix D: Status Field Reference not always be available. However, the motion controller does try to replace the erroneous value with another that is within range, so the offending parameter can be determined by comparing the parameter values before and after the error bit is set. This error causes no action, a Soft Stop, or a Hard Stop, depending on the setting of Auto Stop bits 3 and 11. This bit will stay on until a new command is given to the axis.
RMC100 and RMCWin User Manual Not Regulating Pressure 0 0 Increasing Pressure 0 1 Constant Pressure 1 0 Decreasing Pressure 1 1 Bit 1 - Regulating Pressure Bit This bit is set when a pressure axis is actively controlling pressure. You may use this bit to determine when the axis has crossed into pressure mode out of position mode. This bit is not latched, and will clear as soon as the axis leaves pressure mode.
Appendix D: Status Field Reference * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set. D.3.6 DRIVE This field displays the drive output in millivolts. This field has a minimum value of 10,000, representing full negative drive of -10,000 mV and a maximum value of +10,000, representing a full positive drive of +10,000 mV.
RMC100 and RMCWin User Manual using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in steps of 5 mV. The internal drive calculations are done to 14-bit resolution. This additional resolution is used to dither the least significant bit of the output, giving additional resolution. In many applications, the full ±10 V range is not used, and drive output beyond that range may even be unsafe.
Appendix E: Event Step Link Reference Appendix E: Event Step Link Reference E.1 Link Types and Link Values Link Type and Link Value specify the condition that causes the motion controller to execute the next step in a sequence. These fields may be edited manually; however in most cases it is easier to use the Link Type and Link Value dialog box. To use the Link Type and Link Value dialog box: 1. Select the Link Type or Link Value field on the axis you want to edit. 2. Press ENTER.
RMC100 and RMCWin User Manual • Delay Wait for either a number of milliseconds or a number of counts on the edge or quadrature counter (if available). Error Check Wait for any of one or more errors on one or more axes. Inputs, Multiple (Level only) Wait for multiple discrete inputs. Inputs, Single (Level/Edge) Wait for a single discrete input edge or level. Jump Using Inputs Jump immediately to one of four event steps. Loop Define a loop in the step table.
Appendix E: Event Step Link Reference Link Type Description Position/Pressure Wait for the position on an axis to be above or below a specified value. Speed Wait for the speed on an axis to be above or below a specified value. Status Bits Wait for one or more status bits on an axis to be on or off. E.2 Link Next The Link Next field contains the number of the next step that will execute when the condition of the Link Type and Value are met. The Link Next field can point to any step (from 0 to 255).
RMC100 and RMCWin User Manual E.4 System-wide Link Types E.4.1 Link Type - End of sequence Link Type: 0 (hex 0x00, dec 0) Link Value: Reserved - must be 0 When this Link Type is encountered the step sequence stops: no additional steps are executed unless they are started as a new sequence. We recommend using Step 0 as the last Step of all chains so they all end in a known spot. If Step 0 is used this way, its link type must be zero. E.4.
Appendix E: Event Step Link Reference from the master. When this value is changed, the link type copies it into the Extended Link Value, so a new value must be written to the Link Value each time. Note: The Extended Link Value is also used by the Skew Detection (<) link type. Care must be taken to ensure that these link types are not used on the same axis.
RMC100 and RMCWin User Manual • Steps 11 and 12 are executed normally. • When step 10 is reached, the event sequence pauses again, waiting for the PLC to re-trigger the sequence. Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Comm Trigger. 3. Under Link Condition, enter the Sync Value you wish to start with. 4. Click OK. Using without the Link Type and Link Value Dialog Box 1.
Appendix E: Event Step Link Reference counter. If a counter is enabled, this link type will wait until the specified number of ticks have occurred on the counter and then proceed to the next event step in the sequence. Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Delay. 3. Under Link Condition, select Delay based on time or Delay based on counter ticks. 4.
RMC100 and RMCWin User Manual Decel 10 10 0 0 Speed 1000 7500 0 0 Command Value 4000 8000 0 0 Command G G Commanded Axes 0-1 0-1 Default Default Link Type AxesInPos AxesInPos DelayMS ErrorCheck Link Value 0x0003 0x0003 250 0xFF03 Link Next 11 12 10 21 Normally, axes 0 and 1 will make two moves together, then delay for a quarter second, and then repeat the process. If an error occurs on either axis, the user wants both axes to halt.
Appendix E: Event Step Link Reference • The main sequence could be much more sophisticated, such that the axes do not always move together, whereas the Synchronized Move feature is very specific in the types of moves that can be made. Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Error Check. 3. Under Link Condition, check the box next to each error you want to monitor. 4.
