Delta RMC101 User Manual

RMC100 Motion Controller and RMCWin Software User Manual Version 2.30.4 August 9, 2012

RMC100 and RMCWin User Manual x RMC Ethernet Protocols ...

RMC100 and RMCWin User Manual 3-50 Exiting an Editor To close an editor, use one of these methods: • Press ESC. • On the File menu, click Exit.

Table Editors 3.6 Using RMCWin 3-51 Saving and Restoring Tables To save a table: 1. On the File menu, click Save As. 2. In the File name box

RMC100 and RMCWin User Manual 3-52 to-Event Mode represent input-to-event inputs 0-15. DI/O. Comm. DI/O in Parallel Position Mode, Parallel Event Mo

Step Table Editor 3.7 Using RMCWin 3-53 Show Rising Edge ( ) or Show Falling Edge ( ) from the toolbar or the Edit menu. The depressed toolbar b

RMC100 and RMCWin User Manual 3-54 Changing the Event Step Table Changes are made to the Event Step table using the Event Step Editor. Refer to Tabl

Step Table Editor 3.7 Using RMCWin 3-55 highlighted. 3. On the Edit menu, click Delete Column x to Clipboard. Notice that the cells that were d

RMC100 and RMCWin User Manual 3-56 table from the module or from the default file if no module is connected. This newly-loaded table will be checked

Step Table Editor 3.7 Using RMCWin 3-57 Press To CTRL+O Close the current step table and open an existing file. CTRL+S Save the current step t

RMC100 and RMCWin User Manual 3-58 keyboard focus in the Comment Editor. CTRL+G Jump to any step (user is prompted), but keep the keyboard focus in

LCD Screen Editor 3.8 Using RMCWin 3-59 • Uploading and Downloading LCD Screens • Using the Clipboard • Changing the View Options • Keyboard

RMC100 and RMCWin User Manual xi MSTR Modicon Ladder Logic Block ...

RMC100 and RMCWin User Manual 3-60 Changing the Layout The following will modify the layout of these window elements: • Resize the panes. Between

LCD Screen Editor 3.8 Using RMCWin 3-61 details on each: • Edit screen text. See Editing Screen Text. • Add and remove fields. See Adding and

RMC100 and RMCWin User Manual 3-62 Axis: Select the axis for the status you want to display. Field: Select the status field for the selected axis th

LCD Screen Editor 3.8 Using RMCWin 3-63 This area gives access to the last parameter error number for any axis. For a list of parameter error nu

RMC100 and RMCWin User Manual 3-64 Decimal Places box (integer fields only) Type or select the number of decimal places to have in the value. Type 0

LCD Screen Editor 3.8 Using RMCWin 3-65 Editable area Click to clear or select the Editable check box to change whether a field is editable or

RMC100 and RMCWin User Manual 3-66 Download to Module On the Online menu, click Download to Motion Controller. Save to Flash On the Online menu, c

LCD Screen Editor 3.8 Using RMCWin 3-67 file, opening an existing file, or uploading a file from the RMC will overwrite the existing file. If yo

RMC100 and RMCWin User Manual 3-68 4. After the upload is complete, if you had custom screen or field labels in your currently-open file and the up

LCD Screen Editor 3.8 Using RMCWin 3-69 To paste a field from the clipboard: • In the tree pane, select the screen into which you want to ins

RMC100 and RMCWin User Manual xii Analog ...

RMC100 and RMCWin User Manual 3-70 To show or hide gridlines: 1. On the View menu, click Gridlines. Screen Pane Font The default font size for th

LCD Screen Editor 3.8 Using RMCWin 3-71 CTRL+DOWN ARROW Move the current field down one line. CTRL+LEFT ARROW Move the current field left one ch

RMC100 and RMCWin User Manual 3-72 3.8.4.2 LCD Screen Editor: Changing the Screen Order The order of the screens in an LCD screen file is significan

LCD Screen Editor 3.8 Using RMCWin 3-73 Moving the Insertion Point The following table summarizes the actions used to move the insertion point (

RMC100 and RMCWin User Manual 3-74 text shifts. This does not apply to using the DELETE and BACKSPACE keys to delete a single character. The text to

LCD Screen Editor 3.8 Using RMCWin 3-75 key CTRL+F. Listed below are different contexts that this command can be issued in and a description of

RMC100 and RMCWin User Manual 3-76 To move a field by dragging: 1. Position the pointer over the field you wish to move. Ensure that the pointer

LCD Screen Editor 3.8 Using RMCWin 3-77 3.8.5.4 LCD Screen Editor: Using Editable Fields Fields can be read only or editable. There are three el

RMC100 and RMCWin User Manual 3-78 field pane's Data tab. That is, it is neither possible nor desirable to have the value displayed for a field

LCD Screen Editor 3.8 Using RMCWin 3-79 2. In the Write Locations list, select the write location you wish to remove. 3. Under Write Locations

RMC100 and RMCWin User Manual xiii SSI Specifications ...

RMC100 and RMCWin User Manual 3-80 It is possible to rename both screens and fields. However, these names are not downloaded to the RMC. Therefore,

Curve Tool 3.9 Using RMCWin 3-81 Using the Curve Tool • Units of Measurement • Using Curve Files • Mouse Commands • Keyboard Shortcuts U

RMC100 and RMCWin User Manual 3-82 • Importing and Exporting Curves • Uploading and Downloading Curves • Converting a Plot to a Curve • Erasing

Curve Tool 3.9 Using RMCWin 3-83 associated hairline that can be positioned anywhere on the Graph view. The Detail window then displays the Time

RMC100 and RMCWin User Manual 3-84 background. See Curve Limits for details on these limits. • White. The remaining region is shown with a white ba

Curve Tool 3.9 Using RMCWin 3-85 (or master position) where the hairline is located and the position, velocity, and acceleration of the active c

RMC100 and RMCWin User Manual 3-86 spreadsheet format rather than graphically. The Spreadsheet view can either be hidden or positioned along the top

Curve Tool 3.9 Using RMCWin 3-87 Download to Module On the Online menu, click Download to Motion Controller. Save Splines to Flash On the Onli

RMC100 and RMCWin User Manual 3-88 Icons - This pane has the following three icons. Each has two states as shown below: Limits are Enforced Li

Curve Tool 3.9 Using RMCWin 3-89 Time (Master Units) By default this quantity is labeled Time (sms) and refers to actual time in short millise

RMC100 and RMCWin User Manual xiv Move would cause discontinuity ...

RMC100 and RMCWin User Manual 3-90 3.9.3.2 Curve Tool: Using Curve Files Curves can be saved and restored from disk files in the Curve (.crv) form

Curve Tool 3.9 Using RMCWin 3-91 SHIFT+Click Point Select all points between the first point selected and the one clicked. SHIFT+Click Spreadshe

RMC100 and RMCWin User Manual 3-92 3.9.3.4 Curve Tool: Keyboard Shortcuts Shortcuts available in both Graph and Spreadsheet views: Press To CTRL+N

Curve Tool 3.9 Using RMCWin 3-93 TAB Switch the active curve to the next displayed axis. SHIFT+TAB Switch the active curve to the previous dis

RMC100 and RMCWin User Manual 3-94 3. Change any options on this page. 4. Click OK. The Graph tab has the following sections: • Additional Plot

Curve Tool 3.9 Using RMCWin 3-95 To show or hide a velocity or acceleration plot: 1. On the Tools menu, click Options. 2. Click the Graph ta

RMC100 and RMCWin User Manual 3-96 The position and time scales determine the grid spacing. The spacing of the dots, crosses, or lines corresponds t

Curve Tool 3.9 Using RMCWin 3-97 3.9.4.5 Curve Tool: Using the Scale Bars Each quantity being plotted can have an associated scale bar displayed

RMC100 and RMCWin User Manual 3-98 See Also: Curve Tool Topics 3.9.4.6 Curve Tool: Changing the Orientation Graphs are usually displayed with th

Curve Tool 3.9 Using RMCWin 3-99 2. Press C. This will scroll the display to center on the pointer. • Scroll While Zooming in the Graph View S

RMC100 and RMCWin User Manual xv Change Acceleration Command ...

RMC100 and RMCWin User Manual 3-100 1. Ensure that you have all curves that you want to fit on the screen marked as visible. See Selecting Which Cu

Curve Tool 3.9 Using RMCWin 3-101 Cells, Cutting and Copying Cells, and Pasting Cells. To select an individual cell: 1. Click on the cell in

RMC100 and RMCWin User Manual 3-102 2. Press ENTER to start editing. You can also double-click the cell or press the F2 key to start editing. 3. E

Curve Tool 3.9 Using RMCWin 3-103 deleted apart from deleting the entire point. Deleting the velocity value sets the point to dynamic velocity;

RMC100 and RMCWin User Manual 3-104 Note: When copying the Interval Type property, a 0 is copied for "Cubic" and a 1 is copied for "L

Curve Tool 3.9 Using RMCWin 3-105 The Insertion Point is indicated by an "asterisk" () in the header for that point. See Also: Cur

RMC100 and RMCWin User Manual 3-106 Making a curve not visible does not delete the curve. It can be made visible again and will be saved to disk wit

Curve Tool 3.9 Using RMCWin 3-107 for details. • The Valid/Invalid Curve and Hint icons on the status bar reflect the active axis only. See Sta

RMC100 and RMCWin User Manual 3-108 To copy cells from the Spreadsheet view to the clipboard, see Cutting and Copying Cells for more information.

Curve Tool 3.9 Using RMCWin 3-109 (or master position) and the second column being the position. 2. Select this two-column block of cells. 3.

RMC100 and RMCWin User Manual xvi Open Loop Command ...

RMC100 and RMCWin User Manual 3-110 2. On the Online menu, click Upload from Motion Controller, or use the corresponding toolbar button (). 3. The

Curve Tool 3.9 Using RMCWin 3-111 The most common way to start the plot capture in this situation is to issue a Start Graph (y) command on the a

RMC100 and RMCWin User Manual 3-112 • Delete points in sections that have few inflections. This will help make these segments smoother with very li

Curve Tool 3.9 Using RMCWin 3-113 See Also: Curve Tool Topics 3.9.6.8 Curve Tool: Curve Properties and Editing Options The General tab of th

RMC100 and RMCWin User Manual 3-114  Link Curves Together Check this box to link together points with identical time (or master position) values o

Curve Tool 3.9 Using RMCWin 3-115 A point cannot be closer than ten (10) time units or farther than 65,535 time units from an adjacent point. Th

RMC100 and RMCWin User Manual 3-116 the capability of following curves defined by cubic splines. The user defines the position and time (or master p

Curve Tool 3.9 Using RMCWin 3-117 4. Click OK. See Also: Curve Tool Topics 3.9.6.12 Curve Tool: Auto Repeat Curves The Auto Repeat feature

RMC100 and RMCWin User Manual 3-118 See Also: Curve Tool Topics 3.9.6.13 Curve Tool: Enforcing Limits There are a number of limitations that each

Curve Tool 3.9 Using RMCWin 3-119 feature keeps track of updating all visible curves together. Turning on this feature causes the following chan

RMC100 and RMCWin User Manual xvii Scale ...

RMC100 and RMCWin User Manual 3-120 To select multiple points using the mouse and selection box: 1. Click and drag to select a region of the Grap

Curve Tool 3.9 Using RMCWin 3-121 Press To Select HOME First point in the curve. END Last point in the curve. LEFT ARROW UP ARROW Previous poi

RMC100 and RMCWin User Manual 3-122 3.9.7.3 Curve Tool: Adding Points To add a point to your curve, use one of the following methods. The keyboard m

Curve Tool 3.9 Using RMCWin 3-123 Curves for details. To delete a point in the Graph view: 1. Select the point or points you wish to delete in

RMC100 and RMCWin User Manual 3-124 You can also double-click on a point, right-click on a point and then click Properties on the shortcut menu, or

Curve Tool 3.9 Using RMCWin 3-125 To hold position constant during the drag, hold down the ALT key while dragging. To move points by dragging

RMC100 and RMCWin User Manual 3-126 3.9.7.8 Curve Tool: Changing a Point's Velocity Each point can have either a fixed velocity or dynamic ve

Address Tool 3.10 Using RMCWin 3-127 2. Drag one of the eight resize handles on the selection box. The opposite resize handle will be the ancho

RMC100 and RMCWin User Manual 3-128 The Address Tool can be resized and minimized as desired. It can also be set up to stay on top of all other RMCW

Address Tool 3.10 Using RMCWin 3-129 3.10.3 Address Tool: Using with the Event Step Editor The Address Tool can be used normally (see Address To

RMC100 and RMCWin User Manual xviii SSI with Stepper Output Parameters ... C-48 Confi

RMC100 and RMCWin User Manual 3-130 To turn on or off the Always on Top feature: 1. Right-click the Address Tool title bar to display its shortcut

Advanced Topics 3.11 Using RMCWin 3-131 3.11.2 Downloading New Serial/Ethernet Firmware If new features have been added or problems fixed in t

RMC100 and RMCWin User Manual 3-132 1. On the main window's Tools menu, click Options. 2. Click the Preferences tab. 3. Select the preferenc

Advanced Topics 3.11 Using RMCWin 3-133 RMC. In most cases this should not be necessary because there are two other methods of ensuring a module

RMC100 and RMCWin User Manual 3-134 ensure that the program starts with the correct settings. Notice that most users will have no need for these opt

RMC100 and RMCWin User Manual 4-0 4 Controller Features 4.1 Event Control Overview The Event Control feature allows you to execute a sequence of com

Event Control Overview 4.1 Controller Features 4-1 To start a sequence of events, use one of these methods: • Issue a Start Event command to

RMC100 and RMCWin User Manual 4-2 Command G G Commanded Axes Default Default Default Link Type BitsON DelayMS DelayMS Link Value 00001 500 0 Link

Gearing Axes 4.3 Controller Features 4-3 table in the Flash without storing all the other data in that section listed above. This will not be a

RMC100 and RMCWin User Manual xix Valid 16-Bit Positions ...

