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Step 12: Tuning

deltamotion.com

27

Manual Tuning–Position, Pressure, or Force Axes

You can manually tune systems for which autotuning does not work.
For instructions:

1.

On the help menu, choose

Help Topics

.

2.

On the

Index

tab, type

tuning

and double-click

about

.

3.

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.

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Содержание RMC200

Страница 1: ...RMC200 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Connect Control Optimize ...

Страница 2: ... 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 ...

Страница 3: ... on using the RMC200 motion controller This information is also provided in the RMCTools software help topics RMC200 Datasheet includes full specifications of the modules Maintenance The RMC200 contains no user serviceable parts The RMC200 should be repaired only by personnel authorized by Delta Notices used in this document WARNING Identifies information about circumstances that can lead to perso...

Страница 4: ...roller WARNING If deemed necessary by a risk assessment employ an emergency stop system to avert harm or to reduce existing hazards to persons machinery or work in progress WARNING Use proper lock out procedures when working on the machine to prevent injury or machine damage WARNING On hydraulic systems use blocking valves or other suitable methods to prevent the hydraulic system from moving unexp...

Страница 5: ...8 Step 7 Define the Axes 13 Step 8 Test each Actuator 15 Step 9 Test each Feedback Device 19 Step 10 Scale and Offset 23 Step 11 Set the Output Polarity 24 Step 12 Tuning 25 Continuing the Motion Application 28 Diagnostic Tools 31 Appendix A Wiring 32 Appendix B Mounting Dimensions 51 Appendix C Agency Compliance 53 Version 1 04 March 7 2019 Copyright 2019 Delta Computer Systems Inc ...

Страница 6: ...ils Clearance The required clearance above and below for airflow depends on the maximum ambient temperature Ambient Temperature Clearance 122 140 F 50 60 C 3 in 7 6 cm Less than 122 F 50 C 2 in 5 1 cm Environment The environment must conform to the following Operating ambient temperature 4 to 140 F 20 to 60 C Storage ambient temperature 40 to 185 F 40 to 85 C Ambient humidity 5 95 non condensing K...

Страница 7: ... IMPORTANT Make sure to properly ground the base metal Mounting via steel screws to a well grounded surface such as a metal panel will typically suffice To ensure a robust connection the grounding stud on the bottom of the base may be used The Case pins of each module are electrically connected to the module chassis which will conduct to the base chassis WARNING Electrostatic Discharge ESD Electro...

Страница 8: ...are keyed so only compatible modules mount in a given slot Slot Compatible Modules 0 PS4D B5 B7 and B11 PS6D B15 1 CPU40 2 CA4 CV8 S8 A8 Q4 D24 Install each Module 1 Tip the module up 2 Set the upper pins in the hooks 3 Rotate the module down carefully such that the base connector engages 4 Tighten the holddown screw to 5 in lbs 0 6 Nm Hooks Pins Connector Screw ...

Страница 9: ...RTANT Remove external power from the device before wiring Failure to do so may cause component failure Wiring Topic Page General Wiring Information 33 PS4D and PS6D Power Supply 35 CPU40 CA4 CV8 Discrete I O 36 CA4 CV8 Control Output 10V 4 20 mA or 20mA 37 S8 SSI 38 S8 MDT 40 S8 Quadrature Encoder 42 A8 Analog 10V 4 20 mA 43 Q4 Quadrature Encoder 46 D24 Discrete I O 48 ...

Страница 10: ...MCTools 32 bit or 64 bit as required for your computer RMCTools supports the RMC70 RMC150 and RMC200 controllers 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 for RMCTools Operating System Windows XP Vista 7 8 10 Windows XP requires Service Pack 3 or newer ...

Страница 11: ...t be set before connecting via Ethernet If the PC is on the same physical Ethernet network as the RMC RMCTools can detect the RMC even if the IP address is not set The RMC s IP address and subnet mask can be set via RMCTools while connecting via Ethernet See the next step Start a New Project for details Or set the IP address and subnet mask via the CPU display screen 1 Using the Menu arrow and Ent...

Страница 12: ...Step 6 Start a New Project 1 Start RMCTools In the Startup dialog choose Create a New Project and click OK 2 Enter the Project Name then click Finish 3 In the New Controller Wizard choose Automatically Detect the Controller Information then click Next ...