RMC100 and RMCWin User Manual • If a Sensor DI/O is present, Sensor DI/O inputs 0-15 (or 0-7) are used. • If no Sensor DI/O is present, but a Communication DI/O is present, Communication DI/O inputs 0-15 (or 0-7) are used. • If neither Sensor nor Communication DI/O is present, then only CPU inputs 0-1 are used. This link type is similar to Inputs, Single (Level/Edge) with the following differences: • Inputs, Multiple: allows up to 16 inputs to be evaluated at once.
Appendix E: Event Step Link Reference even if you do), you should use the Link Type and Link Value dialog box to edit these link types. • If you selected a link type of '{ ', '}', '[', or ']', each of the sixteen bits (number 0 to 15, right to left) correspond to the sixteen inputs. Enter a 1 in each input's bit to that you care about (e.g., if you want inputs 2 and 4 to be off, the link value should be 0x000A).
RMC100 and RMCWin User Manual and Level Low (o) link types when polling. These link types wait for an event on a single discrete input. This event can be an edge (rising or falling) or level (high or low). This link type may use all inputs unless the a Communication DI/O is installed, in which case the CPU inputs may not be used. This link type is similar to Inputs, Multiple (Level only) with the following differences: • Inputs, Multiple: allows up to 16 inputs to be evaluated at once.
Appendix E: Event Step Link Reference Example 2: Link Type: InputLow (o) Link Value: 0 Link Next: 15 This link waits until input bit 0 of the Communication DI/O (or CPU if no Communication DI/O is present) is OFF before going to step 15. E.4.7 Link Type - Jump Using Inputs Link Type: Jump (J, hex 0x4A, dec 74) Link Value: Link Value: Reserved – must be 0 Range: Reserved – must be 0 Note: This feature is available only in RMC100 CPU firmware version 19990625 and later.
RMC100 and RMCWin User Manual 1 1 Current Event Step + 4 Note: If the next Event Step would be greater than 255, then the event step will wrap around to step 0. For example, if the current event step is 254 and inputs 17 and 16 are 1 and 0 respectively, then "Current Event Step + 3" would be 257, but this instead wraps around to event step 1. This situation is confusing and should be avoided when designing your event step sequences.
Appendix E: Event Step Link Reference Using without the Link Type and Link Value Dialog Box 1. Enter a 'J' for the Link Type. 2. Enter a 0 in the Link Value. E.4.8 Link Type - Loop Link Type: LoopStart (#, hex 0x23, dec 35) LoopEnd (-, hex 0x2D, dec 45) Link Value: Number of loop iterations Range: 0 to 65,535 Note: This feature is available only in RMC100 CPU firmware version 19980811 and later. Note: This link type cannot be used with the Poll (?) command.
RMC100 and RMCWin User Manual Link Value 3 1 1000 1 1000 Link Next 6 3 4 5 6 Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Loop. 3. Under Link Condition, select Start a Loop or End a Loop. 4. If you selected Start a Loop, enter the number of iterations you want to use. Using without the Link Type and Link Value Dialog Box 1. To start a loop, enter '#' for the Link Type.
Appendix E: Event Step Link Reference (+), Subtract (-), and MulDiv ('). These link types evaluate the results of the last math command that was issued on the axis running the event sequence. Therefore, these link types can be used any time after the math command is issued (including on the same step) up until another math command is issued on that axis. All of these link types are non-blocking. That is, if the condition they check for is true, then they jump to the step referenced by the Link Next field.
RMC100 and RMCWin User Manual 4. If you selected to jump on a comparison, then select the comparison type (=, <, >, etc.) and enter the value to compare with. 5. If you selected a relational comparison (any comparison other than equal or not equal), then select the type of the result and compare values (signed, unsigned, or position units). 6. If you selected a relational comparison for position values, then select the axis whose position unit range you want to use.
Appendix E: Event Step Link Reference Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Multiple Axes In Position. 3. Under Link Condition, check the boxes next to each axis that you want to be in-position before proceeding to the next event step. Using without the Link Type and Link Value Dialog Box 1. Enter an 'A' into the Link Type field. 2.
RMC100 and RMCWin User Manual axis must be just as far ahead or behind its respective Target Position. This allows the target positions to be different on each axis. This type of skew is useful if the axes cannot be configured to have the same position units for the same positions, or if they are offset. Detecting Excessive Skew This link type is used to detect excessive skew in a group of axes. This link type must be used in conjunction with the Set Extended Link Value (l) command.