RMC100 and RMCWin User Manual 4-4 In the Mode command parameter, do the following: • Set the Gear Bit (bit 12, 0x2000 hex). If this bit is not set,

Gearing Axes 4.3 Controller Features 4-5 in the Speed command parameter) must remain constant. When a Gear command is given to an axis that is n

RMC100 and RMCWin User Manual 4-6 reach the requested gear ratio when the master is at 300 position units. Note that if the axis is given this geari

LED Indicators 4.4 Controller Features 4-7 In the Mode word of the geared axis, Gearing mode is selected with axis 0 as the master and will use

RMC100 and RMCWin User Manual 4-8 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

LED Indicators 4.4 Controller Features 4-9 In the communication types that use the Motion Profile Table, the PLC can issue only a Command and Co

RMC100 and RMCWin User Manual 4-10 MODE 1 1 1 1 ACCEL 100 100 100 200 DECEL 100 100 100 200 SPEED 20000 25000 30000 35000 Profile 12 (0C) 13 (0D)

Reference Axis Filtering 4.5 Controller Features 4-11 examples at the end of this topic: • Filter Time Constant: This parameter controls the ti

RMC100 and RMCWin User Manual 4-12 This would result in an Actual Position with the same shape, although scaled to the user's units. Without a

Reference Axis Filtering 4.5 Controller Features 4-13 This limits the velocity to a user-specified maximum, but it still leaves us with a sharp

RMC100 and RMCWin User Manual ii Copyright © 1997-2012, Delta Computer Systems, Inc. All Rights Reserved. www.deltacompsys.com

RMC100 and RMCWin User Manual xx APPENDIX F: RMC100 SPECIFICATIONS ... F-1 RMC100 Specif

RMC100 and RMCWin User Manual 4-14 While the effect of quantization on the positions themselves does not appear very great--after all, the position

Speed Control 4.6 Controller Features 4-15 Gearing to a manually-guided voltage such as a joystick often results in rough motion due to mechani

RMC100 and RMCWin User Manual 4-16 Note: Speed Control with Velocity Loop is supported in RMC100 CPU firmware dated 20030515 or later. Using Speed

Rotational Mode 4.7 Controller Features 4-17 Only speeds between 0 and 32,767 can be set with this command. Also, this command cannot set the Ro

RMC100 and RMCWin User Manual 4-18 Axes remain in Rotational mode through all Auto Stops, Halt (H) commands, Disable Drive (K) commands, and Set Par

Spline Overview 4.8 Controller Features 4-19 The user defines several spline points for a single curve. In the example shown above, the X's

RMC100 and RMCWin User Manual 4-20 These issues prompted the introduction of Enhanced curves. Enhanced Curves Enhanced curves were introduced with R

Spline Overview 4.8 Controller Features 4-21 The first curve is the actual curve that we want to match. The second curve is the one that would

RMC100 and RMCWin User Manual 4-22 Clear Spline Segments This is used to clear one or more segments from the motion controller's memory. Follo

Spline Overview 4.8 Controller Features 4-23 -400 60000 0 60000 200 61000 400 61500 600 61250 800 61000 1000 60750 1200 61000 1600 61000 The o

xxi Disclaimer Although great effort has been taken to ensure the accuracy of the information in this documentation, it is intended to be used only a

RMC100 and RMCWin User Manual 4-24 Address Value Description 14337 9 Number of points in the spline segment. 14338 60000 Point 0 position 14339

Spline Overview 4.8 Controller Features 4-25 X 61000 Send 7th scanned value. x 61000 Send trailing point. T 0 Signal end of the segment. I

RMC100 and RMCWin User Manual 4-26 4.9 Synchronizing Axes Axis synchronization is achieved by setting either the Sync A or Sync B bit in the MODE wo

Teach Mode Overview 4.10 Controller Features 4-27 Note: Because a new Go or Relative Move command will cause the travel distance ratios to be

RMC100 and RMCWin User Manual 4-28 4.11 VC2100 and VC2124 Voltage-to-Current Converters The VC2100 and VC2124 two-axis voltage-to-current converters

VC2100 and VC2124 Voltage-to-Current Converters 4.11 Controller Features 4-29 VC2100 Fuse the ±15Vdc inputs with 5A maximum, UL-listed, fas

RMC100 and RMCWin User Manual 4-30 H Common J Current Output 1 4.12 Position/Pressure Control 4.12.1 Position-Pressure Overview The RMC100 excel

Position/Pressure Control 4.12 Controller Features 4-31 Three Basic Modes of Operation There are three basic modes that must be understood in

RMC100 and RMCWin User Manual 4-32 See Tuning a Position/Pressure System for a step-by-step procedure on how to tune your system. • Example See Pos

Position/Pressure Control 4.12 Controller Features 4-33 • If you wish your measurement to be in the opposite direction of the transducer counts

RMC100 and RMCWin User Manual 4-34 • If the axis is force control: Enter the following information: • Maximum gauge reading • Actuator Type • Cy

Position/Pressure Control 4.12 Controller Features 4-35 3. Move the axis to the correct starting position. Normally, the axis should be at a po

RMC100 and RMCWin User Manual 4-36 Step 0: This step is normally linked to after finishing a sequence. If the event control is at step 0, it usually

Position/Pressure Control 4.12 Controller Features 4-37 pressure axis, then the command is issued to the pressure axis instead of the position a

RMC100 and RMCWin User Manual 4-38 Note the good design practices: • Metal tubing between valve and cylinder. • An accumulator close to valve. •

Position/Pressure Control 4.12 Controller Features 4-39 • Axes 0 and 1 are the two MDT axes. • Axes 2-5 are the 4 channels of the Analog modu

RMC100 and RMCWin User Manual 4-40 • Since the system is double-ended pressure, select the auxiliary differential force option. • Do the same on

Position/Pressure Control 4.12 Controller Features 4-41 • Notice that there are only 4 axes now, because each force axis uses two channels on

RMC100 and RMCWin User Manual 4-42 • It is already set to 21 ms, which is correct. If the MDT transducer is a clevis-mount type, choose 5 ms. •

Position/Pressure Control 4.12 Controller Features 4-43 • The information is entered as shown in the picture: o The pressure transducer has a

RMC100 Overview 1.1 Introducing the RMC100 Series 1-1 1 Introducing the RMC100 Series 1.1 RMC100 Overview The RMC100 series brings the benefits

RMC100 and RMCWin User Manual 4-44 To scale the MDT position axis, the following steps are performed: • Click on any Axis 0 field. • On the Tools

Position/Pressure Control 4.12 Controller Features 4-45 1024 into the counts field. o …increasing counts is selected in the Increasing counts e

RMC100 and RMCWin User Manual 4-46 • Issue Open Loop (O) commands with small positive and negative drives to see if the cylinder goes in the right

Position/Pressure Control 4.12 Controller Features 4-47 in. and ALT-5 to move to 20 in. The command will be issued to the axis where the cursor

RMC100 and RMCWin User Manual 4-48 o The Sum Error Squared decreased from 53 million to 27 million. o The position lags during the constant speed

Position/Pressure Control 4.12 Controller Features 4-49 • The next step is the integral gain. Gradually increase it as long as it does not adve

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 Forwa

Position/Pressure Control 4.12 Controller Features 4-51 This example is continued in the next topic. 4.12.5 Position-Pressure Example (Part

RMC100 and RMCWin User Manual 4-52 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 360

Position/Pressure Control 4.12 Controller Features 4-53 o Note how the pressure (yellow) begins increasing and when it reaches 1000, pressure

RMC100 and RMCWin User Manual 1-2 • Presses • Injection/RIM/blow molding • Packaging equipment • Indexing/transfer lines • Edgers/headrigs/vene

RMC100 and RMCWin User Manual 4-54 • To change the gains now, simply enter the gain, issue a "P" command, and start a plot. There is no

Position/Pressure Control 4.12 Controller Features 4-55 • The next step is to adjust the Differential Gain. Gradually increasing it to 250 resu

RMC100 and RMCWin User Manual 4-56 4.12.7 Position-Pressure Example (Part 5) This is Part 5 of the complete step-by-step example of setting up and t

Position/Pressure Control 4.12 Controller Features 4-57 • Notice that there is some overshoot when the pressure ramps up and down. This is beca

RMC100 and RMCWin User Manual 4-58 o Note how the target pressure begins rising immediately once the pressure reaches Pressure Set A, causing the a

Position/Pressure Control 4.12 Controller Features 4-59 o The overshoot disappeared because the pressure did not change as quickly. There is s

RMC100 and RMCWin User Manual 4-60 o Note that the pressure lags much less immediately after the transition, but the pressure begins to lead becau

Position/Pressure Control 4.12 Controller Features 4-61 o The results are much better. Notice how the pressure leads a little, but it eventual

RMC100 and RMCWin User Manual 4-62 • On most systems, it is preferable to have any axis errors cause a Soft or Hard Stop for safety. Additionally,

Principle of Operation 1.2 Introducing the RMC100 Series 1-3 • Quadrature Encoders See Quadrature Overview for encoders for servo motors. See S

RMC100 and RMCWin User Manual 5-0 5 Communications 5.1 Digital I/O 5.1.1 Digital I/O Specifications The following specifications apply to the digita

Digital I/O 5.1 Communications 5-1 CPU: Independent DI/O: Common high or low side Logic polarity CPU: True High DI/O: Configurable (True high de

RMC100 and RMCWin User Manual 5-2 for detail. Figure #1: SSR switching inductive load; high-side configuration To calculate the maximum current t

Digital I/O 5.1 Communications 5-3 Figure #2: SSR switching resistive load; low-side configuration To calculate the maximum current through t

RMC100 and RMCWin User Manual 5-4 (sinking) outputs. See the discussion below for using sinking outputs. Note: Because the inputs are designed for

Digital I/O 5.1 Communications 5-5 Figure #5: Open Collector Outputs to RMC CPU Inputs The RMC’s DI/O inputs are not optimized for use with o

RMC100 and RMCWin User Manual 5-6 To divide the inputs, attach resisters to each input as shown in the following diagram: This configuration will r

Digital I/O 5.1 Communications 5-7 On the RMC, inputs A and B are inputs 16 and 17 respectively on both digital I/O module. Note: Because of the

RMC100 and RMCWin User Manual 5-8 • The outputs can be set using the Set Outputs and Reset Outputs commands. For details on additional discrete I

Digital I/O 5.1 Communications 5-9 3. Click Slot options. The Sensor Digital I/O dialog box has the following areas: • Invert Inputs check b

RMC100 and RMCWin User Manual 1-4 In addition to the closed loop drive, this motion controller has two feed forward terms, made up of Extend and Re

RMC100 and RMCWin User Manual 5-10 3. Click Slot options. The Communication DI/O Options dialog box has the following areas: • Invert Inputs To

Digital I/O 5.1 Communications 5-11 been set up to trigger a Soft or Hard Stop by the Auto Stop word, then the Ready output will turn off even i

RMC100 and RMCWin User Manual 5-12 Digital Inputs The digital inputs are reserved by the current mode you are using. Refer to Input to Event Mode, P

Digital I/O 5.1 Communications 5-13 Output RMC100-M3 RMC100-M4 0 In Position (Axis 0) In Position (Axis 0) 1 In Position (Axis 1) In Position (A

RMC100 and RMCWin User Manual 5-14 1. Raise the CPU input 0. This input is also called Run/Stop. CPU input 1 should start low. 2. Wait for the C

