RMC70 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Motion Control and More
RMC70 Startup Guide Where to Get Help Video Tutorials In RMCTools, on the Help menu, click Video Tutorials. RMCTools Help In RMCTools, on the Help menu, click Help Topics. Forum forum.deltamotion.com Delta Technical Support Phone: +1-360-254-8688 Email: support@deltamotion.com deltamotion.
Contents Contents Step 1: Add Expansion Modules .................................... 2 Step 2: Mounting............................................................. 3 Step 3: Wiring ................................................................. 4 Step 4: Install RMCTools ................................................ 5 Step 5: Connect RMC to PC ........................................... 6 Step 6: Start a New Project ............................................ 7 Step 7: Define the Axes .............
RMC70 Startup Guide Step 1: Add Expansion Modules Remove power from the RMC before adding expansion modules. Instructions are also included with each module. Expansion modules can be added in any order. Do not add more than 4 expansion modules. No more than two Q2 modules can be installed per RMC75. 1. Remove 4 screws Remove the 4 phillips-head screws on the right side of the top and bottom of the RMC70. 2. Install Expansion Module 3. Reinstall the 4 screws 2 Delta Computer Systems, Inc.
Step 2: Mounting Step 2: Mounting The RMC should be mounted upright on a vertical surface, such that the ventilation holes are on the top and bottom. Mounting Options Symmetrical DIN 3 Panel-mount See Appendix B: Mounting Dimensions for dimensions Clearance The amount of clearance above and below depends on the maximum ambient temperature: Ambient Temperature Clearance 122 - 140°F (50 - 60°C) 3 in. (7.6 cm) 86 - 122°F (30 - 50°C) 2 in. (5.1 cm) Less than 86°F (30°C) 1 in. (2.
RMC70 Startup Guide Step 3: Wiring Wire the RMC, actuators and feedback devices according to the instructions in Appendix A: Wiring. For expansion module wiring, consult the wiring diagram you received with it, or use the RMCTools help. For communications wiring, consult the RMCTools help. Note: Remove power from the RMC before connecting any wires.
Step 4: Install RMCTools Step 4: Install RMCTools From CD 1. Insert the CD and wait for the splash screen to appear. 2. Click Install RMCTools and follow the instructions. If the splash screen does not automatically open, run the autorun.exe file. Download 1. Go to http://www.deltamotion.com/dloads/ 2. Choose the RMC70 or RMC150 category, then choose the Software category. 3. Choose the RMCTools 32-bit or 64-bit version as required for your computer. 4. Run the rmctoolsinstall32.
RMC70 Startup Guide Step 5: Connect RMC to PC RMC75E USB Cable Connect a standard A to B USB cable to the PC and to the RMC75E port labeled USB Monitor. This type of USB cable is used for PC peripherals such as printers, and is available at any store that sells electronics. Or, use Ethernet Cable Connect an Ethernet cable to the PC and the RMC75E. The RMC75E supports both straight through and crossover cables.
Step 6: Start a New Project Step 6: Start a New Project 1. Start RMCTools. 2. In the Startup dialog, choose Create a New Project and click OK. 3. Enter the Project Name, then click Finish. 4. In the New Controller Wizard, choose Automatically Detect the Controller Information, then click Next. deltamotion.
RMC70 Startup Guide 5. RMC75E via USB: A. Click USB and click Next. B. When the RMC appears in the list, choose it and click Next. RMC75E via Ethernet: A. Click Ethernet and click Next. B. Use the MAC address (on the RMC75E label) to identify the RMC in the list, then click the RMC. C. If the RMC does not have an IP address (0.0.0.0), click Configure Device, choose Use the following IP address, set the IP Address and Subnet Mask, then click OK. D. Click Next. 8 Delta Computer Systems, Inc.
Step 6: Start a New Project RMC75S or RMC75P: Select the serial port and click Next. 6. RMCTools will connect to the RMC and display it. Verify it is correct, then click Finish. 7. The toolbar now displays communicating with the controller. . This means RMCTools is Project Pane The project pane contains all the items in the project. Use the Project pane to navigate through the entire project. deltamotion.
RMC70 Startup Guide Saving Settings Throughout the startup procedure, make sure to save the configuration changes you make or they may be lost! 1. Save RMCTools Project On the File menu, click Save. 2. Update Flash On the Controller menu, click Update Flash. IF YOU DO NOT UPDATE FLASH, CHANGES TO THE RMC WILL BE LOST WHEN POWER IS REMOVED! 3. Repeat Often Make sure to save often to prevent loss of data. 10 Delta Computer Systems, Inc.