Appendix E: Event Step Link Reference 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Skew Detection. 3. Under Link Condition, check the boxes next to each axis that you want to be included in the skew detection. 4. Under Link Condition, check the type of comparison to determine the skew. 5. Click OK. 6. Ensure that the Extended Link Value has been set up using the Set Extended Link Value command. Using without the Link Type and Link Value Dialog Box 1.
RMC100 and RMCWin User Manual Examples 2 and 3 below. • The Timer (T and t) link types allow multiple times to be checked since the beginning of a process. That is, the timer can be started at the beginning of a cycle. Then, later in the process, two or more Timer (T) link types can be used with different values to trigger events at different times since the beginning of the cycle. See Example 4 below. To support these various features, the Timer (T and t) link types come in three forms.
Appendix E: Event Step Link Reference Command G G Commanded Axes Default Default Default Default Link Type TimerSt/Exp BitsON BitsON TimerSt/Exp Link Value 0 0x0001 0x0001 10000 Link Next 11 12 13 10 Step 10 starts the timer and links immediately to step 11. Step 11 starts a move to the first position and waits for the axis to get in position using the BitsON (B) link type, at which time control moves to step 12.
RMC100 and RMCWin User Manual Step 13 immediately links back to step 11 to restart the polling loop. Notice that this extra step does take one control loop to process and therefore increases the time taken to process the entire polling loop by one control loop (1 or 2 ms). Step 14 handles the timeout condition by turning on discrete output 0.
Appendix E: Event Step Link Reference • The disadvantage of this method is that many users will find it confusing to have to reverse the sense of the last condition in the polling loop. That is, the user has to use the Timer Not Expired (t) link type instead of the more intuitive Timer Expired (T) link type. This situation is not unique to using the Timer link types, but will occur with any series of polling link types for the last condition in the polling cycle.
RMC100 and RMCWin User Manual • If you want to take the link when the timer has not yet reached its preset, select Link if the Timer is Not Expired. This is only useful when used with the Poll (?) command. 4. If you selected either the second or third option above, then type the preset (timeout) value in the Timer Value text box. 5. Click OK. Using without the Link Type and Link Value Dialog Box 1. Enter a Link Type: • If you want to start the timer, enter 'T'.
Appendix E: Event Step Link Reference E.5 Current Axis Link Types E.5.1 Link Type - Current Axis Absolute Limit Switch Link Type: TarPos (L, hex 0x4C, dec 76) - Target Position ActPos (l, hex 0x6C, dec 108) - Actual Position Link Value: Limit Position Range: Any valid position in position units These link types are used to detect when the current axis crosses a position. This link type can be used to change speeds on-the-fly or trigger events on other axes.
RMC100 and RMCWin User Manual Value: Range: 0 to 65,535 position units This family of link types waits for the position of the current axis to reach a distance from the start or end of a move. There are four separate link types in this family to cover comparing against the start or end of the move using either the Target or Actual Position.
Appendix E: Event Step Link Reference Link Type Position Used Relative To R Target Position Start of Move r Actual Position Start of Move N Target Position End of Move n Actual Position End of Move 2. Enter the Limit Position Window in the Link Value. E.5.
RMC100 and RMCWin User Manual 1. Select the Link Type: Use 'P' to compare with the Actual Pressure, 'p' to compare with the Target Pressure. 2. Enter the Limit Pressure in the Link Value. E.5.4 Link Type - Current Axis Speed Link Type: TarSpd (S, hex 0x53, dec 83) - Target Speed ActSpd (s, hex 0x73, dec 115) - Actual Speed Link Value: Limit Speed Range: 0 to 65,535 position units per second These link types are used to detect when the speed of the current axis has reached a userspecified value.
Appendix E: Event Step Link Reference 1. Under Link Type Category, select Current Axis (Basic). 2. Under Link Type, select Status Bits. 3. Under Link Condition, click the appropriate option for whether you wish to wait for one or more bits to be ON or OFF. 4. Under Link Condition, check the boxes next to the Status bits for which you wish to wait. Using without the Link Type and Link Value Dialog Box 1.
RMC100 and RMCWin User Manual 6. Under Link Condition, enter the Limit position in the Threshold box. Using without the Link Type and Link Value Dialog Box 1. Calculate the Link Type: This involves converting the following bit fields into a hexadecimal byte. It is highly recommended that the Link Type and Link Value dialog box be used instead of doing this manually. Use the following diagram to calculate the byte in binary and then convert to hexadecimal or decimal and enter in the Link Type field.
Appendix E: Event Step Link Reference 3. Under Link Type, select Speed. 4. Under Link Condition, select whether you wish to use Target or Actual Speed for the comparison. 5. Under Link Condition, select whether you wish to wait until the speed is above or equal, or below or equal the Limit speed. 6. Under Link Condition, enter the Limit speed in the Threshold box. Using without the Link Type and Link Value Dialog Box 1.