Digital I/O 5.1 Communications 5-15 To use this dialog box: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click t

RMC100 and RMCWin User Manual 5-16 Basic Operation When used in this mode, each digital input on the Communication Digital I/O corresponds to a row

Digital I/O 5.1 Communications 5-17 User-defined Outputs Note: This feature is available only in firmware version 19980414 and later. As describ

RMC100 and RMCWin User Manual 5-18 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

Digital I/O 5.1 Communications 5-19 If the CPU input 1 has been reserved to select Open Loop mode and this bit is set, then when a new command v

RMC100 and RMCWin User Manual 5-20 axis and profile select bits must be updated simultaneously. Because this will never happen exactly simultaneousl

Digital I/O 5.1 Communications 5-21 Axis and Profile Select Bits for 4-axis RMCs: CPU Input 1 DI/O Input 17 DI/O Input 16 Axis Profile 0 0 0

RMC100 and RMCWin User Manual 5-22 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: T

Digital I/O 5.1 Communications 5-23 Input 16 Axis 0 Command Trigger Input 17 Axis 1 Command Trigger Outputs 0-7 Described in Features Shared by

RMC100 and RMCWin User Manual 5-24 7. Click OK. 8. Click Update RMC. 9. The Update Module Configuration dialog box will be displayed to indicate

Digital I/O 5.1 Communications 5-25 Parallel Event Mode • Up to four axes may be commanded at once • PLC or thumb-wheel switches may be used •

RMC100 and RMCWin User Manual 5-26 This process begins assuming that Run/Stop and Command Strobe are set low by the PLC. In the steps below inputs

Digital I/O 5.1 Communications 5-27 • On the Tools menu, click Module Configuration. • In the Slots list, click the Communication DI/O item, a

RMC100 and RMCWin User Manual 5-28 The ’r;2’ in the Mode field indicates that the acceleration and deceleration are given as distances. For details

Digital I/O 5.1 Communications 5-29 Event Mode • Multiple axes may be given commands from a single input • Allows use of Event Control feature

RMC100 and RMCWin User Manual 2-0 2 Starting Up the RMC 2.1 Step-by-Step RMC Startup Tip: Delta’s SSn-PEn-BGn family of position/pressure simulators

RMC100 and RMCWin User Manual 5-30 good reference for this information. Input to Event mode does not require multiple inputs to be switched simultan

Digital I/O 5.1 Communications 5-31 Using the RMCWin software, these outputs may be marked to be user-controlled instead of being used for the a

RMC100 and RMCWin User Manual 5-32 3. Program the Input to Event Table Programming the Input to Event table is described in the RMCWin online help.

Digital I/O 5.1 Communications 5-33 The following simple control panel will be used for this application: The buttons and indicators are to op

RMC100 and RMCWin User Manual 5-34 Simply by wiring the system, many of the controls are already handled: o The E-stop button enables or halts the

Digital I/O 5.1 Communications 5-35 3. Program the Input to Event Table The final step is to cause DI/O input 0 to trigger the event sequence s

RMC100 and RMCWin User Manual 5-36 This technical brief will compare the four discrete I/O interfaces of the RMC100 series product-line, describe im

Digital I/O 5.1 Communications 5-37 This document discusses only the connections between the Programmable Controller and the RMC. For details o

RMC100 and RMCWin User Manual 5-38 1 1 Three or four axes: DI/O Input 17 Input 16 Axis # 0 0 0 0 1 1 1 0 2 1 1 3 Four or more axes: CPU DI/O Inp

Digital I/O 5.1 Communications 5-39 3 Axis 3 In Position Axis 3 In Position 4 Axis 0 Stop on Error Axis 4 In Position 5 Axis 1 Stop on Error Ax

Step-by-Step RMC Startup 2.1 Starting Up the RMC 2-1 • Quadrature with Analog Output Configuration • Quadrature with Stepper Output Configurat

RMC100 and RMCWin User Manual 5-40 box. • Click OK. • Click Update RMC. • The Update Module Configuration dialog box will be displayed to indicat

Digital I/O 5.1 Communications 5-41 memory, the following steps are used to make the moves. 3. Configure the RMC Communication The steps requir

RMC100 and RMCWin User Manual 5-42 • Throughout this technical note, references are made to RMCWin online help index entries. To obtain the RMCWin

Digital I/O 5.1 Communications 5-43 (including Actual Position, Actual Speed, Drive, Error Bits, and other Status Bits) one axis per command cyc

RMC100 and RMCWin User Manual 5-44 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

Digital I/O 5.1 Communications 5-45 3 Axis 3 In Position Axis 3 In Position 4 Axis 0 Stop on Error Axis 4 In Position 5 Axis 1 Stop on Error Ax

RMC100 and RMCWin User Manual 5-46 5. If you need to invert any inputs or outputs to match your hardware, select the appropriate check boxes in the

Digital I/O 5.1 Communications 5-47 Notice that the eight Event Step number bits are wired to hold the following values: When this binary numb

RMC100 and RMCWin User Manual 5-48 4. Wire, Test, and Tune the System The system should be wired as described in the design above. Test the functio

Ethernet 5.2 Communications 5-49 Sockets to Access the RMC ENET for details. Note: The RMC ENET does not support any of the native protocols bui

RMC100 and RMCWin User Manual iii Condensed Contents Introducing the RMC100 Series ... 1-1 Overvie

RMC100 and RMCWin User Manual 2-2 users must use raw transducer counts. Delta’s motion controllers provide a conversion between raw transducer count

RMC100 and RMCWin User Manual 5-50 they do not understand one another's data. Example: Try connecting a serial cable between a PC running TISOF

Ethernet 5.2 Communications 5-51 • Using the SoftPLC with the RMC ENET 5.2.3 Using the RMC ENET with RMCWin RMCWin 2.0 and newer can communic

RMC100 and RMCWin User Manual 5-52 4. Under Communication Drivers, click TCP/IP Direct to RMC-ENET. 5. Under Settings, either ensure that Autobrow

Ethernet 5.2 Communications 5-53 Selecting a Configuration Method The first decision to be made is the method you will use to configure the IP

RMC100 and RMCWin User Manual 5-54 Therefore, the enhanced features of DHCP over those of BOOTP are not useful. However, DHCP still supports the one

Ethernet 5.2 Communications 5-55 Care should be taken to use a high-quality switch that will support your temperature, noise, vibration, and ot

RMC100 and RMCWin User Manual 5-56 This field gives the version of the Boot firmware in the RMC Ethernet module. • Loader Version This field gives

Ethernet 5.2 Communications 5-57 • Refresh Pressing this button will read all counters from the module. This operation takes place immediately

RMC100 and RMCWin User Manual 5-58 • Total Broadcast Pkts Sent This is the count of packets the RMC sent to the broadcast MAC address. This is typi

Ethernet 5.2 Communications 5-59 • Tx Retries This is the total of all transmit retries due to collisions. Therefore it is the sum of all the S

Step-by-Step RMC Startup 2.1 Starting Up the RMC 2-3 topic for details on tuning: • Tuning an Axis At this point Auto Stop should be set to 0

RMC100 and RMCWin User Manual 5-60 • Close Close the Ethernet Activity Log window. 5.2.5 Ethernet Informational Topics 5.2.5.1 Understanding IP A

Ethernet 5.2 Communications 5-61 must go through an IP router. An IP router is a device that sends packets it receives from one network that are

RMC100 and RMCWin User Manual 5-62 This diagram shows the four conceptual layers of TCP/IP: application, transport, internet, and framing. A fifth

Ethernet 5.2 Communications 5-63 Each protocol is briefly described below: • ARP (Address Resolution Protocol) Ethernet packets can either be

RMC100 and RMCWin User Manual 5-64 This is an open application protocol developed and used by Omron Electronics Inc. This protocol is available over

Ethernet 5.2 Communications 5-65 5.2.6 Controlling and Monitoring the RMC over Ethernet 5.2.6.1 Allen-Bradley Controllers 5.2.6.1.1 Using Allen-

RMC100 and RMCWin User Manual 5-66 • Type: This parameter is always set to Peer-To-Peer for Ethernet communication channels. • Read/Write: This p

Ethernet 5.2 Communications 5-67 PLC-5 MSG Block Parameters: The PLC-5 MSG block is displayed as follows: • Control: This parameter points t

RMC100 and RMCWin User Manual 5-68 To edit the parameters of the message block, select the MSG block, and click on the button with the ellipses to t

Ethernet 5.2 Communications 5-69 Using the Examine If Open instruction as shown below fulfills two requirements of continuous MSG transactions.

RMC100 and RMCWin User Manual 2-4 2.2 Setup Details 2.2.1 Scaling Overview Scaling refers to converting the transducer feedback into meaningful unit

RMC100 and RMCWin User Manual 5-70 • RMC Register Map (Siemens S7) • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode)

Ethernet 5.2 Communications 5-71 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 a

RMC100 and RMCWin User Manual 5-72 N7:128 Axis 0 Configuration Word N7:129 Axis 0 Scale N7:130 Axis 0 Offset N7:131 Axis 0 Extend Limit N7:132

Ethernet 5.2 Communications 5-73 (n) File (f) 0-31 N9 ( n - 0 ) x 8 32-63 N10 ( n - 32 ) x 8 64-95 N11 ( n - 64 ) x 8 96-127 N12 ( n - 96

RMC100 and RMCWin User Manual 5-74 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) L

Ethernet 5.2 Communications 5-75 Allen-Bradley and SoftPLC Register Description N18:0-63 Status Map Entries Plot Type Registers: The plot

RMC100 and RMCWin User Manual 5-76 bit # Allen-Bradley bit # 15 14 13 12 11 10 9 8 7 The bit numbers listed in the table below are in RMC fo

Ethernet 5.2 Communications 5-77 N18:84 Axis 4 plot time interval N18:85 Axis 5 plot time interval N18:86 Axis 6 plot time interval N18:87 A

RMC100 and RMCWin User Manual 5-78 N18:99 Loader firmware year N18:100 Control firmware month (MSB) and day (LSB) N18:101 Control firmware year N18

Ethernet 5.2 Communications 5-79 Allen-Bradley and SoftPLC Register Description N20:0-N47:255 Unused Spline Download Area: These registers

Setup Details 2.2 Starting Up the RMC 2-5 2.2.2 Advanced Scaling This topic describes specialized scaling techniques. For general scaling inform

RMC100 and RMCWin User Manual 5-80 N232:0-N255:255 Plot data for axis 7 5.2.6.1.3 Using EtherNet/IP with the ControlLogix The ControlLogix PLCs su

Ethernet 5.2 Communications 5-81 DL405 D4-430 Cannot use Plots and the Spline Download Area. D4-440 Cannot use Plots. D4-450 Cannot use Plo

RMC100 and RMCWin User Manual 5-82 3. Start NetEdit on your PC. 4. Under Protocol, select UDP/IP. The program will take approximately 1 second to

Ethernet 5.2 Communications 5-83 specify a register holding the value to put on the stack. For the most part these additional methods are not de

RMC100 and RMCWin User Manual 5-84 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

Ethernet 5.2 Communications 5-85 protocols, see the following topics: • RMC Register Map (Allen-Bradley) • RMC Register Map (Modbus/TCP and Mo

RMC100 and RMCWin User Manual 5-86 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

Ethernet 5.2 Communications 5-87 V163 V164-V171 Same as above but for axis 6 V172-V177 Same as above but for axis 7 Parameter Registers: PLC S

RMC100 and RMCWin User Manual 5-88 V1020-V1037 Same as above but for axis 1 V1040-V1057 Same as above but for axis 2 V1060-V1077 Same as above but f

Ethernet 5.2 Communications 5-89 V2001+n*10 Step n (0-255) Acceleration V2002+n*10 Step n (0-255) Deceleration V2003+n*10 Step n (0-255) Speed V

RMC100 and RMCWin User Manual 2-6 • A Hydraulic Position Axis or Motor in Velocity Mode • A Motor in Torque Mode • A Position/Pressure System T

RMC100 and RMCWin User Manual 5-90 n Falling Edge Status Map Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) This bl

Ethernet 5.2 Communications 5-91 Digital (Discrete) I/O Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) These reg

RMC100 and RMCWin User Manual 5-92 V6522 Axis 2 plot time interval V6523 Axis 3 plot time interval V6524 Axis 4 plot time interval V6525 Axis 5

Ethernet 5.2 Communications 5-93 Address Register Description V6540 Boot firmware month (MSB) and day (LSB) V6541 Boot firmware year V6542 Lo

RMC100 and RMCWin User Manual 5-94 V10000-V17777 Spline Download Area Plot Registers: Due to the limited addressing supported by the Automationdir