Страница 13: ...lick Next C RMCTools will connect to the RMC and display it Verify it is correct then click Finish Tip If multiple controllers are listed use the serial number to identify your RMC in the list Device ID The serial number is accessible on the RMC200 display screen 1 Using the Menu arrow and Enter buttons browse to Module Info Slot 1 CPU40 2 The serial number is prefixed by SN ...

Страница 14: ...ve an IP address 0 0 0 0 you must set an IP address now in order to connect via Ethernet a Click Configure Device Tip If multiple controllers are listed use the MAC address to identify your RMC in the list The MAC address is accessible on the RMC200 display screen 1 Using the Menu arrow and Enter buttons browse to Ethernet View IP Address 2 Using the arrow buttons scroll down to view the MAC addre...

Страница 15: ...lp in the Index tab type IP Address and choose that item from the list D Click Next RMCTools will connect to the RMC and display it Verify it is correct then click Finish 5 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 ...

Страница 16: ...y may be lost 1 Save RMCTools Project On the File menu click Save 2 Update Flash On the Controller menu click Update Flash IMPORTANT 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 Tip On the File menu click Save and Update Flash to perform both operations at once ...

Страница 17: ...ject Major changes to axis definitions 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 Position Feedback Dual input Force Feedback Valve Hydraulic Cylinder Analog Joystick Positio...

Страница 18: ...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 more details click the Help butt...

Страница 19: ...ady have been wired to the RMC Set the Output Type 1 In the Project tree double click Axis Tools 2 In the Axis Parameters on the Setup tab set the Output Type to the correct setting for your actuator Typically it will be 10V 3 Click the Download button to apply the changes to the RMC 4 In the Axis Status Registers on the Basic tab look at the Control Output It should be 0 Notice that the Final Out...

Страница 20: ...he actuator is connected to click the button 6 Browse to General Commands click Enable Controller then click OK The Enable Controller command enables all the axes to motion commands can be sent to them 7 In the Command Tool click Send The axes will now be enabled as indicated by the Enabled Status bit in the Axis Status Registers ...

Страница 21: ...the axis click the Fault Controller button on the toolbar or press Ctrl K on the keyboard 8 Browse to Motion Commands then Open Loop Choose the Direct Output command and click OK The Direct Output command is useful for setup because it ignores all axis errors 9 For the Direct Output command parameters enter the following Output 10 Ramp Rate 1000 When you send the command in the next step the Contr...

Страница 22: ...utput until the axis moves Note If the Enable Output is wired to the actuator before moving set it with the Set Enable Output command 12 Now stop the axis In the Command tool enter 0 in the Output box and click Send 13 Repeat these steps to move the axis in the other direction In the Direct Output command use a negative Output value Move the axis back and forth through the entire travel range to m...

Страница 23: ...dy 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 Refer to the procedure for your transducer type and module Transducer Type Module Page SSI S8 20 Start Stop or PWM Magnetostrictive S8 20 Quadrature Encoder Q4 S8 D24 21 Analog Voltage or Current A8 21 ...

Страница 24: ...und or Linear if it has a limited travel range and the encoder will not cross the zero counts point Note For help on a parameter click the cell and press F1 3 Click the Download button to apply the changes to the RMC 4 Continue to the Verify Feedback section on page 22 Start Stop or PWM Magnetostrictive Feedback 1 In the Axis Parameters on the Setup tab set the Feedback Type to MDT 2 Set MDT Type ...

Страница 25: ...ction in the Axis Parameters 2 Click the Download button to apply the changes to the RMC 3 Continue to the Verify Feedback section on page 22 Quadrature Feedback 1 In the Axis Parameters on the Setup tab set the Linear Rotary parameter For linear transducers choose Linear For rotary encoders choose Rotary if the axis on your machine can rotate continuously and the positions wrap around or Linear i...

Страница 26: ...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 Voltage 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 Count...

Страница 27: ...ick Launch for the Scale Offset Wizard 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 dis...

Страница 28: ...e Actual 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 ot...

Страница 29: ... Up Tuning Tools Set up the buttons that you will use to move the axis back and forth after the tuning wizard completes 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 Compl...

Страница 30: ...sition is 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 Gai...

Страница 31: ...oose Help Topics 2 On the Index tab type tuning and double click about 3 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 ...

Страница 32: ...ple 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 wai...

Страница 33: ...nications loss See the Communications section of the RMCTools help for more detailed information Discrete I O Discrete I O augments the communications of the RMC Discrete I O is often faster than the communications and is therefore well suited for starting a sequence in the RMC at a specific time See the Discrete I O topic in the RMCTools help for details Variables Variables help make the User Pro...