RMC100 and RMCWin User Manual 4. Under Link Condition, click the appropriate option for whether you wish to wait for one or more bits to be ON or OFF. 5. Under Link Condition, check the boxes next to the Status bits that you wish to monitor with this link type. Using without the Link Type and Link Value Dialog Box 1. Calculate the Link Type: This involves converting the following bit fields into a hexadecimal byte.
Appendix F: RMC100 Specifications Appendix F: RMC100 Specifications F.1 RMC100 Specifications Motion Control Control loop time Maximum speed RS232 Port Interface with Delta’s RMCWin software and the RMCLink ActiveX Control and .
RMC100 and RMCWin User Manual mA 8 axes (6 slots) DC-DC converter isolation Typical 585 mA @ 24 VDC, max 750 mA 500 VAC, 700 VDC, input to controller Mechanical Dimensions - 2 axes (3 slots) 4.12 x 5.95 x 4.75 in 8 axes (6 slots) 7.12 x 5.95 x 4.75 in (10.5 x 15.0 x 12.1 cm) (WxHxD) (18.1 x 15.0 x 12.1 cm) (WxHxD) Weight - 2 axes (3 slots) 2.0 lb (0.9 kg) max 8 axes (6 slots) 3.0 lb (1.
Appendix F: RMC100 Specifications CE Tests Performed See also General Wiring Information. Radiated Emissions EN55022 Class A Conducted Emissions EN55022 Class A Electrostatic Discharge Radiated Immunity Electrical Fast Transient Burst Conducted Immunity UL, C-UL Specifics File Number EN61000-4-2 ±4 kV contact EN50082-1 ±8 kV air EN61000-4-3 3 V/m EN50082-1 ENV50204 EN61000-4-4 1 kV (A/C) EN50082-1 0.5 kV (I/O) EN61000-4-6 3 V rms EN50082-1 See also General Wiring Information.
RMC100 and RMCWin User Manual • Stepper Specifications • SSI Specifications Digital I/O See Digital I/O Specifications Communication Modules See the appropriate section(s): • • • • PROFIBUS-DP Module SERIAL Module Ethernet Module Modbus Plus Module F.2 General Wiring Information For CE compliance and to minimize electrical interference: • Use twisted pairs for all wiring where possible. • Use shielded cables for all wiring.
Appendix G: Glossary Appendix G: Glossary G.1 Glossary Clockwise Rotating in the direction of increasing encoder or transducer counts. Closed Loop Mode Sometimes called Servo mode. In this mode the difference between the Target and Actual position/pressure is the error that the PID routine uses to compute a corrective drive that minimizes the error. Counter-Clockwise Rotating in the direction of decreasing encoder or transducer counts.
RMC100 and RMCWin User Manual MDT Magnetostrictive Displacement Transducer. A device that senses position by sending an electron pulse down a wave guide. A twist is imparted on the wave guide as the pulse reaches the magnetic field of a magnet. The twist takes time to be sensed at the transducer head. It is this time is proportional to the distance between the transducer head and the magnet. The RMC measures this time to determine the distance.
Appendix G: Glossary The PID LOOP is: DO FOREVER WAIT FOR NEXT TIME PERIOD READ ACTUAL FROM POSITION OR PRESSURE SENSOR E0 = TARGET - ACTUAL U0p = Kp * E0 U0i = U1i + Ki * E0 U0d = ( E0 - E1 ) * Kd U0 = U0p + U0i + U0d E1 = E0 CALCULATE NEXT TARGET POSITION END Retracting Going in the direction of decreasing encoder or transducer counts. Soft Stop An emergency stop condition where the drive ramps down to the null drive value. SSI Synchronous Serial Interface.
Appendix H: ASCII Table Appendix H: ASCII Table H.1 ASCII Table Dec Hex ASCII Dec Hex ASCII Dec Hex 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 35 36 37 38 39 3A 3B 3C 3D 3E 3F Space ! " # $ % & ' ( ) * + , .
Index Index - Command..................................................... 442 ' ' Command ..................................................... 438 - Link Type...................................................... 613 ! ! Command ..................................................... 437 # # Link Type ..................................................... 613 $ $ Command .................................................... 438 , , Command ..................................................... 441 . .
RMC100 and RMCWin User Manual bookmarks .................................................. 107 event step table editor ................................ 108 overview ..................................................... 106 pasting addresses ...................................... 108 agency compliance ................................628, 630 Allen-Bradley .................................................. 261 ControlLogix ............................................... 208 Ethernet ..........................