Ethernet 5.2 Communications 5-95 it initiate messaging transactions. Therefore, an active EtherNet/IP device or client is required to control th

RMC100 and RMCWin User Manual 5-96 4. In the shortcut menu that appears, click New Module. The following dialog box will be displayed:

Ethernet 5.2 Communications 5-97 5. Click the ETHERNET-MODULE type and click OK. The following dialog box will be displayed:

RMC100 and RMCWin User Manual 5-98 6. Fill in the fields in this dialog box as follows: General: Name Type a valid module name for the RMC. Descrip

Ethernet 5.2 Communications 5-99 8. Type a Requested Packet Interval (RPI) between 5.0 and 3200.0 ms in steps of 1.0 ms. The RMC ignores fra

Setup Details 2.2 Starting Up the RMC 2-7 can tune the axis. Remember to set these bits to either "Soft Stop" or "Hard Stop"

RMC100 and RMCWin User Manual 5-100 5.2.6.3.3 Establishing Multiple I/O Connections with a Single RMC Each RMC can support I/O connections with up

Ethernet 5.2 Communications 5-101 Notice how the RMC produces one data frame that is consumed by all three clients using what is called a multi

RMC100 and RMCWin User Manual 5-102 for details. 1 10 Axis 0 Status. These ten registers correspond to the ten status registers displayed in RMCWin

Ethernet 5.2 Communications 5-103 Otherwise, when the Sync Out Register is changed, the commands would be re-issued. 3. Write all required comm

RMC100 and RMCWin User Manual 5-104 • The controlling connection is broken due to a timeout. This will occur when the cable is disconnected, when e

Ethernet 5.2 Communications 5-105 The core of this ladder segment is reading the EntryStatus and FaultCode attributes from the RMC MODULE objec

RMC100 and RMCWin User Manual 5-106 5.2.6.3.6 RMC EtherNet/IP Definition 5.2.6.3.6.1 RMC EtherNet/IP Object Model This section describes the EtherNe

Ethernet 5.2 Communications 5-107 six command words per axis. 4 SINT 1 Configuration Various configuration options. Currently only the Broken

RMC100 and RMCWin User Manual 5-108 Configuration Connection Point Must be 4 (Configuration) Configuration Data (Data Segment) May be omitted or con

Ethernet 5.2 Communications 5-109 Connections RPI 1 5.0 ms 2 7.0 ms 3 9.0 ms 4 12.0 ms Example: Suppose you will be establishing one I/O conne

RMC100 and RMCWin User Manual 2-8 • Make a long move without any oscillation or overdrive. Then issue the Set Feed Forward command. This command wi

RMC100 and RMCWin User Manual 5-110 6 17.0 ms 7 20.0 ms 8 23.0 ms 9 25.0 ms 10 28.0 ms * The 1756-ENET has enough bandwidth for a single connectio

Ethernet 5.2 Communications 5-111 Frames/Second = (2 x connections) / RPI + (2 x connections) / RPI = (2 x 1) / 0.005s + (2 x 2) / 0.015s =

RMC100 and RMCWin User Manual 5-112 collision domains, each with two devices competing for its bandwidth. These smaller collision domains will yield

Ethernet 5.2 Communications 5-113 1 or more 0.14% 1.0% 3.0% 5.6% 8.9% 2 or more 0.028% 0.23% 0.80% 1.7% 3.0% 3 or more 0.0020% 0.023% 0.12% 0.35

RMC100 and RMCWin User Manual 5-114 Computing Utilization for RMC/ControlLogix Ethernet Networks In order to predict the probability of collisions o

Ethernet 5.2 Communications 5-115 For the first two collisions domains types, we will assume all devices are connected to a switch. For the thir

RMC100 and RMCWin User Manual 5-116 Example (IGMP not supported by switch): The ControlLogix/switch collision domains include all frames produced

Ethernet 5.2 Communications 5-117 Finally, use the above frames/second results to compute the utilization by dividing the actual bandwidth requi

RMC100 and RMCWin User Manual 5-118 How not to Control Collisions Do NOT set the Ethernet switch port to the RMC100 to full-duplex. This is why: 1.

Ethernet 5.2 Communications 5-119 Suppose you need to control 40 RMCs from a single ControlLogix 1756-L1. If you use a single 1756-ENBT for this

Setup Details 2.2 Starting Up the RMC 2-9 Important: If you use Differential Gain, you may be able to increase the Proportional Gain somewhat wi

RMC100 and RMCWin User Manual 5-120 compared to the total cost of the system and gives much higher reliability. • Upgrade to Smarter Switches. Ethe

Ethernet 5.2 Communications 5-121 • MSTR Block Read Operation • MSTR Block Write Operation • MSTR Block Error Codes 5.2.6.4.2 RMC Register

RMC100 and RMCWin User Manual 5-122 2 Axis 0 Target Position 3 Axis 0 Actual Position 4 Axis 0 Transducer Counts 5 Axis 0 Status Word 6 Axis 0

Ethernet 5.2 Communications 5-123 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

RMC100 and RMCWin User Manual 5-124 177-192 Same as above but for axis 3 193-208 Same as above but for axis 4 209-224 Same as above but for axis

Ethernet 5.2 Communications 5-125 Modbus Address Register Description 2305 Event Step for Axis 0 on Input 0 Rising Edge 2306 Event Step for Axis

RMC100 and RMCWin User Manual 5-126 • 2: Event Step and Link Value • 3: Raw Transducer Counts • 4: Internal Target and Actual Speeds • 5: Integr

Ethernet 5.2 Communications 5-127 2636 Sensor Digital I/O Inputs 0-15 2637 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) 2638 Sensor Dig

RMC100 and RMCWin User Manual 5-128 Modbus Address Register Description 2649 Last parameter error on axis 0 2650 Last parameter error on axis 1 2651

Ethernet 5.2 Communications 5-129 is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (value 0x0001) is set, a sensor DI/O is present, othe

RMC100 and RMCWin User Manual 2-10 Tuning Procedure 1. Do Open Loop Move This step is for verifying that the system wiring and setup is correct bef

RMC100 and RMCWin User Manual 5-130 47105-53248 Plot data for axis 5 53249-59392 Plot data for axis 6 59393-65536 Plot data for axis 7 5.2.6.5 Omr

Ethernet 5.2 Communications 5-131 on setting up the RECV and SEND instructions for details on what values to use for the Network, Node, and Unit

RMC100 and RMCWin User Manual 5-132 set to whichever Node Number will be mapped to the RMC's IP address. 0. C+3 Port Number: 00 to 07. The Port

Ethernet 5.2 Communications 5-133 C+2 Remote Node Number. For RMCs, this value should be set to whichever Node Number will be mapped to the RMC&

RMC100 and RMCWin User Manual 5-134 In this example, the RECV(098) instruction will be triggered each time the Communication Port 0 Enabled Flag (A

Ethernet 5.2 Communications 5-135 The Omron PLC must have one entry in its Local Network Table. This entry assigns Network Address 1 (the Ether

RMC100 and RMCWin User Manual 5-136 5.2.6.5.2 RMC Register Map (Omron FINS) Tip: RMCWin's Address Tool provides an easy way to identify address

Ethernet 5.2 Communications 5-137 D00008 Axis 0 Event Step D00009 Axis 0 Link Value D00010- D00019 Same as above but for axis 1 D00020- D00029

RMC100 and RMCWin User Manual 5-138 D00109 D00110- D00115 Same as above but for axis 5 D00116- D00121 Same as above but for axis 6 D00122- D00127 Sa

Ethernet 5.2 Communications 5-139 D00160- D00175 Same as above but for axis 2 D00176- D00191 Same as above but for axis 3 D00192- D00207 Same as

Setup Details 2.2 Starting Up the RMC 2-11 slowly increasing it and making moves. If the system begins to oscillate, decrease the gain. 5. Ad

RMC100 and RMCWin User Manual 5-140 D00263+n*8 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written.

Ethernet 5.2 Communications 5-141 Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the ext

RMC100 and RMCWin User Manual 5-142 D02636 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) D02637 Sensor Digital I/O Outputs 0-7 in high byte (

Ethernet 5.2 Communications 5-143 D02648 Last parameter error on axis 0 D02649 Last parameter error on axis 1 D02650 Last parameter error on

RMC100 and RMCWin User Manual 5-144 Reserved Registers: Reading these values will return zero, and writes are ignored. Omron Address Register D

Ethernet 5.2 Communications 5-145 E6_00000-E6_06143 Plot data for axis 6 E7_00000-E7_06143 Plot data for axis 7 Note: Omron PLCs can only access

RMC100 and RMCWin User Manual 5-146 192.168.0.23. 6. Click Accept. 7. Click OK. Step 2: Test the RSLinx Driver 1. Start RSLinx. 2. On the Commun

Ethernet 5.2 Communications 5-147 7. In the Channel drop-down list, click the TCP/IP channel created above. 8. For the Station text box, type

RMC100 and RMCWin User Manual 5-148 The RMC module has 64K (65536) 16-bit registers that can be read from or written to over Ethernet, Serial, Modbu

Ethernet 5.2 Communications 5-149 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 Sa

RMC100 and RMCWin User Manual iv

RMC100 and RMCWin User Manual 2-12 • If the Drive is not high, the gains can probably be increased for better control. If the Drive is too high, or

RMC100 and RMCWin User Manual 5-150 N7:122-127 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes

Ethernet 5.2 Communications 5-151 N7:240-255 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written.

RMC100 and RMCWin User Manual 5-152 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

Ethernet 5.2 Communications 5-153 N17:248 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registe

RMC100 and RMCWin User Manual 5-154 These registers indicate the current state of the digital inputs and outputs. These registers may only be read;

Ethernet 5.2 Communications 5-155 and SoftPLC N18:80 Axis 0 plot time interval N18:81 Axis 1 plot time interval N18:82 Axis 2 plot time inter

RMC100 and RMCWin User Manual 5-156 Allen-Bradley and SoftPLC Register Description N18:96 Boot firmware month (MSB) and day (LSB) N18:97 Boot fi

Ethernet 5.2 Communications 5-157 L19:5 32-bit Transducer Counts for axis 5 L19:6 32-bit Transducer Counts for axis 6 L19:7 32-bit Transducer

RMC100 and RMCWin User Manual 5-158 N159:255 N160:0-N183:255 Plot data for axis 4 N184:0-N207:255 Plot data for axis 5 N208:0-N231:255 Plot data for

Ethernet 5.2 Communications 5-159 • RMC Register Map (Modbus/TCP and Modbus/RTU) • RMC Register Map (Omron FINS) • RMC Register Map (Siemens

Setup Details 2.2 Starting Up the RMC 2-13 3. Adjust the Proportional Gain The Proportional Gain should be adjusted first to gain some contro

RMC100 and RMCWin User Manual 5-160 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written. TI505 Address R

Ethernet 5.2 Communications 5-161 134 Axis 0 Proportional Gain 135 Axis 0 Integral Gain 136 Axis 0 Differential Gain 137 Axis 0 Extend Feed

RMC100 and RMCWin User Manual 5-162 263 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)

Ethernet 5.2 Communications 5-163 : : 2553 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of regis

RMC100 and RMCWin User Manual 5-164 These registers indicate the current state of the digital inputs and outputs. These registers may only be read;

Ethernet 5.2 Communications 5-165 2642 Axis 1 plot time interval 2643 Axis 2 plot time interval 2644 Axis 3 plot time interval 2645 Axis 4 p

RMC100 and RMCWin User Manual 5-166 2657 Boot firmware month (MSB) and day (LSB) 2658 Boot firmware year 2659 Loader firmware month (MSB) and day

Ethernet 5.2 Communications 5-167 Note: Reading plots is not a trivial task; for further details, see Reading Plots from the Communication Modul

RMC100 and RMCWin User Manual 5-168 • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The Siemens S7-300 and S7-400 f

Ethernet 5.2 Communications 5-169 S7 Address Register Description DB1.DBW160 Axis 0 Mode Word DB1.DBW162 Axis 0 Acceleration DB1.DBW164 Axis

RMC100 and RMCWin User Manual 2-14 • A disadvantage of Differential Gain is that it amplifies measurement noise. If there is too much noise or the

RMC100 and RMCWin User Manual 5-170 DB2.DBW12 Axis 0 Integral Gain DB2.DBW14 Axis 0 Differential Gain DB2.DBW16 Axis 0 Extend Feed Forward DB2.DB

Ethernet 5.2 Communications 5-171 DB3.DBW10 Step 0 Command/Commanded Axes DB3.DBW12 Step 0 Link Type/Link Next DB3.DBW14 Step 0 Link Value DB

RMC100 and RMCWin User Manual 5-172 n*2 : : DB4.DBW496 + n*2 Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This bloc

Ethernet 5.2 Communications 5-173 These registers indicate the current state of the digital inputs and outputs. These registers may only be read

RMC100 and RMCWin User Manual 5-174 Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control

Ethernet 5.2 Communications 5-175 bits that may be useful to some users: • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise

RMC100 and RMCWin User Manual 5-176 communicate with the RMC. As with the Allen-Bradley PLC-5, the SoftPLC uses the MeSsaGe (MSG) block. This block

Ethernet 5.2 Communications 5-177 5.2.6.10 Other PLCs and PC-based Control Packages 5.2.6.10.1 Using Other Ethernet Packages with the RMC ENET

RMC100 and RMCWin User Manual 5-178 method is not limited to Windows or even PCs. This method is discussed in this topic. Choosing a TCP/IP Stack

Modbus Plus 5.3 Communications 5-179 and Modbus/RTU). The addresses documented in RMC Register Map (PROFIBUS-DP Message Mode) happen to already

Setup Details 2.2 Starting Up the RMC 2-15 Using the Integrator Preload is useful for systems with predictable position-to-pressure transitions.