Страница 34: ...ned by the user For example Start a User Program by writing to an RMC variable from a PLC Start a User Program when a discrete input turns on Automatically start a User Program when the RMC starts up When an error condition occurs automatically start a User Program to handle it See the Program Triggers topic in the RMCTools help for details ...

Страница 35: ... 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...

Страница 36: ... may cause the module to fail Wiring Topic Page General Wiring Information 33 PS4D and PS6D Power Supply 35 CPU40 CA4 CV8 Discrete I O 36 CA4 CV8 Control Output 10V 4 20 mA or 20mA 37 S8 SSI 38 S8 MDT 40 S8 Quadrature Encoder 42 A8 Analog 10V 4 20 mA 43 Q4 Quadrature Encoder 46 D24 Discrete I O 48 WARNING Miswiring may cause damage to the RMC200 and connected components WARNING Pay special attenti...

Страница 37: ...Blocks All RMC200 modules employ unpluggable terminal blocks Features of these terminal blocks include Latching type to prevent unintended extraction Spring cage connectors for consistent wire clamp force Using Spring Cage Connectors Spring cage connectors may be used for stranded copper wire or stranded copper wire with ferrules Wire ferrules provide easy insertion Inserting stranded wire 1 Press...

Страница 38: ...se copper wire only PS4D PS6D CPU40 CA4 CV8 S8 A8 Q4 D24 Wire gauge stranded 24 12 AWG 0 2 2 5 mm2 24 16 AWG 0 2 1 5 mm2 Wire gauge ferrule no plastic sleeve 0 25 2 5 mm2 0 25 1 5 mm2 Wire gauge ferrule with plastic sleeve 0 25 2 5 mm2 0 25 0 75 mm2 Stripping Length 10 mm 10 mm Ferrule Length 10 12 mm 10 12 mm ...

Страница 39: ... A at 24 Vdc PS6D 60 W max 2 5 A at 24 Vdc For a given power draw the current draw will be greater at a lower input voltage Current draw varies based on number and type of modules installed in the base Power Wiring Diagram PS4D or PS6D Power Supply 24 VDC Cmn Protective Earth Ground 24V 24Cmn Case AC Line The PS4D and PS6D Case pins are internally connected to the base h l ...

Страница 40: ...uts Apply 12 24 V to the input The polarity can be positive or negative Max current draw is 3 mA Used with a sourcing output Used with a sinking output Discrete Outputs The discrete outputs are solid state relays Outputs can be wired in either a high side or low side configuration Outputs On Impedance 15Ω max Max Current 75 mA Max Voltage 30 V RMC Module Resistive load VCC 12 24 VDC DOut DOut RMC ...

Страница 41: ...puts individually software selectable as 0 10 V 10 V with unipolar or bipolar operation or a custom range within the 10 V Wiring to Differential Inputs Differential inputs provide the best noise immunity This is indicated by individual and cmn inputs on the drive or amplifier Drive or Amplifier CA4 or CV8 Connector CtrlOutn Cmn Case Shield Ref In RefIn Cmn Cmn Wiring to Single ended Inputs Drive o...

Страница 42: ...re to choose the synchronized type S8 Clock Clock Data Data Power Supply Pwr Cmn Clk Clk Cmn Dat Dat Case Pwr DC Gnd Tip See next page for manufacturer specific wiring diagrams Notes The user must supply power to the transducer Connect the encoder DC ground to the Cmn pin on the S8 module The Cmn must be connected to the transducer or the signals may not be read correctly ...

Страница 43: ...BTL5 or BTL7 with SSI output Styles Z W K P S8 Clk Clk Data Data Pwr Cmn Clk Clk Cmn Dat Dat Case 24 V GND Yellow Pink Gray Green Brown Blue Do not connect Case pin to cable shield Cable shield is internally connected to Balluff sensor housing MTS Temposonics with SSI output Models R RP RH S8 Clock Clock Data Pwr Cmn Clk Clk Cmn Dat Dat Case 24 Vdc DC Ground Yellow Green Pink Gray Red or Brn White...

Страница 44: ... Pwr Cmn Int Int Cmn Ret Ret Case Pwr DC Gnd Tip See next page for manufacturer specific wiring diagrams Notes The S8 module interfaces to RS 422 3 5 5V differential signals Single ended TTL signals are not supported The user must supply power to the transducer Connect the encoder DC ground to the Cmn pin on the S8 module The Cmn must be connected to the transducer or the signals may not be read c...