Step 7: Define the Axes Step 7: Define the Axes To use a physical input or output, it must be assigned to an internal software axis. The RMC starts with default axis assignments which you will likely need to change. Note: It is important to define the axes at the start of the project. Major changes to axes later may result in lost axis parameters. Example Axis Definitions Position Control Axis One Control Output, one position input.
RMC70 Startup Guide View Axis Definitions 1. In the Project tree, expand the Axes folder and double-click Axis Definitions. 2. The Axis Definitions dialog opens: The list displays the software axes. To see the assigned hardware, click an axis in the list. The hardware assigned to that axis will be highlighted in the image. Edit Axis Definitions Use the Axis Definitions dialog to change the axis definitions: Click New to add an axis. Click Change to edit the selected axis.
Step 8: Test an Actuator Step 8: Test an Actuator You will now test an actuator such as a hydraulic valve or a motor. You will use the Direct Output command to send a voltage to the actuator. The actuator must already have been wired to the RMC. 1. Check the machine and make sure that the axis may safely move in both directions. 2. In the Project tree, double-click Axis Tools. 3. In the Axis Status Registers, on the Basic tab, look at the Control Output. It should be 0. 5.
RMC70 Startup Guide 6. Browse to Motion Commands, then Open Loop. Choose the Direct Output command and click OK. 7. For the Direct Output command parameters, enter the following: Output: 0.1 Ramp Rate: 100 When you send the command in the next step, the Control Output voltage will ramp to 0.1 V at a rate of 100 V/sec.
Step 8: Test an Actuator 8. In the Command Tool, click Send. The axis should move, and the Control Output (in the Axis Status Registers) should be 0.100. 9. If the axis did not move, resend the command with a larger Output until the axis moves. Note: If you are using the Enable Output for enabling the actuator, such as a motor drive, then you first need to set the Enable Output before trying to move the actuator. For details, see the Set Enable Output (67) Command topic in the RMCTools help. 10.
RMC70 Startup Guide Step 9: Connect Feedback Device Now that you have connected and tested an actuator, you will connect and verify a feedback device. The device must already have been wired to the RMC. Configure Feedback In Axis Tools, in the Axis Parameters pane, on the Setup tab, you will configure certain parameters depending on the type of input you are using.
Step 9: Connect Feedback Device MA Module–Start/Stop or PWM 1. In the Axis Parameters, on the Setup tab, set the Feedback Type to MDT. 2. Set the MDT Type register to the type of MDT transducer you have. This information is available on the transducer datasheet. 3. Click the Download button 4. Continue to the Verify Feedback section on page 19. to apply the changes to the RMC. MA Module–SSI 1. In the Axis Parameters pane, on the Setup tab, set the Feedback Type to SSI. 2.
RMC70 Startup Guide AA Module 1. In the Axis Parameters pane, on the Setup tab, set the Input Type to Voltage or Current. 2. Click the Download button to apply the changes to the RMC. 3. Continue to the Verify Feedback section on page 19. A2 or AP2 Module 1. In the Axis Parameters pane, on the Setup tab, set the Input Type to Voltage or Current. If the input is the primary input of the axis, the Input Type is under the Primary Control Setup section in the Axis Parameters.
Step 9: Connect Feedback Device Verify Feedback 1. In the Axis Status Registers pane, on the All tab, expand the Feedback section. For secondary inputs, expand the Pressure/Force/Accel Feedback section. 2. Look at the Counts register (for analog feedback, look at Volts or Current). It may be changing slightly. 3. Use the Direct Output command to move the axis back and forth (as described in the Testing an Actuator section). 4.
RMC70 Startup Guide Step 10: Scale and Offset The Scale and Offset parameters convert the Counts, Volts or Current from the transducer into meaningful measurement units, such as inches, millimeters, pounds, Newtons, etc. RMCTools provides Scale/Offset wizards to help you calculate these parameters. Before starting, determine approximately what the positions should be at either end of travel. This will help you verify later that you performed the Scaling and Offset procedure correctly.
Step 11: Set the Output Polarity Step 11: Set the Output Polarity The Actual Position, Pressure, Force or Velocity must increase when the RMC applies a positive output voltage. If this condition is not met, you will not be able to perform closed-loop control. 1. Send the Direct Output command with a positive Output value that is large enough to move the axis. 2.