RMC100 and RMCWin User Manual 5-180 Programming from a Modicon PLC When using a Modicon PLC as the master, the user uses a special function block ca

Modbus Plus 5.3 Communications 5-181 When the master wishes to read from or write to a node it must take the following steps: 1. Wait for th

RMC100 and RMCWin User Manual 5-182 • RMC Register Map (Omron FINS) • RMC Register Map (Siemens TI505) • RMC Register Map (Siemens S7) • RMC Reg

Modbus Plus 5.3 Communications 5-183 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written. Modbus Add

RMC100 and RMCWin User Manual 5-184 134 Axis 0 Proportional Gain 135 Axis 0 Integral Gain 136 Axis 0 Differential Gain 137 Axis 0 Extend Feed Fo

Modbus Plus 5.3 Communications 5-185 263 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

RMC100 and RMCWin User Manual 5-186 : : 2553 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: These registers can b

Modbus Plus 5.3 Communications 5-187 2631 Axis 6 plot type 2632 Axis 7 plot type Digital (Discrete) I/O Registers: These registers indicate

RMC100 and RMCWin User Manual 5-188 used plot interval. Modbus Address Register Description 2641 Axis 0 plot time interval 2642 Axis 1 plot time

Modbus Plus 5.3 Communications 5-189 module. The Boot and Loader firmware versions have no effect on the actual performance of the RMC and there

RMC100 and RMCWin User Manual 2-16 generate this model by evaluating the response of the system to changes in the Drive output. 2. Choose Gains You

RMC100 and RMCWin User Manual 5-190 Register Description 12289-16384 Spline Download Area Plot Registers: These registers can only be read; writes

Modbus Plus 5.3 Communications 5-191 addr - the slot and port on the TSX Premium to communicate with, plus the first byte in the routing address

RMC100 and RMCWin User Manual 5-192 5.3.6 Modbus Plus Global Data 5.3.6.1 Using Modbus Plus Global Data Note: Global data should be used in all appl

Modbus Plus 5.3 Communications 5-193 differ between versions of Modsoft and Concept: 1. Reserve Config Extension Memory in the PLC: Peer Cop us

RMC100 and RMCWin User Manual 5-194 7 14 Axis 1 Status Word 8 2632 CPU Digital Inputs 0 and 1 in LSBs of low byte, Outputs 0 and 1 in LSBs of hig

Modbus Plus 5.3 Communications 5-195 5.3.7 MSTR Modicon Ladder Logic Block 5.3.7.1 Using the MSTR Modicon Ladder Logic Block When using a Modico

RMC100 and RMCWin User Manual 5-196 In the second method, you must not reset the condition that triggers the MSTR block until the block completes

Modbus Plus 5.3 Communications 5-197 Read Global Data: Gets filled by the PLC with the number of registers of global data available from the sla

RMC100 and RMCWin User Manual 5-198 Register Content 1st Operation: 2 2nd Error Status: This register is filled by the operation. See MSTR Block Err

Modbus Plus 5.3 Communications 5-199 This network waits until the state is equal to 1 and then triggers the MSTR block using the control block b

Setup Details 2.2 Starting Up the RMC 2-17 lbs), or with very slow response times, may require a longer plot time. 4. The Extra Plot Data (sele

RMC100 and RMCWin User Manual 5-200 400100 2 (decimal): Operation type: Read data 400101 0000 (hex): Error status: will be filled in by function 4

Modbus Plus 5.3 Communications 5-201 MSTR block, do not add 40000 or 400000 to indicate holding registers. MSTR blocks expect the addresses to s

RMC100 and RMCWin User Manual 5-202 registers on each axis 400113 81 (decimal): Address in slave (RMC) memory: This is the address of the first comm

Modbus Plus 5.3 Communications 5-203 400114 0300 (hex): The high byte holds the Quantum backplane slot ID (3). The low byte holds the Map Index,

RMC100 and RMCWin User Manual 5-204 6th-9th Routing 2-5: Unused. Set to zeros. Example Suppose that you wish to read four global data registers fr

Modbus Plus 5.3 Communications 5-205 Status Type Word Index MSB Node Global Input 0 16 15 14 13 12 11 10 9 1 32 31 30 29

RMC100 and RMCWin User Manual 5-206 The MSTR block indicates it will do an operation using the control block beginning at 400130, using the one reg

Modbus Plus 5.3 Communications 5-207 2006 Invalid slave device data area 2007 Invalid slave device network area 2008 Invalid slave device net

RMC100 and RMCWin User Manual 5-208 6m07 Bad destination address 6m08 Invalid node type in routing path 6m10 Slave has rejected the command. Check

PROFIBUS-DP 5.4 Communications 5-209 Compact Mode keeps the number of words sent over the PROFIBUS to a minimum. This is desirable to keep netwo

RMC100 and RMCWin User Manual 2-18 folder as RMCWin, which is by default C:\Program Files\RMCWin\. 3. Download the Step Table to the RMC100 by cl

RMC100 and RMCWin User Manual 5-210 Flash memory. The default station address is 126. There are two methods of changing this address: • RMCWin has

PROFIBUS-DP 5.4 Communications 5-211 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 -

RMC100 and RMCWin User Manual 5-212 2. Open your PROFIBUS-DP master configuration program. 3. If you are modifying an existing PROFIBUS-DP network

PROFIBUS-DP 5.4 Communications 5-213 The following steps have been tested with COM PROFIBUS versions 3.0 and 3.3: 1. Start COM PROFIBUS. 2. If

RMC100 and RMCWin User Manual 5-214 • Right-click on the RMC slave device icon, and select Configure from the shortcut menu. • Move the cursor to

PROFIBUS-DP 5.4 Communications 5-215 Delta RMC Family entry. On the shortcut menu, click Properties. • In the Labels tab, look at the Revision

RMC100 and RMCWin User Manual 5-216 3. If you are creating a new PROFIBUS-DP network, you must create a new network and add a master device to the

PROFIBUS-DP 5.4 Communications 5-217 7. Add any other RMC devices you want on the same network. To do this, repeat steps 5 and 6. 8. Save your

RMC100 and RMCWin User Manual 5-218 Compact Mode without Sync CAUTION: In this mode, the synchronization is left to be the PROFIBUS master’s respons

PROFIBUS-DP 5.4 Communications 5-219 Mode for details on using this register and the differences between these two sub-modes. The order of the i

Setup Details 2.2 Starting Up the RMC 2-19

RMC100 and RMCWin User Manual 5-220 For most commands, the value returned in the second register for each axis is selected using the Status Area Req

PROFIBUS-DP 5.4 Communications 5-221 I+1 XXXX|XXXX|XXXX|XXXX (XXXX) Status of axis 0 +2 XXXX|XXXX|XXXX|XXXX (XXXX) Actual Position of axis 0 I+

RMC100 and RMCWin User Manual 5-222 If Compact Mode with Sync is used (versus Compact Mode without Sync), one additional 16-bit register to hold the

PROFIBUS-DP 5.4 Communications 5-223 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

RMC100 and RMCWin User Manual 5-224 bits that are toggled to indicate a request. The command block is described in further detail below. Note: Users

PROFIBUS-DP 5.4 Communications 5-225 • Wait until the Read Request bit is equal to the Read Acknowledge bit. When they are equal, the RMC will

RMC100 and RMCWin User Manual 5-226 describes the addressing through the PROFIBUS-DP Message Mode. For details on addressing from other modules refe

PROFIBUS-DP 5.4 Communications 5-227 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

RMC100 and RMCWin User Manual 5-228 130 Axis 0 Offset 131 Axis 0 Extend Limit 132 Axis 0 Retract Limit 133 Axis 0 Proportional Gain 134 Axis 0

PROFIBUS-DP 5.4 Communications 5-229 259 Step 0 Speed 260 Step 0 Command Value 261 Step 0 Command/Commanded Axes 262 Step 0 Link Type/Link N

RMC100 and RMCWin User Manual 2-20

RMC100 and RMCWin User Manual 5-230 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 :

PROFIBUS-DP 5.4 Communications 5-231 Address Register Description 2624 Axis 0 plot type 2625 Axis 1 plot type 2626 Axis 2 plot type 2627 Axi

RMC100 and RMCWin User Manual 5-232 2636 Sensor Digital I/O Inputs 16-17 (stored to two LSBs) 2637 Sensor Digital I/O Outputs 0-7 in high byte (low

PROFIBUS-DP 5.4 Communications 5-233 Register Description 2648 Last parameter error on axis 0 2649 Last parameter error on axis 1 2650 Last p

RMC100 and RMCWin User Manual 5-234 • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (va

Serial (RS-232/422/485) 5.5 Communications 5-235 28672-34815 Plot data for axis 2 34816-40959 Plot data for axis 3 40960-47103 Plot data for axi

RMC100 and RMCWin User Manual 5-236 can be intimidating to users new to serial communications. Therefore, we recommend reading each of the following

Serial (RS-232/422/485) 5.5 Communications 5-237 The following options are available in the Serial Module Options dialog box: • Protocol: Selec

RMC100 and RMCWin User Manual 5-238 firmware, see Downloading New Serial/Ethernet Firmware. • Boot Version This field gives the version of the Boot

Serial (RS-232/422/485) 5.5 Communications 5-239 the RMC SERIAL offers three drivers: RS-232, RS-422/RS-485 (4-wire), and RS-485 (2-wire). Eac

RMC100 and RMCWin User Manual 5-240 Note: The above four-wire RS-422/485 diagram shows biasing internal to the RMC on the Tx wire pair. This is no

Serial (RS-232/422/485) 5.5 Communications 5-241 The RS-422 and RS-485 diagrams above show biasing and termination included. Termination and bi

RMC100 and RMCWin User Manual 5-242 The following four-wire RS-485 network diagram is also supported by the RMC and allows full-duplex communicat

Serial (RS-232/422/485) 5.5 Communications 5-243 Note: The above 4-wire multi-drop RS-485 network diagram shows internal termination and biasing

RMC100 and RMCWin User Manual 5-244 in the RMC SERIAL configuration. The RMC RS-232 communications require only three conductors in the cable: RxD

Serial (RS-232/422/485) 5.5 Communications 5-245 RS-485 (2-wire) Pin-out Pin RS-485 (2-wire) Function 1 Unused 2 Unused 3 Rx/Tx A (-) 4 Rx/Tx B

RMC100 and RMCWin User Manual 5-246 115,200 475 3250 57,600 950 4000 38,400 1900 4000 19,200 3750 4000 9,600 4000 4000 4,800 4000

Serial (RS-232/422/485) 5.5 Communications 5-247 As described above, hardware revision 1 differs in its biasing and termination. It has the fol

RMC100 and RMCWin User Manual 5-248 • For RS-485 (4-wire, point-to-point or multi-drop), terminate the receivers of each end device in the chain, a

Serial (RS-232/422/485) 5.5 Communications 5-249 Distance = 4,340 ns * 0.66 ft / ns = 2890 ft Since it requires three round trips for the si

RMC100 and RMCWin User Manual v Contents Table of Contents DISCLAIMER ...

