RMC150 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Motion Control and More
RMC150 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: Mounting............................................................. 2 Step 2: Wiring ................................................................. 3 Step 3: Install RMCTools ................................................ 4 Step 4: Connect RMC to PC ........................................... 5 Step 5: Start a New Project ............................................ 6 Step 6: Define the Axes ................................................ 10 Step 7: Test an Actuator ......
RMC150 Startup Guide Step 1: 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.
Step 2: Wiring Step 2: Wiring Wire the power, actuators and feedback devices to the RMC according to the instructions in Appendix A: Wiring on page 26. Note: Remove power from the RMC before connecting any wires. Wiring Topic Page General Wiring Information 27 Power 28 Control Output (Drive) 28 Start/Stop and PWM Inputs (Magnetostrictive) 29 SSI Inputs 31 Analog Inputs Voltage Transducer 33 Potentiometer 34 Current Transducer 34 Resolver Inputs Discrete Inputs/Outputs deltamotion.
RMC150 Startup Guide Step 3: 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.
Step 4: Connect RMC to PC Step 4: Connect RMC to PC USB Cable Connect a standard A to B USB cable to the PC and to the RMC150E USB port . 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 RMC150E. The RMC150E supports both straight through and crossover cables. deltamotion.
RMC150 Startup Guide Step 5: Start a New Project 6 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. Delta Computer Systems, Inc.
Step 5: Start a New Project 5. RMC150E via USB: A. Click USB and click Next. B. When the RMC appears in the list, choose it and click Next. RMC150E via Ethernet: A. Click Ethernet and click Next. B. Use the MAC address (on the RMC150E 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. deltamotion.
RMC150 Startup Guide 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. 8 Delta Computer Systems, Inc.
Step 5: Start a New Project Set Up Universal I/O Channels If your RMC includes a Universal I/O module, you must first set up the high-speed channels before using them as part of an axis. 1. In the Project pane, expand the Modules folder and double-click the UI/O module. 2. On the Quad/SSI page, choose the desired Mode for each channel. Typically, this will be Quadrature Input or SSI Axis Input. For more details, refer to the UI/O module topic in the RMCTools help.
RMC150 Startup Guide Step 6: 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.
Step 6: Define the Axes 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.
RMC150 Startup Guide Step 7: 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.
Step 7: Test an Actuator 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.
RMC150 Startup Guide 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: For the Quad module, 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.
Step 8: Connect Feedback Device Step 8: 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.
RMC150 Startup Guide Start/Stop or PWM (Magnetostrictive) Feedback 1. In the Axis Parameters, on the Setup tab, set the MDT Type register to the type of magnetostrictive transducer you have. This information is available from your transducer datasheet. 2. Click the Download button 3. Continue to the Verify Feedback section on page 18. to apply the changes to the RMC. SSI Feedback 1. In the Axis Parameters pane, on the Setup tab, set the following cells. • • • SSI Format SSI Data bits (e.g.
Step 8: Connect Feedback Device Analog Feedback 1. In the Axis Parameters, on the Setup tab, set the Input Type to Voltage (±10V), Voltage (±5V) or Current (4-20mA). If the input is the primary input of the axis, the Input Type is under the Primary Control Setup section in the Axis Parameters. For pressure or force inputs on a dual-loop axis, the Input Type is in the Secondary Control Setup section in the Axis Parameters. 2. Click the Download button 3.
RMC150 Startup Guide 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. 18 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.
Step 9: Scale and Offset Step 9: 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.
RMC150 Startup Guide Step 10: 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.
Step 11: Tuning Step 11: 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. 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].
RMC150 Startup Guide 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.
Continuing the Motion Application 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.
RMC150 Startup Guide Communications Most PLCs or other host controllers can communicate with the RMC, which includes reading status, writing values, and sending commands to the RMC. The RMC150E supports Ethernet and PROFIBUS-DP. See the Communications section of the RMCTools help for more detailed information. Discrete I/O Discrete I/O augments the communications of the RMC.
Diagnostic Tools 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.
