Delta RMC70 Startup Manual Download Page 1

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RMC70 MOTION CONTROLLER

STARTUP
GUIDE

With wiring diagrams

Motion Control and More

Summary of Contents for RMC70

Page 1: ...RMC70 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Motion Control and More ...

Page 2: ...e 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 ...

Page 3: ...ct 7 Step 7 Define the Axes 11 Step 8 Test an Actuator 13 Step 9 Test Feedback Device 16 Step 10 Scale and Offset 20 Step 11 Set the Output Polarity 21 Step 12 Tuning 22 Continuing the Motion Application 25 Diagnostic Tools 27 Appendix A Wiring 28 Appendix B Mounting Dimensions 43 Appendix C Agency Compliance 45 Version 4 00 June 1 2017 Copyright 2017 Delta Computer Systems Inc ...

Page 4: ...tructions 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 ...

Page 5: ...ndix 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 5 cm Grounding Make sure to properly ground the RMC If mounted on a DIN rail the RMC will conduct to the DIN rail The RMC shell is electrically conne...

Page 6: ...ions wiring consult the RMCTools help Note Remove power from the RMC before connecting any wires Wiring Topic Page General Wiring Information 29 Power 30 MA Modules Control Output Enable Output Fault Input 31 SSI Transducer 32 Start Stop or PWM Transducer 34 AA Modules Control Output Enable Output Fault Input 31 Voltage Feedback Transducer 37 Potentiometer 38 Current Feedback Transducer 38 QA Modu...

Page 7: ...150 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 exe or rmctoolsinstall64 exe file and follow the instructions Start RMCTools On the Windows Start menu choose All Programs and then RMCTools PC Requirements Operating System Windows 7 8 1 10 ...

Page 8: ... is available at any store that sells electronics Or use Ethernet Cable Connect an Ethernet cable to the RMC75E and the PC or Ethernet switch The RMC75E supports both straight through and crossover cables RMC75S or RMC75P Connect Serial Cable Connect a null modem DB 9 female to female cable to the RMC75 RS 232 Monitor port and to a serial port on the PC If you make your own cable pins 2 and 3 must...

Page 9: ...p 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 ...

Page 10: ...e 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 ...

Page 11: ... 6 RMCTools will connect to the RMC and display it Verify it is correct then click Finish 7 The toolbar now displays This means RMCTools is communicating with the controller Project Pane The project pane contains all the items in the project Use the Project pane to navigate through the entire project ...

Page 12: ...y 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 and update flash often to prevent loss of data Tip On the File menu click Save and Update Flash to perform both operations at once ...

Page 13: ...t 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 Position Force Control Axis all part of a single axis One Control Output one position input dual input force Reference Axis One position input Control Output Position Feedback Dual input Force Feedback Valve Hydraulic Cylinder Analog J...

Page 14: ... 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 Click to remove an axis If you need to make significant changes to the axis definitions first delete all the axes then create new ones For...

Page 15: ...CT OUTPUT COMMAND WITH CAUTION IT DISABLES THE SAFETY FEATURES OF THE RMC Fault Controller Button If the motion causes problems be prepared to quickly stop the axis by clicking the Fault Controller button on the toolbar or pressing Ctrl K on the keyboard 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 St...

Page 16: ...d to click the button 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 ...

Page 17: ...abling 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 Now stop the axis In the Command tool enter 0 in the Output box and click Send 11 Repeat these steps to move the axis in the other direction In the Direct Output command use a negative Output Move th...

Page 18: ...figure 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 Refer to the procedure for your module and transducer type Module Transducer Type Page MA1 or MA2 MDT Start Stop or PWM 17 SSI 17 AA1 or AA2 Analog 10 V or 4 20 mA 18 QA1 or QA2 Quadrature Encoder A B Z 18 AP2 or A2 Analog 10 V or 4 20 mA 18 ...

Page 19: ...e Download button to apply the changes to the RMC 4 Continue to the Verify Feedback section on page 19 MA Module SSI 1 In the Axis Parameters pane on the Setup tab set the Feedback Type to SSI 2 From the information in your SSI data sheet set the following parameters SSI Format SSI Data bits e g 24 Linear Rotary Note For help on a parameter click the cell and press F1 3 Click the Download button t...