RMC100 and RMCWin User Manual 3-0 3 Using RMCWin 3.1 RMCWin Overview Description RMCWin is a Windows 98/NT/2000/XP/Vista/7 based software package th

RMC100 and RMCWin User Manual 5-250 Resistance 48kW || 48kW = 118W Then, we calculate how much DC resistance the network has between power rails

Serial (RS-232/422/485) 5.5 Communications 5-251 • 03: Read Holding Registers • 06: Preset Single Register • 16 (10 Hex): Preset Multiple Reg

RMC100 and RMCWin User Manual 5-252 • SLC Protected Typed Write with 3 Address Fields (CMD=0x0F, FNC=0xAA) • SLC Protected Typed Read with 3 Addre

Serial (RS-232/422/485) 5.5 Communications 5-253 • Communication Command: From this drop-down list, select PLC-5 Typed Read to read values from

RMC100 and RMCWin User Manual 5-254 • This Controller: This section holds parameters for the SLC 5/05. • Communication Command: This parameter wil

Serial (RS-232/422/485) 5.5 Communications 5-255 500CPU Read, or 500CPU Write. The type of PLC selected is not important, but the Read or Write

RMC100 and RMCWin User Manual 5-256 Read or Write Once This sample takes care to keep the MSG block energized until the MSG block starts, as indic

Serial (RS-232/422/485) 5.5 Communications 5-257 • Baud Rate: 19,200 • Data Bits: 8 bit • Parity: Even Mitsubishi PLC Settings: The Mitsubish

RMC100 and RMCWin User Manual 5-258 RMC should have returned its response as shown above. The checksum in the response can then be checked using the

Serial (RS-232/422/485) 5.5 Communications 5-259 Dxx02 Data. First data word to write. Dxx03 Data. Second data word to write. … Dxx01+N Data. La

Screen Layout 3.2 Using RMCWin 3-1 • Using Multiple RMCs • Using the Scale/Offset Calibration Utilities Table Editors • Table Editor Basics

RMC100 and RMCWin User Manual 5-260 for the length, address, and checksum. To write commands for 8 axes or 48 words: To write 12 steps to the step

Serial (RS-232/422/485) 5.5 Communications 5-261 -3 Framing Error: The RMC’s serial port received a incorrectly formed character. This is normal

RMC100 and RMCWin User Manual 5-262 • Parity Mitsubishi PLC Settings: Set the QJ71C24 intelligent function module switches for the desired serial s

Serial (RS-232/422/485) 5.5 Communications 5-263 BIDIN Instruction:

RMC100 and RMCWin User Manual 5-264 Reading from the RMC100 To read data, first use the BIDOUT instruction to request the data, then use the BIDIN

RMC CPU RS232 Port 5.6 Communications 5-265 The head number of the data sent to the RMC100 is designated by (S2) in the BIDOUT instruction. The

RMC100 and RMCWin User Manual 5-266 Communicate with any RMC from a Custom Application The RMCLink component enables direct communication with any

RMC CPU RS232 Port 5.6 Communications 5-267 Supported RMC Communication Ports RMCLink can communicate via Ethernet or serial RS-232. The table b

RMC100 and RMCWin User Manual 5-268 For details on using the serial port with RMCWin, see Using with RMCWin. For details on using the serial port wi

RMC CPU RS232 Port 5.6 Communications 5-269 • Any other cable you have will work if you can verify that pins 2, 3, and 5 on the RMC-end of the

RMC100 and RMCWin User Manual 3-2 • Plot Time area (top-right pane) • Parameter area (bottom-right pane) The following is a sample main screen:

RMC100 and RMCWin User Manual 5-270 5.7 LCD420 Terminal 5.7.1 LCD Display Terminal Overview Using the LCD420 display as documented requires the foll

LCD420 Terminal 5.7 Communications 5-271 5.7.2 Using the LCD420 Terminal General When the RMC powers up, it displays the first screen. If the RM

RMC100 and RMCWin User Manual 5-272 Editing a Numerical Field First, select the screen and field you wish to edit as described above. Then type in t

LCD420 Terminal 5.7 Communications 5-273 Next, enter the value of 4.8 in/s. Notice that the cursor moves to the end of the field during the edi

RMC100 and RMCWin User Manual 5-274 1 Set the bit's value to ON. BKSP Cancel the edit. ESC Cancel the edit. ENTER Accept the edit. The bit w

Status Map 5.8 Communications 5-275 documented in the Using RMCWin section of this help document. You can find that section through the followin

RMC100 and RMCWin User Manual 5-276 Under the RMC’s Modbus Plus and PROFIBUS-DP Message Mode interfaces, the RMC keeps 32 status registers readily a

Status Map 5.8 Communications 5-277 5.8.2 Default Status Map Data The following table lists the default mappings held in the Status Map table. F

RMC100 and RMCWin User Manual 5-278 20 50 Address of axis 5 Command Position 21 51 Address of axis 5 Target Position 22 52 Address of axis 5 Actual

Communication Tasks 5.9 Communications 5-279 Status Word 18433 + 6144*n 18432 + 6144*n N(72+24*n):0 DB(210+6*n).DBW0 Drive 19457 + 6144*n 19456

Screen Layout 3.2 Using RMCWin 3-3 For details on saving and loading commands, see Changing Between Board Files. 3.2.3 Parameter Area This are

RMC100 and RMCWin User Manual 5-280 Extra Plot Data #1 holds the Integral Drive in drive count units. There are 8192 drive count units in 10000 mV.

Communication Tasks 5.9 Communications 5-281 Interval/End Segment Commands. This method is supported by all communication modules but requires i

RMC100 and RMCWin User Manual 5-282 Static Spline Download Area format. o If the value is 2, the interval and point locations are dynamically sized

Communication Tasks 5.9 Communications 5-283 Axis 0 Point Count 14337 14336 N56:0 V14000 DB200.DBW0 Axis 0 Point Table** 14338-15360 14337-1

RMC100 and RMCWin User Manual 5-284 Interval Table* 14336 14335 N55:255 13777 1022 Axis 0 Point Count 14337 14336 N56:0 V14000 DB200.DBW0 Axis 0

Communication Tasks 5.9 Communications 5-285 Axis 2 Interval Table Format 12801 12800 N50:0 V11000 DB194.DBW0 Axis 2 Interval Table* 12802-1

RMC100 and RMCWin User Manual 5-286 Count Axis 0 Point Table** 14338-14592 14337-14591 N56:1-N56:255 V14001-14377 DB200.DBW2-510 Axis 1 Point Count

Communication Tasks 5.9 Communications 5-287 3 - 4 spline capable axes: 512 5 - 8 spline capable axes: 256 The Spline Download Area register m

RMC100 and RMCWin User Manual 5-288 (MaxPts+2)*3 (MaxPts+2)*3 (MaxPts+2)*3 Axis 4 Interval 2 + (MaxPts+2)*4 12291+ (MaxPts+2)*4 12290+ (MaxPts+2)*4

Communication Tasks 5.9 Communications 5-289 Example 1 In this spline segment, all points are equidistant along the X (time or geared) axis: As

RMC100 and RMCWin User Manual 3-4 parameters for that axis will be displayed in WHITE. Note: When in Read-back Mode, you will notice that RED para

RMC100 and RMCWin User Manual 5-290 0 14338 Point Table – 1 P1 14339 Point Table – 2 P2 14340 Point Table – 3 P3 14341 Point Table – 4 P4 Spline

Communication Tasks 5.9 Communications 5-291 • You can simultaneously download splines to all spline-capable axes at one time. • It is importa

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

Communication Tasks 5.9 Communications 5-293 323 There must be at least two points to begin calculations 324 Cannot clear a segment while inter

RMC100 and RMCWin User Manual 6-0 6 Transducer Interface Modules 6.1 Analog 6.1.1 Analog Transducer Overview There are four analog modules available

Analog 6.1 Transducer Interface Modules 6-1 The first step for setting up analog module is to assign roles to each analog channel. This is descr

RMC100 and RMCWin User Manual 6-2 TIP: If you are using a 10V transducer output, but are only using values in the low 5V, it is recommended that you

Analog 6.1 Transducer Interface Modules 6-3 Analog Input Ranges See the COUNTS topic for detailed information on the maximum and minimum limits

RMC100 and RMCWin User Manual 6-4 5. Click Update RMC. 6. The Update Module Configuration dialog box will be displayed to indicate the progress. I

Analog 6.1 Transducer Interface Modules 6-5 • Differential Force Control This mode uses both channels in the pair and an analog drive output. T

Screen Layout 3.2 Using RMCWin 3-5 3.2.6 Status Bar The status bar is located at the bottom of the main screen. This bar is divided into four ar

RMC100 and RMCWin User Manual 6-6 Using Analog Channels as Position Inputs Using Analog Channels as Velocity Inputs Using Analog Channels as Pressur

Analog 6.1 Transducer Interface Modules 6-7 16-bit Module (-H) Inputs Inputs Four 16-bit differential Isolation 750VDC Overvoltage Protection 40

RMC100 and RMCWin User Manual 6-8 6.1.6 Analog Transducer Scaling Defining the Valid 16-bit Pressure/Force/Position/Velocity Range For general sca

Analog 6.1 Transducer Interface Modules 6-9 Translating to Speed Units The Scale, Offset, and the Prescale Divisor bits of the Configuratio

RMC100 and RMCWin User Manual 6-10 scale: Scale Divisor Effective Scale Error from 6324.70 6325 1 6325/1 = 6325 0.005% 12649 2 12649/2 = 6324.5 0.

Analog 6.1 Transducer Interface Modules 6-11 Because only channels 0 and 2 have drive outputs associated with them on the analog modules with dr

RMC100 and RMCWin User Manual 6-12 6.1.7.2 Using Analog Channels as Velocity Inputs Analog channels may be configured to be used as one of two vel

Analog 6.1 Transducer Interface Modules 6-13 with drive outputs, it is only these two channels that can be configured as Velocity Control; any c

RMC100 and RMCWin User Manual 6-14 Using Analog Channels as Differential Force Inputs 6.1.7.3 Using Analog Channels as Pressure Inputs Analog chan

Analog 6.1 Transducer Interface Modules 6-15 type. Step 3: Set the Scale A and Offset A Parameters for the Pressure Inputs Refer to the individu

RMC100 and RMCWin User Manual 3-6 New Creates a new board file with default parameters. Refer to Using Multiple Motion Modules for details on board

RMC100 and RMCWin User Manual 6-16 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3. Click Slot

Analog 6.1 Transducer Interface Modules 6-17 To use a joystick to control speed together with a tachometer requires an analog module with drive

RMC100 and RMCWin User Manual 6-18 Step-by-Step External Target Generation Follow these steps to set up a system using an external target generator:

Analog 6.1 Transducer Interface Modules 6-19 The procedure for speed control with tachometer feedback is similar to speed control with positio

RMC100 and RMCWin User Manual 6-20 Controlling Speed from a Tachometer Feedback Transitioning from Position to Auxiliary Pressure/Force Control 6.

MDT 6.2 Transducer Interface Modules 6-21 Pulse Width Modulated Transducer The RMC must then convert the counts accumulated during the transduce

RMC100 and RMCWin User Manual 6-22 between the transducer and the RMC for the interrogation signal, and the '+Ret' and '-Ret' be

MDT 6.2 Transducer Interface Modules 6-23 Some Temposonics I transducers from MTS have 200 Ohm termination resistors installed between their in

RMC100 and RMCWin User Manual 6-24 MDT Specifications 6.2.3 MDT Configuration The RMC supports a wide range of Magnetostrictive Displacement Trans

MDT 6.2 Transducer Interface Modules 6-25 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the MDT module you wan

Connecting to an RMC 3.3 Using RMCWin 3-7 current communication path and the state of that communication path (for example, "COM1: Offline&

RMC100 and RMCWin User Manual 6-26 Overdrive Error Parameter Error Position Overflow Integrator Windup Following Error Continuous Green Status good.