RMC70 Startup Guide Step 12: Tuning In order to control an axis in closed-loop, it must first be tuned. You can use autotuning or manually tune the axis. Autotuning – Position Axes Only Autotuning can be used for most position control axes. 22 1. Open Tuning Tools On the Tools menu, click Tuning Tools. 2. Set Up Tuning Tools Set up the buttons that you will use to move the axis back and forth after autotuning is complete. Click the first button labeled [Click to set up].
Step 12: Tuning 5. When the wizard is complete, the Gain Calculator will open. Use the slider bar to choose gains. Begin by pulling the slider close to the bottom, then click Apply Gains. 6. Use the buttons you previously set up to move the axis back and forth. The plot will automatically be displayed. Tip: To halt the axis, click the Fault Controller toolbar, or press Ctrl+K. 7.
RMC70 Startup Guide Continuing the Motion Application After setting up and tuning the RMC, it is ready to perform motion and be integrated into the rest of your application. The RMC has numerous features to assist you. The major components are listed here to guide you when continuing your motion application. Commands The RMC has a rich set of pre-programmed commands that perform anything from simple moves to complex motion to system control.
Continuing the Motion Application Communications Most PLCs or other host controllers can communicate with the RMC, which includes reading status, writing values, and sending commands. The RMC70 supports Ethernet, PROFIBUS-DP, or serial RS-232/485. See the Communications section of the RMCTools help for more detailed information. Discrete I/O Discrete I/O augments the communications of the RMC.
RMC70 Startup Guide Diagnostic Tools This section describes the main diagnostic tools of RMCTools that will aid you in monitoring and troubleshooting your system. Plots The RMC provides very flexible plotting capabilities. Virtually any register in the RMC can be plotted, and multiple registers may be plotted simultaneously. You can easily capture events with the plot trigger. For details on using plots, see the Plots topics in the help.
Appendix A: Wiring Appendix A: Wiring This appendix describes how to wire the RMC. Use the table below to find the wiring diagram you need. For expansion module wiring, consult the wiring diagram you received with it, or use the RMCTools help. For communications wiring, consult the RMCTools help. Note: Remove power from the RMC before connecting any wires. Wiring Topic Page General Wiring Information 28 Power 29 MA Modules AA Modules QA Modules deltamotion.
RMC70 Startup Guide 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. Keep RMC wiring separate from AC mains or conductors carrying high currents, especially high frequency switching power such as conductors between servo drives and motors or amplifiers and proportional valves. For UL and CUL compliance: Power supply must be Class 2.
Appendix A: Wiring Wiring Power Voltage: +24VDC ( 21.6 – 26.4VDC) Current rating: Minimum 500 mA UL and CUL Requirements For UL and C-UL compliance, the power supply must be Class 2. Class 2 power supplies are limited to 100W output. No additional fusing is required if a class 2 power supply is used.
RMC70 Startup Guide Wiring for all Axis Modules Control Output, Enable Output, and Fault Input Axis Connector Flt In+ Flt In- Apply 12-24 VDC across input to turn on +VCC (12-24 VDC) En Out+ Drive or Amplifier En Out- Enable or Inhibit Ctrl Out + Ref In Cmn - Ref In Cmn Case Shield To machine common Fault Input: The Fault Input is optional. The Fault Input turns on when a current flows. The polarity is unimportant. The behavior can be set to Active High or Active Low via RMCTools.
Appendix A: Wiring MA Module Start/Stop or PWM Transducer Wiring For magnetostrictive transducers with Start/Stop or PWM outputs. 12-pin Axis Connector Interrogate + Int/Clk+ Int/Clk- Interrogate - Cmn DC Ground Return + Ret/Dat+ Return - Ret/Dat- Pwr+ Case Cmn +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams. Notes: The MA module interfaces to 5V differential (RS-422) signals. Single-ended (TTL) transducers are not supported.
RMC70 Startup Guide Manufacturer-Specific Wiring Labels and Colors Follow all wiring instructions on p.31. Balluff Micropulse BTL-5, digital RS-485 output Styles: Z, W, K, E, P, R, AT 12-pin Axis Connector Yellow Interrogate + Input Int/Clk- Pink Interrogate - Input Cmn Blue GND Ret/Dat+ Gray Pulse + Output Green Pulse - Output Brown Pwr+ Int/Clk+ Ret/Dat- GND White White wire must remain unconnected.
Appendix A: Wiring MA Module SSI Transducer Wiring For Synchronous Serial Interface (SSI) transducers and encoders. For linear SSI transducers, make sure to choose the synchronized type. 12-pin Axis Connector Clock+ Int/Clk+ Int/Clk- Clock- Cmn DC Ground Data+ Ret/Dat+ Data- Ret/Dat- Pwr+ Case Cmn +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams. Notes: The Cmn pins on the 12-pin connector are electrically identical.