Page 20: ...nput 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 For secondary pressure or force inputs on a dual loop axis the Input Type is under the Secondary Control Setup section in the Axis Parameters 2 Click the Download button to apply the changes to the RMC 3 Continue to the Verify Feedback secti...

Page 21: ...e Counts Volts or Current register It may be changing slightly 3 Use the Direct Output command to move the axis back and forth as described in the Test an Actuator section 4 As the axis moves look for a corresponding change in the Counts Volts or Current If it does not change smoothly recheck the wiring verify that the parameters on the Setup tab are correct and check for smoothly changing Counts ...

Page 22: ...ards section 2 Click Launch in the desired axis 3 In the wizard follow the directions For help press the Help button Tip If the wizard does not work for your system you can manually determine the Scale and Offset parameters See the Scaling topic in the RMCTools help for details 4 After completing the wizard in the Axis Parameters locate the Display Units parameter Select the desired display units ...

Page 23: ...ual Position and note whether it is increasing or decreasing Increasing The Output Polarity is correct Go to Enable the Axes below Decreasing You must invert the Output Polarity A In the Axis Parameters pane on the Setup tab double click the Invert Output Polarity parameter to set it B Click the Download button to apply the change to the RMC Enable the Axes In order to send motion commands other t...

Page 24: ...ools 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 Enter a Move Absolute command with position speeds and acceleration values that will work for your system Repeat for the other button with a different position 3 Start the Tuning Wizard In the Tuning Tools click Tuning Wizard 4 ...

Page 25: ...s not following the Target Position very well pull the slider bar up apply gains and move the axis again Repeat until the Actual Position tracks the Target Position very well Tuning With an Existing Plot If the autotuning does not work for your system you can use the Tuning Wizard with an existing plot 1 In the Tuning Tools use the move buttons to make moves and adjust the Proportional Gain until ...

Page 26: ... menu choose Help Topics 5 On the Index tab type tuning and double click about 6 The Tuning Overview topic describes tuning In the Manual Tuning section choose a procedure For most position control applications choose Tuning a Hydraulic Position Axis or Motor in Velocity Mode For pressure or force choose the procedure that applies to your axis After tuning save the project and update Flash ...

Page 27: ...simple or advanced sequences of commands on the RMC This allows the RMC to respond to events within its control loop time rather than the scan rate of a PLC or other host controller It also reduces the PLC programming required A User Program consists of multiple steps linked together in sequences Each step can issue any RMC command to one or several axes The link types allow branching and looping ...

Page 28: ...ly configurable in software as inputs or outputs See the Discrete I O topic in the RMCTools help for details Variables Variables make the User Programs very flexible and easy to maintain Variables can be used to effortlessly change programs and easily modify User Program parameters via a PLC Variables can also be used to store data For more details see the Variables topic in the help Program Trigg...

Page 29: ... Event Log Monitor displays all events that have occurred in the controller such as issued commands changed parameters and errors The Event Log Monitor is an important aid in troubleshooting The Event Log can help you Determine if a command was successfully issued The entire command with parameters is displayed Find out which if any error occurred See where a command was issued from for example fr...

Page 30: ...nications wiring consult the RMCTools help Note Remove power from the RMC before connecting any wires Wiring Topic Page General Wiring Information 29 Power 30 MA Modules Control Output Enable Output Fault Input 31 SSI Transducer 32 Start Stop or PWM Transducer 34 AA Modules Control Output Enable Output Fault Input 31 Voltage Feedback Transducer 37 Potentiometer 38 Current Feedback Transducer 38 QA...

Page 31: ...eparate 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 All RMC inputs and outputs must be connected to Class 2 circuits only Terminal Block Wire Clamp Screw Torque Tighten the wire clamp screws on the terminal ...

Page 32: ...s 2 Class 2 power supplies are limited to 100W output No additional fusing is required if a class 2 power supply is used RMC75E and RMC75P RMC75S Tighten the wire clamp screws on the terminal blocks to 7 lb in 0 8 Nm RMC75E or RMC75P Power Supply 24 VDC Cmn Protective Earth Ground 24 Vdc PS PS Return Case AC Line RMC75S Power Supply 24 VDC Cmn Protective Earth Ground Case 24 Vdc PS PS Return AC Li...