MDT 6.2 Transducer Interface Modules 6-27 Drive Outputs Range ±10 V @ 5 mA (2 kW or greater load) (For current drive, use the VC2100 accessory:

RMC100 and RMCWin User Manual 6-28 However, because the Offset is also used to convert transducer counts to position units, it cannot be set indep

MDT 6.2 Transducer Interface Modules 6-29 following table shows the possible Scales and Prescale Divisors you could use and the effective scale:

RMC100 and RMCWin User Manual 6-30 inch. At the desired 0 position, the MDT produces 425 counts. We first calculate the exact Scale: With the exa

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-31 We begin by calculating the exact Scale: With the exact Scale value, we m

RMC100 and RMCWin User Manual 6-32 • Status LED • Digital Noise Filters on All Inputs • All Discrete Inputs are Isolated • Use with Servo Drives

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-33 See also: Quadrature Wiring Quadrature Configuration Quadrature LED Indica

RMC100 and RMCWin User Manual 6-34 Encoder Wiring 5 Volt differential driver: NPN Open Collector (NOT RECOMMENDED): Note: Open collector encoders s

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-35 0.0047 1 MHz 0.010 500 kHz 0.022 200 kHz 0.047 100 kHz 0.10 50 kHz 0.22 20 k

RMC100 and RMCWin User Manual 3-8 1. Start RMCWin. 2. On the Tools menu, click Options, and then click the Communication tab. You can also double-

RMC100 and RMCWin User Manual 6-36 From TTL output: From Open Collector Output: Enable Output Wiring To TTL input (high = enable): To active

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-37 6.3.3 Quadrature/Analog Cable A cable can be purchased that connects directl

RMC100 and RMCWin User Manual 6-38 • Encoder Error only. This bit will go high if the encoder circuitry detects an error, which is defined as an in

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-39 Alternating Red/Green One or more of the following status bits are on and ar

RMC100 and RMCWin User Manual 6-40 ESD Protection 15 kV Max. Encoder Frequency 4,000,000 quadrature counts/second Index (Z) Response Time 125 nanose

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-41 6.3.7 Quadrature Scaling Defining the Valid 16-bit Position Range For genera

RMC100 and RMCWin User Manual 6-42 change in position units: The RMC ensures that no fractional position units are lost in this conversion. Deter

Quadrature with Analog Output 6.3 Transducer Interface Modules 6-43 6324.75 50598 8 Invalid scale Invalid Therefore, in this example, a Scale

RMC100 and RMCWin User Manual 6-44 be 800 x 15 or 12000 quadrature counts for each revolution of the shaft B. Notice that we could increase the posi

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-45 Note: If the Auto Home Re-arm configuration bit is cleared after the Arm Ho

Connecting to an RMC 3.3 Using RMCWin 3-9 Create an Exception 1. On the Start menu, click Control Panel. 2. Double-click Windows Firewall, and

RMC100 and RMCWin User Manual 6-46 • Two Complete Axes per Module. Each includes the following: • Stepper Motor Interface:  1 MHz Maximum Output

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-47 FAULT + and - is an input from the drive or some other source that can be s

RMC100 and RMCWin User Manual 6-48 6.4.2 Stepper Wiring Use shielded twisted pairs for all connections to inputs and outputs. Route the quadrature e

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-49 Drive with common anode inputs: Drive with common cathode inputs: In

RMC100 and RMCWin User Manual 6-50 Stepper Compensation Homing 6.4.3 Stepper Configuration The RMC supports a wide range of quadrature encoders an

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-51 4. Click the Axis 0 tab. 5. Check the conditions that you want to have se

RMC100 and RMCWin User Manual 6-52 Note: Prior to RMC CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED sta

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-53 Direction Change Delays Hold time = 16 us Setup time = 112 us plus half ste

RMC100 and RMCWin User Manual 6-54 between the Target Position and the outgoing steps. Each scale is defined as a ratio of two numbers. The user can

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-55 Following Error from being generated. There are several of ways that these

RMC100 and RMCWin User Manual vi Basic Topics ...

RMC100 and RMCWin User Manual 3-10 cable—the maximum cable length is typically limited to 50 feet and there is no isolation. In either case, only a

RMC100 and RMCWin User Manual 6-56 Therefore, our parameters should be as follows: Parameter Value Steps/Rev 720 Position Units/Rev 360 Quad

Quadrature with Stepper Output 6.4 Transducer Interface Modules 6-57 We can improve both of these problems by using hundredths of an inch as our

RMC100 and RMCWin User Manual 6-58 gives a range of 6553.5 inches, and using inches gives a range of 65535 inches. However, this usually increases t

Resolver 6.5 Transducer Interface Modules 6-59 When the axis is stopped outside the In Position Window, compensation will be applied to try to m

RMC100 and RMCWin User Manual 6-60 Resolvers are rotary transformers with one primary winding and two secondary windings. The primary winding is gen

Resolver 6.5 Transducer Interface Modules 6-61 This gives a value between -Scale and +Scale 4. The result is compared with the Coordinate Limit

RMC100 and RMCWin User Manual 6-62 S1 Sine Input + S3 Sine Input - S2 Cosine Input + S4 Cosine Input - Case Controller chassis ground (shield)

Resolver 6.5 Transducer Interface Modules 6-63 6.5.3 Resolver Configuration The resolver interface must be configured properly to work with your

RMC100 and RMCWin User Manual 6-64 Resolver Overview Resolver LED Indicators Resolver Wiring Resolver Scaling Resolver Specifications Rotational Mod

Resolver 6.5 Transducer Interface Modules 6-65 Resolver Interface Axes Two per module Reference Frequency 800 Hz to 5 kHz Reference Output Vol

Connecting to an RMC 3.3 Using RMCWin 3-11 There are three ways to open and close a communication path. Each is described below: To use the Comm

RMC100 and RMCWin User Manual 6-66 Resolver Wiring Resolver Specifications Resolver Scaling 6.5.6 Resolver Scaling Defining the Valid 16-bit Posit

SSI 6.6 Transducer Interface Modules 6-67 Each revolution of the resolver generates 65536 counts. To calculate the Scale parameter, determine ho

RMC100 and RMCWin User Manual 6-68 • Transmission rate independent of data length and resolution • Transmission over long distances • Direct conn

SSI 6.6 Transducer Interface Modules 6-69 RMC SSI Input Six-Pin Plug-in Terminal Block Pin Function 1 SSI Axis + Clock 2 SSI Axis - Clock 3 S

RMC100 and RMCWin User Manual 6-70 4 Case When positive voltage is sent to an axis’s drive, the axis must extend. The extend direction is defined a

SSI 6.6 Transducer Interface Modules 6-71 2. Set all options to your desired settings. 3. Click the Axis 1 tab. 4. Set all options to your de

RMC100 and RMCWin User Manual 6-72 The number of counts at the starting and ending positions are 300,000 and 400,000. However, because there will be

SSI 6.6 Transducer Interface Modules 6-73 3 = Gray Code decreasing (24 bits) 6 = Binary increasing (25 bits) 7 = Gray Code increasing (25 bits)

RMC100 and RMCWin User Manual 6-74 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 d

SSI 6.6 Transducer Interface Modules 6-75 occurred: No Transducer Transducer Noise Transducer Overflow Alternating Red/Green None of the above e

RMC100 and RMCWin User Manual 3-12 options. You can select a slot by clicking on it, or using the LEFT and RIGHT ARROW KEYS to switch between slots.

RMC100 and RMCWin User Manual 6-76 Clock frequency 220 kHz Cable type Twisted pair, shielded Cable length maximum Transducer dependent (approx. 300-

SSI 6.6 Transducer Interface Modules 6-77 For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions

RMC100 and RMCWin User Manual 6-78 recommended that one of these utilities is used, but the underlying math is described below. Method 1: P0/P1 Calc

SSI 6.6 Transducer Interface Modules 6-79 These calculations are done automatically using the SSI Scale/Offset Calibration Utility feature in

RMC100 and RMCWin User Manual 7-0 7 Support and Troubleshooting 7.1 Warranty The RMC100 shall be free from defects in materials and workmanship unde

Troubleshooting 7.2 Support and Troubleshooting 7-1 7.2.2 Error Handling The RMC reports errors to the Programmable Controller within one contro

RMC100 and RMCWin User Manual 7-2 Overdrive Error Position Overflow Parameter Error Integrator Windup Transducer counts field not indicating tra

Troubleshooting 7.2 Support and Troubleshooting 7-3 It is nonlinear when the output is not directly proportional to the input. You may find two

RMC100 and RMCWin User Manual 7-4 oscillate around the set point as the RMC overshoots first in one direction, then the other. Hoses Long hoses betw

Troubleshooting 7.2 Support and Troubleshooting 7-5 Your valve probably has overlap. Replace the valve with a linear one or try increasing the D

Connecting to an RMC 3.3 Using RMCWin 3-13 Note: If the connection to the RMC is lost while this dialog box is displayed, the dialog box will be

RMC100 and RMCWin User Manual 7-6 Your valve may have slow response. Change to a faster valve or add Acceleration Feed Forward. With normal gain

Parameter Errors 7.4 Support and Troubleshooting 7-7 problem. Send the module to: Delta Computer Systems, Inc. 1818 SE 17th St Battle Ground, WA

RMC100 and RMCWin User Manual 7-8 For more details on controlling pressure, refer to Controlling Pressure or Force. 7.4.4 Attempt to go beyond ext

Parameter Errors 7.4 Support and Troubleshooting 7-9 7.4.8 Auto-Repeat Should Not be Used on Linear Axes with a Curve that Does Not Match Endpoi

RMC100 and RMCWin User Manual 7-10 7.4.13 Cannot home an axis while synchronized Homing an axis changes the current position and would confuse a s

Parameter Errors 7.4 Support and Troubleshooting 7-11 7.4.18 Command pressure cannot be less than pressure set B When using Pressure Set Mode, t

RMC100 and RMCWin User Manual 7-12 RETRACT FEED FORWARD parameters have opposite signs, this parameter error will be generated. 7.4.24 Fewer segme

Parameter Errors 7.4 Support and Troubleshooting 7-13 7.4.27 Gear ratio denominator is zero The error indicates that this axis was given a geare

RMC100 and RMCWin User Manual 7-14 commands are specific to only quadrature or only pressure/force control. 7.4.33 Invalid command value This para

Parameter Errors 7.4 Support and Troubleshooting 7-15 7.4.35 Invalid Interval Table Format in the Spline Download Area The Interval Table Form

RMC100 and RMCWin User Manual 3-14 The RMC's serial port has a DTE DB9 serial connector. For further wiring details, see RS232 Wiring. Note: R

RMC100 and RMCWin User Manual 7-16 7.4.39 Invalid Screen Number in the Display LCD Screen ($) Command The screen number indicated in the Command Val

Parameter Errors 7.4 Support and Troubleshooting 7-17 7.4.44 No initialized pressure axis is assigned This parameter error occurs when a move is

RMC100 and RMCWin User Manual 7-18 7.4.47 One or more synced axes are uninitialized This error indicates that at least one of the axes selected to p

Parameter Errors 7.4 Support and Troubleshooting 7-19 pressures. 7.4.53 Reached command position while regulating pressure This parameter erro

RMC100 and RMCWin User Manual 7-20 7.4.58 Resetting the position would cause a position overflow This error occurs when either a Set Position (Z) or

Parameter Errors 7.4 Support and Troubleshooting 7-21 7.4.62 Step Number in Teach (t) or Function (,) Command Out of Range The Command Value of

RMC100 and RMCWin User Manual 7-22 or if the axis was accidentally left out of a new synchronized command. Either one of the following two steps sho

Parameter Errors 7.4 Support and Troubleshooting 7-23 7.4.70 The Accel Field Must Be Zero in the Command Issued The Add (+), Subtract (-), and F

RMC100 and RMCWin User Manual 7-24 Reference command: The ACCELERATION parameter is the Acceleration Limit, and must be a valid value. If this error

Parameter Errors 7.4 Support and Troubleshooting 7-25 7.4.78 Requested sine-move speed too low Note: This parameter error has been eliminated in

Connecting to an RMC 3.3 Using RMCWin 3-15 Signals: RS232 Baud Rate: 38400 Data Bits: 8 Parity: None Stop Bits: 1 Flow Control: None Therefore,

RMC100 and RMCWin User Manual 7-26 7.4.80 Too many spline points. Point not added This parameter error indicates that the maximum total number of sp

Parameter Errors 7.4 Support and Troubleshooting 7-27 When this error occurs, the velocity will be truncated at 65536 position units per second.