Страница 45: ... Pulse Output Pwr Cmn Int Int Cmn Ret Ret Case Pwr GND Yellow Pink Gray Green Brown Blue White GND White wire must remain unconnected Do not connect Case pin to cable shield Cable shield is internally connected to Balluff sensor housing S8 Interrogation or Start Interrogation or Start Gate or Stop Pwr Cmn Int Int Cmn Ret Ret Case Cust Supplied Pwr Vdc DC Ground Yellow Green Pink Gray Red or Brn Wh...

Страница 46: ...ng channels 6 and 7 Notes The S8 module interfaces to RS 422 3 5 5V differential signals only Single ended TTL signals are not supported The user must supply power to the transducer Connect the encoder DC ground to the Cmn pin on the S8 module The Cmn must be connected to the transducer or the signals may not be read correctly ...

Страница 47: ...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 common connect Pwr Supply Common and RMC Cmn to it For best results make this connection at the transducer Input Connector Analog Out Analog Out Pwr Common Pwr Power Supply Pwr Cmn In V In Cmn Case Signal Common Input Connector Analog Out C...

Страница 48: ...ease the measurement accuracy of the potentiometer To reduce electrical interference The connection of 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 Input Connector In V In Cmn 10V Exc Case Potentiometer Wiper ...

Страница 49: ... as possible Input must be configured in software for current The current input impedance is 250 Ω To reduce noise use shielded twisted pair wire Input must be configured in software for current The current input impedance is 250 Ω To reduce noise use individually shielded twisted pair wire Sensor Input Connector Analog Out Power Supply 24 VDC Cmn In mA In Cmn Case Pwr Power Supply Input Connector...

Страница 50: ...ystems Inc Q4 Quadrature Encoder Wiring Important Set the AB Input Type and Z Input Type axis parameters in RMCTools to correspond to the physical signal level and type See the RMCTools help for details Differential Signal Single Ended Signal ...

Страница 51: ...t the H Input Type axis parameter in RMCTools to correspond to the type of signal See the RMCTools help for details Q4 Registration Inputs Set the R Input Type axis parameter in RMCTools to correspond to the type of signal See the RMCTools help for details ...

Страница 52: ...e same group must be wired the same DI O Features Group A 0 7 Input or output nominal 24V Software configurable Each group is isolated Within each group all inputs share the same input common and all outputs share the same output common Group B 8 15 Group C 16 19 Fast Inputs 20 23 Inputs only 5V or 24V High speed Each input is individually isolated Configurable for pulse counters quadrature inputs...

Страница 53: ...n so all inputs in a group must be wired the same Used with a sourcing output Used with a sinking output RMC Module InCmn In PLC VCC 12 24 VDC Douts DOut PLC RMC Module In In InCmn Power Output Output In Inputs 20 23 Each input is individually isolated and has Din Din 5V and Din connections Use only Din or Din 5V not both D24 Din DIn 5V DIn n c D24 Din DIn 5V DIn n c Apply 12 24 VDC to turn on App...

Страница 54: ...Threshold Logic for 12V to 24 V RS 422 RS 422 will only work in this configuration if the differential output is greater than 3 5V Some RS 422 drivers may not provide sufficient voltage TTL Push pull 5V 24V without complements Open collector from 5V to 24 V RS 422 3V Use RS 422 in this configuration only if the differential output is less than 3 5V For detailed wiring diagrams see the D24 wiring t...

Страница 55: ...x B Mounting Dimensions Clearance The required clearance above and below for airflow depends on the maximum ambient temperature Ambient Temperature Clearance 122 140 F 50 60 C 3 in 7 6 cm Less than 122 F 50 C 2 in 5 1 cm Bases B5 Side View All Bases Clearance ...

Страница 56: ...RMC200 Startup Guide 52 Delta Computer Systems Inc B7 B11 B15 ...

Страница 57: ... a ferrite ring on the power wires to the PS4D or PS6D power supply module Recommended ferrite is Fair Rite 0431167281 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 proportiona...

Страница 58: ...RMC200 Startup Guide 54 Delta Computer Systems Inc Notes ...

Страница 59: ...Appendix C Agency Compliance deltamotion com 55 Notes ...

Страница 60: ...RMC200 Startup Guide 56 Delta Computer Systems Inc The RMC Family of Motion Control Connect Control Optimize ...

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