RMC70 Startup Guide Manufacturer-Specific Wiring Labels and Colors These diagrams provide only transducer manufacturer labels and colors. Follow all wiring instructions on p.
Appendix A: Wiring MA Module Pin-out Pin Function Flt In + Fault Input Flt In - Fault Input En Out + Enable Output En Out - Enable Output Ctrl Out Control Output, ± 10 V 16-bit Analog Cmn Common MDT Transducer SSI Transducer Int/Clk + + Interrogation + Clock Int/Clk - - Interrogation - Clock Ret/Dat + + Return + Data Ret/Dat - - Return - Data Cmn Common Case RMC Chassis Notes: The two Cmn pins are electrically the same. The user must supply power for the transducer.
RMC70 Startup Guide AA Module Voltage Transducer Wiring Voltage Transducer, 4- or 5-Wire 12-pin Axis Connector +Analog In +Analog Out Jumper for 4-20 mA -Analog Out -Analog In Signal Common Cmn Pwr Common +10Vdc Exciter +Pwr To reduce electrical interference: -Analog In and Cmn must be connected, either internal to the transducer or externally as close as possible to the transducer. Use individually shielded twisted-pair wire. Connect cable shield to earth ground on one end only.
Appendix A: Wiring AA Module Potentiometer with Exciter Pin Note: When using a potentiometer, use the Exciter pin to increase the accuracy of the analog to digital conversion. 12-pin Axis Connector Potentiometer +Analog In Wiper Jumper for 4-20 mA -Analog In Cmn +10Vdc Exciter Case To reduce electrical interference: The connection of -Analog In to Cmn should be made as close as possible to the transducer. Use individually shielded twisted-pair wire.
RMC70 Startup Guide AA Module Pin-out Pin Function Flt In + Fault Input Flt In - Fault Input En Out + Enable Output En Out - Enable Output Ctrl Out Control Output, ±10 V 16-bit Analog Cmn Common Analog In + Signal + Jumper for 4-20 mA Jumper for Current Transducer Analog In - Signal - Cmn Common +10Vdc Exciter 10 Volt source for potentiometer Case RMC Chassis Notes: The two Cmn pins are electrically the same. The user must supply power for the transducer.
Appendix A: Wiring QA Module Wiring See page 40 for the QA module pin-out.
RMC70 Startup Guide QA Module Pin-out Pin Label Function 1 A- A- from encoder 2 A+ A+ from encoder 3 B- B- from encoder 4 B+ B+ from encoder 5 n/c No connection 6 Reg Y/NegLim- 7 Reg Y/NegLim+ Registration Y or Negative Limit 8 Reg X/PosLim- 9 Reg X/PosLim+ Registration X or Positive Limit 10 n/c No connection 11 n/c No connection 12 Control Out Control Output 13 Cmn Common 14 Z- 15 Z+ 16 Cmn Common 17 n/c No connection 18 Home- 19 Home+ 20 FltIn- 21
Appendix A: Wiring D8 Module Discrete I/O Wiring The eight I/O on the D8 expansion module are individually configurable via software to be inputs or outputs. Discrete Outputs The discrete outputs are solid state relays. When off, they have high impedance, and when on, they have low impedance (50 Ω max, 25 Ω typical). The maximum current is 75 mA, and the maximum voltage is 30 V. Outputs can be wired in either a high-side or low-side configuration.
RMC70 Startup Guide Appendix B: Mounting Dimensions This sections contains mounting hole dimensions for the RMC75 series motion controller and expansion modules. Up to four expansion modules may be added to the right side of the RMC75 base module. Base Module RMC75S, RMC75P, RMC75E Note: Drawing is not 1:1 scale. 42 Delta Computer Systems, Inc.
Appendix B: Mounting Dimensions Expansion Modules There are two different expansion module widths. D8 AP2, A2, Q1 Note: Drawings are not 1:1 scale. deltamotion.
RMC70 Startup Guide Appendix C: Agency Compliance CE For CE compliance and to minimize electrical interference: Use twisted pairs for all wiring where possible. Use shielded cables for all wiring. Keep RMC wiring separate from AC mains or conductors carrying high currents, especially high frequency switching power such as conductors between servo drives and motors or amplifiers and proportional valves. UL and CUL For UL and CUL compliance: Power supply must be Class 2.
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