RMC150 Startup Guide Appendix A: Wiring This appendix describes how to wire the RMC. Use the table below to find the wiring diagram you need. For communications wiring, consult the RMCTools help. Note: Remove power from the RMC before connecting any wires.
Appendix A: Wiring 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.
RMC150 Startup Guide Wiring Power Voltage: +24VDC ( 20.4 – 27.6VDC) Current rating: Backplane Slots Max Current (mA) 3 4 5 6 375 500 625 750 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.
Appendix A: Wiring MDT Module Start/Stop or PWM Transducer Wiring For magnetostrictive transducers with Start/Stop or PWM outputs. 6-pin MDT Connector Interrogate + Int+ Int- Interrogate - Cmn DC Ground Return + Ret+ Return - Ret- Pwr+ Case Cmn +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams. Notes: • The MDT module interfaces to 5V differential (RS-422) signals. Single-ended (TTL) signals are strongly discouraged.
RMC150 Startup Guide MDT Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all MDT wiring instructions on page 29. Balluff Micropulse BTL-5, digital RS-485 output Styles: Z, W, K, E, P, R, AT 6-pin MDT Connector Yellow Int+ Interrogate + Input Int- Pink Interrogate - Input Cmn Blue GND Ret+ Gray Pulse + Output Ret- Green Pulse - Output Brown Pwr+ GND White White wire must remain unconnected.
Appendix A: Wiring SSI Transducer Wiring For Synchronous Serial Interface (SSI) transducers and encoders. If the SSI transducer is linear, make sure to choose the synchronized type. Input Connector Clock+ Clk+ Clk- Clock- Cmn DC Ground Data+ Dat+ Data- Dat- Pwr+ Case Cmn +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams. Universal I/O Module: The Universal I/O SSI input wiring is identical to the diagram shown above, with the exception of the pin order.
RMC150 Startup Guide SSI Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all SSI wiring instructions on page 31.
Appendix A: Wiring Analog Voltage Transducer Wiring Voltage Transducer, 4- or 5-Wire Input Connector + In +Analog Out Res or Jmpr -Analog Out - In Signal Common Cmn Pwr Common +Pwr To reduce electrical interference: • -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.
RMC150 Startup Guide Potentiometer with Exciter Pin Note: Use the Exciter pin to increase the measurement accuracy of the potentiometer. Not available on the UI/O module. Input Connector Potentiometer + In Wiper Res - 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. • Connect cable shield to ground on one end only.
Appendix A: Wiring Quadrature Encoder Wiring Pin-out table is available in the RMCTools help.
RMC150 Startup Guide Resolver Module Transducer Wiring The wiring diagram below is for resolvers that fall within the Resolver module’s signal specifications (800 Hz to 5 kHz and 1.41 to 4.8 VRMS). The Ref In input is only used for reference signals outside of these specifications, and requires contacting Delta for assistance.
Appendix A: Wiring Discrete Output Wiring The RMC150E, DI/O and UI/O outputs are solid state relays. When off, they have high impedance, and when on, they have low impedance. RMC150E On Impedance Max Current DI/O UI/O 50Ω max, 25Ω typical 75 mA (50 mA for Class I Div 2) Max Voltage 75 mA (Class I Div 2 not available) 30 V When switching inductive loads, place a diode or tranzorb across the load to protect the switch when it turns off.
RMC150 Startup Guide Discrete Input Wiring To turn on a discrete input, apply a voltage of the correct level. The polarity is unimportant. RMC150E DI/O UI/O Signal Levels 12-24 VDC 5-24 VDC 12-24 VDC Max Current Draw 3 mA max 6 mA at 5V 10 mA at 24V 3 mA max DI/O and UI/O Module Because all the inputs share a common, all inputs on the same module must be wired the same.
Appendix B: Mounting Dimensions Appendix B: Mounting Dimensions Backplane Slots Total Width 3 4 5 6 4.10 in. 5.10 in. 6.10 in. 7.10 in. (104.1 mm) (129.5 mm) (154.9 mm) (180.3 mm) Note: Allow space for the connectors on the front of the RMC. deltamotion.
RMC150 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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