Page 33: ...urn on 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 Enable Output The Enable Output is optional It can be wired to the enable input of the drive or amplifier The Enable Output is a Solid State Relay SSR rated for a maximum of 100 mA and 30V Both and must be connect...

Page 34: ...ynchronized type 12 pin Axis Connector Int Clk Int Clk Cmn Ret Dat Ret Dat Case Clock Clock Data Data Power Supply Pwr Pwr DC Gnd Tip See next page for manufacturer specific wiring diagrams Notes The Cmn pins on the 12 pin connector are electrically identical The user must supply power to the transducer Do NOT connect the transducer ground or common to the shield case or protective earth ground ...

Page 35: ...uff Micropulse BTL 5 with SSI output Styles Z W K P 12 pin Axis Connector Clk Clk Data Data Pwr Cmn Int Clk Int Clk Cmn Ret Dat Ret Dat Case 24 V GND Yellow Pink Gray Green Brown Blue MTS Temposonics with SSI output Models R RP RH 12 pin Axis Connector Clock Clock Data Pwr Cmn Int Clk Int Clk Cmn Ret Dat Ret Dat Case 24 Vdc Customer Supplied DC Ground Yellow Green Pink Gray Red or Brn White Data ...

Page 36: ...wr Cmn Int Clk Int Clk Cmn Ret Dat Ret Dat Case Pwr DC Ground 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 The Cmn pins on the 12 pin connector are electrically identical The user must supply power to the transducer Do NOT connect the transducer ground or common to the shi...

Page 37: ...ellow Green Pink Gray Red or Brn White Gate or Stop 12 pin Connector Interrogation Interrogation Gate Out Start Stop Pwr Cmn Int Clk Int Clk Cmn Ret Dat Ret Dat Case VDC DC Ground Yellow Green Pink Gray Red White Gate Out Start Stop or or or or or or Wh Gy Gy Wh Or Wh Wh Or Wh Gr Wh Bu VDC Frame Pwr Blue or Gr Wh Brown or Bu Wh Manufacturer Specific Wiring Labels and Colors Follow all wiring instr...

Page 38: ...e 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 ...

Page 39: ...0Vdc Exciter Case Pwr AA Module Voltage Transducer Wiring Voltage Transducer 4 or 5 Wire Voltage Transducer 3 Wire 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 If transducer has only one comm...

Page 40: ...ometer with Exciter Pin Note When using a potentiometer use the Exciter pin to increase the accuracy of the analog to digital conversion AA Module 4 20 mA 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 The Jmpr and In pins are intern...

Page 41: ... 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 ...

Page 42: ... PosLim Pin 18 Home Pin 19 Home Pwr Common Apply 12 24 VDC across input to turn on Apply 12 24 VDC across input to turn on Apply 12 24 VDC across input to turn on QA Module Wiring See page 41 for the QA module pin out Important The A B and Z signals accept 5 V differential RS 422 signals only Reg Lim and Home Inputs Compatible with 12 24 VDC Max current draw is 2 7 mA max Turn on when the voltage ...

Page 43: ... X PosLim Registration X or Positive Limit 9 Reg X PosLim 10 n c No connection 11 n c No connection 12 Control Out Control Output 13 Cmn Common 14 Z Index pulse from encoder 15 Z 16 Cmn Common 17 n c No connection 18 Home Home Input 19 Home 20 FltIn Fault Input 21 FltIn 22 n c No connection 23 n c No connection 24 EnOut Enable Output 25 EnOut Notes The two Cmn pins are electrically the same The us...

Page 44: ...either a high side or low side configuration Because all the outputs share a common all outputs on the same module must be wired the same When switching inductive loads place a diode or tranzorb across the load to protect the switch when it turns off Otherwise a voltage spike in excess of the 30 V rating of the SSR may occur See the D8 Wiring topic in the RMCTools help for more details Discrete In...

Page 45: ...g 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 ...

Page 46: ...RMC70 Startup Guide 44 Delta Computer Systems Inc Expansion Modules There are two different expansion module widths D8 AP2 A2 Q1 Note Drawings are not 1 1 scale ...

Page 47: ...ible 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 All RMC inputs and outputs must be connected to Class 2 circuits only ...

Page 48: ...The RMC Family of Motion Control Connect Control Optimize ...

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