Index Command ....................................................... 504 Command Deceleration ............................................... 505 Command ....................................................... 505 Command Speed ......................................................... 505 Command ....................................................... 505 Command Command Value ......................................... 505 Command ....................................................... 505 Command Command .
RMC100 and RMCWin User Manual step table ...................................................... 57 CommTrig Link Type ...................................... 606 communication digital I/O ............................... 169 communication driver ....................................... 30 serial port ...................................................... 30 TCP/IP Direct to RMC-ENET .................31, 32 TCP/IP-to-RS232 Bridge .............................. 34 Communication Log ..............................
Index fit to screen ................................................... 88 fixed velocity ............................................... 106 graph tab ...................................................... 84 graph view ............... 77, 78, 84, 85, 86, 87, 88 grid ................................................................ 86 importing ....................................................... 94 insertion point ............................................... 92 interval type .........................
RMC100 and RMCWin User Manual Drive .......................................................597, 602 Drive Transfer Percent ................................... 568 E E Command ...........................................448, 471 E Link Type .................................................... 608 edge counter .................................................. 166 Edit Write Locations dialog box ........................ 74 editing cells....................................................... 90 Curve Tool .....
Index exciter output .................................................. 360 Exiting Pressure Mode ................................... 511 Extend Acceleration Feed Forward ........524, 536 Extend Feed Forward .....................523, 535, 567 Extend Limit .................. 520, 532, 544, 554, 576 Extend/Clockwise Limit Switch bit .................. 587 extending ........................................................ 631 external target generator ................................ 372 F F Command...........
RMC100 and RMCWin User Manual IGMP ......................................................239, 244 In Position bit ..........................................587, 599 In Position Window........ 525, 537, 547, 557, 580 indicators ....... 117, 364, 378, 388, 398, 406, 414 analog transducer ....................................... 364 CPU ............................................................ 117 MDT ............................................................ 378 quadrature ................................
Index toolbar .....................................................61, 65 tree pane ................................................61, 62 uploading screens ........................................ 67 view options .................................................. 68 LCD420 Terminal ...................................344, 347 overview ..................................................... 344 programming .............................................. 347 using ................................................
RMC100 and RMCWin User Manual Link Type EQ............................................................... 614 Link Type ........................................................ 614 Link Type Multiple Axes In Position ............................ 616 Link Type AxesInPos .................................................. 616 Link Type ........................................................ 616 Link Type Skew Detection ........................................... 616 Link Type Skew ............................
Index 313, 348, 349 RMC Register Map ... 211, 221, 245, 255, 263, 269, 275, 284, 313 map editor ...................................................... 348 Map Output to Axis Position Command ......... 468 Math Compares .............................................. 614 Math Errors..................................................... 614 MathERR ........................................................ 614 MathOK .......................................................... 614 Max Function .....................
RMC100 and RMCWin User Manual digital outputs .............................167, 168, 169 drive (analog) .............................................. 628 interrogation ................................................ 374 SSI clock ..................................................... 409 Overdrive ........................................................ 599 Overdrive bit ................................................... 587 Overflow .........................................................
Index controlling ...........................................133, 373 filter ............................................................. 568 position-pressure transition ........................ 133 Pressure Command ....................................... 474 pressure control .............................133, 370, 373 Pressure Ramp Time .............................474, 511 pressure reference ......................................... 372 Pressure Set A .......................................
RMC100 and RMCWin User Manual Retract Acceleration Feed Forward .......524, 536 Retract Feed Forward ....................523, 535, 567 Retract Limit .................. 520, 532, 544, 554, 576 Retract/Counter-Clockwise Limit Switch bit ... 587 retracting ........................................................ 631 returns ............................................................ 423 reverse drive mode ........................................ 559 RJ-11 ......................................................
Index Set Position/Pressure..................................... 448 Set Pressure .................................................. 474 Set Pressure Using Profile ............................. 485 Set Profile ....................................................... 482 Set Speed....................................................... 459 Set Spline Interval ..................................456, 457 Set Target Position ......................................... 462 setup.......................................
RMC100 and RMCWin User Manual wiring .......................................................... 395 STEPS/REV ...........................................545, 555 Stopped Bit .............................................587, 599 Stopping the Axes ..................................451, 452 stored commands ............................................. 42 using ............................................................. 42 Stored Commands ........................................... 57 subnet mask ............
Index VC2100/VC2124 ............................................ 131 Velocity Control .............................................. 123 velocity limit .................................................... 576 velocity reference ........................................... 372 views ................................................................ 36 full horizontal ................................................ 36 full vertical ..................................................... 36 half ..................