Appendix A: Command Reference A-1 Appendix A: Command Reference A.1 General ASCII Commands A.1.1 I-PD Position Move Command Character: ! Decimal: 3

RMC100 and RMCWin User Manual A-2 described below. Use the following tips when tuning I-PD motion: • The Proportional Gain works the same as in the

Appendix A: Command Reference A-3 correctly showing 0. The axis will now control properly. A.1.3 Display LCD Screen Command Character: $ Decimal:

RMC100 and RMCWin User Manual A-4 addresses. See Address Tool for details. This command uses the command fields as follows: Mode: The Mode field con

Appendix A: Command Reference A-5 Suppose that Axis1 needs to go to a position that is 90% of Axis0's Actual Position. This can be done using

RMC100 and RMCWin User Manual A-6 Step 19: This step issues a Go (G) command to Axis1. The Command Value will have been overwritten by step 18 with

Appendix A: Command Reference A-7 If this bit is 0, then the source and destination registers are sign extended the same way as the constant. Bit 0

RMC100 and RMCWin User Manual 3-16 3.3.7.3 Communication Driver: TCP/IP Direct to RMC-ENET Overview Note: This communication driver requires RMC E

RMC100 and RMCWin User Manual A-8 This command performs any of a number of functions on the Actual Positions of any group of axes. The result of the

Appendix A: Command Reference A-9 The binary value 00110011must be converted to hexadecimal or decimal so it can be put into the speed parameter. T

RMC100 and RMCWin User Manual A-10 If this bit is 0, then the source and destination registers are sign extended the same way as the constant. Bit 0

Appendix A: Command Reference A-11 Note: This command should only be used in the Event Step table. This command does nothing when issued directly f

RMC100 and RMCWin User Manual A-12 These links types already define both true and false actions, and therefore should not be used with the Poll comm

Appendix A: Command Reference A-13 entire polling loop by one control loop (1 or 2 ms). Step 15 will be jumped to when an Overdrive Error occurs. I

RMC100 and RMCWin User Manual A-14 overdrive error occurs, and otherwise jumps to step 13 when the axis gets in position. Here is a summary of the a

Appendix A: Command Reference A-15 Command Value: 0 = Disable AMP, 1 = Enable AMP Note: This command is only available in RMC100 CPU firmware dat

RMC100 and RMCWin User Manual A-16 • You specified a positive command value, but not that many segments are available on that axis. All segments wi

Appendix A: Command Reference A-17 change in deceleration takes place immediately if a move is in progress. A.1.15 Start Events Command Character

Connecting to an RMC 3.3 Using RMCWin 3-17 Comparison with Other Communication Drivers This driver is up to 100 times faster than the other dri

RMC100 and RMCWin User Manual A-18 a spline. The In Position bit of the Status will be cleared when this command begins and will be set when the axi

Appendix A: Command Reference A-19 includes superimposed mode. The above description of this command is appended in the following ways: • The Gear

RMC100 and RMCWin User Manual A-20 Speed Control with Velocity Loop (Rotational bit set): This command is identical to Speed Control with Position L

Appendix A: Command Reference A-21 A.1.21 Set Integral Drive to Null Drive Command Character: i Decimal: 105 Hexadecimal: 0x69 Command Value: Unuse

RMC100 and RMCWin User Manual A-22 Command Value: Drive Limit, in millivolts Note: This command is available only in RMC CPU firmware dated 200003

Appendix A: Command Reference A-23 Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational Mode. Chang

RMC100 and RMCWin User Manual A-24 Note: For pressure/force axes, this command will take effect on the analog module’s drive output, if one is avail

Appendix A: Command Reference A-25 and then accelerate from 0 to 2000mV. To ensure that this deceleration happens quickly, the deceleration must be

RMC100 and RMCWin User Manual A-26 position axes, issuing this command to a pressure or force axis will result in a parameter error. A.1.32 Reset

Appendix A: Command Reference A-27 middle of a move. For example, suppose the integral drive is saved while the move is taking place. If during the

RMC100 and RMCWin User Manual 3-18 3. In the shortcut menu, click the IP address of the RMC you want to communicate with. An alternative way to s

RMC100 and RMCWin User Manual A-28 create unrealistic accelerations and are therefore not allowed. This error is indicated by the Parameter Error bi

Appendix A: Command Reference A-29 End Spline Segment (zero command value) When the command value is zero, this command will perform final calcul

RMC100 and RMCWin User Manual A-30 power loss or reset. While a Flash update is in progress, the green CPU LED will flash. Removing power while the

Appendix A: Command Reference A-31 Hexadecimal: 0x76 Command Value: New Speed Value (Signed) This command sets the Speed of the axis to the Comma

RMC100 and RMCWin User Manual A-32 between the Retract Limit and the Extend Limit. Acceleration Acceleration Limit: This parameter limits the rate t

Appendix A: Command Reference A-33 The Spline Relative Sine Move (w) command parameters are defined as follows: Command Parameter Description Mode

RMC100 and RMCWin User Manual A-34 A.1.46 New Spline Point Command Character: X or x Decimal: 88 or 120 Hexadecimal: 0x58 or 0x78 Command Value: Req

Appendix A: Command Reference A-35 This command is used to set the Target Position to any value. This command also changes the Command Position and

RMC100 and RMCWin User Manual A-36 This command uses the Command Value to determine which outputs to reset. It uses the Command Value in the same

Appendix A: Command Reference A-37 Value Digit Digit Di 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

Connecting to an RMC 3.3 Using RMCWin 3-19 • Communications Update Rate slider: This slider adjusts a delay that is inserted between transactio

RMC100 and RMCWin User Manual A-38 This command is used to start event sequences on one or more axes simultaneously. This is done by simulating a ri

Appendix A: Command Reference A-39 o …the Graph Disable, Rotational, and Monitor Pressure bits may be set if desired. o The Acceleration field is

RMC100 and RMCWin User Manual A-40 o The distance the user wishes the slave to travel (given by the Command Value) is added to the distance that th

Appendix A: Command Reference A-41 The 16-bit Command Value is split into two bytes. The upper 8 bits specify which bits are to be cleared. For e

RMC100 and RMCWin User Manual A-42 Acceleration: Not Used. Stopping a Sine Move Continuous in Progress: The cycling can be stopped by issuing

Appendix A: Command Reference A-43 position will be truncated to the maximum or minimum position until the spline re-enters the limits. A.1.58 Ma

RMC100 and RMCWin User Manual A-44 1 0 Target Positive 2 0 Actual Positive 10 1 Command Positive 11 1 Target Positive 12 1 Actual Posi

Appendix A: Command Reference A-45 eight axes as the base for the move. The table below shows which command to use to select the desired base: Comm

RMC100 and RMCWin User Manual A-46 Why Bother? These commands are handy when exiting open loop or pressure mode and re-synchronizing axes. Remember

Appendix A: Command Reference A-47 0xDC 220 Dead Band Eliminator Compensation Window (2) Invalid command 0xDD 221 In Position Window In Position Wi

RMC100 and RMCWin User Manual vii LCD Screen Editor: Overview ...

RMC100 and RMCWin User Manual 3-20 3.3.7.6 Communication Driver: TCP/IP-to-RS232 Bridge Configuration Note: This communication driver requires RMC10

RMC100 and RMCWin User Manual A-48 the Bias Drive command. The possible values are: Mode 1 The Pressure Set A and Pressure Set B fields use units of

Appendix A: Command Reference A-49 in mode 2. • Monitor Pressure Bit (bit 8): Clearing this bit while regulating pressure will drop the axis out o

RMC100 and RMCWin User Manual A-50 requested value. Acceleration is used when the drive output is moving away from 0 and deceleration is used when d

Appendix A: Command Reference A-51 Command Value: Unused When a 'P' command is given all initialization parameters are updated. Tip: If

RMC100 and RMCWin User Manual A-52 seconds into the ramp, this command is issued with a Command Value of 4000. Therefore, because one fourth of the

Appendix A: Command Reference A-53 details. A.2.10 Set Pressure Set B Command Character: _ Decimal: 95 Hexadecimal: 0x5F Command Value: Pressure

RMC100 and RMCWin User Manual A-54 0xD8 216 Extend Feed Fwd. Steps/Rev (2) Extend Feed Fwd 0xD9 217 Retract Feed Fwd. Pos. Units/Rev (2) Retra

Appendix A: Command Reference A-55 1111|11 | | Bit#5432|1098|7654|3210 ------------------- 0AAA|RRRR|0000|0000 No command 0AA

RMC100 and RMCWin User Manual A-56 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 ignore

Appendix A: Command Reference A-57 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

Basic Topics 3.4 Using RMCWin 3-21 • Configure RMCWin for the TCP/IP-to-RS232 Bridge Driver After you have set up the bridge, it is time to sel

RMC100 and RMCWin User Manual A-58 After the command value is acknowledged, the Auto Stop Error bits are returned on the following digital outputs:

Appendix A: Command Reference A-59 The following table lists all commands that can be issued over the RMC’s PROFIBUS-DP Compact Mode: 1111|11

RMC100 and RMCWin User Manual A-60 These bits are used by the selected command. Refer to the command you wish to use for information on bits marked

Appendix A: Command Reference A-61 A.3.3 Receiving Data from the Motion Controller The method of receiving data from the RMC in the PLC depends o

RMC100 and RMCWin User Manual A-62 ------------------- HEX |SAR |CMND|INDX VALUE ------------------- 0X00 0AAA|XXXX|0000|0000 NO COMMAND 0X01 0AAA|X

Appendix A: Command Reference A-63 O+3 0000|XXXX|0000|1011 (0X0B) Issue an Open Loop using Profile 11 command +4 4000 (0FA0) Reques

RMC100 and RMCWin User Manual A-64 0X11 0AAA|XXXX|0001|0001 Set SCALE 0X12 0AAA|XXXX|0001|0010 Set OFFSET 0X13 0AAA|XXXX|0001|0011 Set EXTEND LIMIT

Appendix A: Command Reference A-65 0000|XXXX|0001|0011 (0X13) Set axis 0 Extend Limit Receive after Acknowledge: XXXX|XXXX (XX) Low

RMC100 and RMCWin User Manual A-66 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

Appendix A: Command Reference A-67 Looking at the chart above, we can see that we issue Set Profile commands to axis 0 to set profile 2 and we

RMC100 and RMCWin User Manual 3-22 possible views at the top of the menu. Each view is described below: • Full Horizontal View: This view displays

RMC100 and RMCWin User Manual A-68 O+1 0X2Ah (Set profile 2 DECEL) O+2 70 (Value of profile 2 DECEL) O+3 0X2Eh (Set profile 7 DECEL) O+4 70

Appendix A: Command Reference A-69 SPEED 12000 Looking at the chart above, we can see that Set Profile commands must be to axis 1 to set profile

RMC100 and RMCWin User Manual A-70 XXXX|XXXX (XX) High byte of requested data Fourth Command: Send on Command Strobe going high: 0

Appendix A: Command Reference A-71 position axis, it issues a Go (G) command to the axis after copying the selected profile to the Mode, Accel, DEC

RMC100 and RMCWin User Manual A-72 Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to mov

Appendix A: Command Reference A-73 1111|11 | | BIT# 5432|1098|7654|3210 ------------------- HEX | |CMND|INDX VALUE ---------------

RMC100 and RMCWin User Manual A-74 O+3 0000|0000|1001|0001 (0091) Requests Scale for axis 1 +4 XXXX|XXXX|XXXX|XXXX (XXXX) Ignored After the Synchro

Appendix A: Command Reference A-75 ------------------- HEX | |CMND|INDX VALUE------------------- 0XA0 0AAA|XXXX|1010|0000 GET PROFILE

RMC100 and RMCWin User Manual A-76 The data returned where the Status Area Request data would be returned is the requested profile field. Exampl

Appendix A: Command Reference A-77 I+3 XXXXh (Axis 1 STATUS) I+4 0001h (Profile 7 MODE) We can now send the second set of requests: O+1 00A

Basic Topics 3.4 Using RMCWin 3-23 • Half View: This view displays either the status and command areas or the plot time and parameter areas of

RMC100 and RMCWin User Manual A-78 Fourth scan: After the Synchronization Output register is incremented, the RMC will process the commands and upda

Appendix A: Command Reference A-79 Profile commands to axis 1 to get profile 7. Suppose that the RMC had the following values for profile 7: PROF

RMC100 and RMCWin User Manual A-80 0001|0000|1010|1010 (10AA) Get Profile 7 Decel Receive after Acknowledge: 0100|0110 (46) Low byte

Appendix A: Command Reference A-81 ------------------- HEX | |CMND|INDX VALUE------------------- 0xD0 0000|XXXX|1101|0000 SET CONFIG W

RMC100 and RMCWin User Manual A-82 +2 150 (0096) New Proportional Gain value O+3 0000|XXXX|1101|0101 (0XD5) Sets axis 1 Proportiona

Appendix A: Command Reference A-83 0XE2 0AAA|XXXX|1110|0010 Parameter to Modify (0 to 7) 0XE3 0AAA|XXXX|1110|0011 Value to be Used For command ty

RMC100 and RMCWin User Manual A-84 0) Second scan: O+1 0XE1h (Set End Step Number) O+2 99 (End Step Number of 99) Third scan: O+1

Appendix A: Command Reference A-85 XXXX|XXXX (XX) High byte of requested data Second scan: Send on Command Strobe going high: 0000|

RMC100 and RMCWin User Manual A-86 A.3.14 Command/Commanded Axes In order to fit a single Event Step into eight words, the Command and Commanded A

Appendix A: Command Reference A-87 Example A DelayMS (D) Link Type needs to be used, which will link next to step 10. Since the hexadecimal value f

RMC100 and RMCWin User Manual 3-24 To select a single cell from the keyboard: 1. Use the arrow keys to highlight a different cell. To select mu

RMC100 and RMCWin User Manual A-88 +4 1000|0100|0010|0001 (8421) Same as Output Example for Digital I/O: Suppose you want to test using the Digit

Appendix A: Command Reference A-89 reading a full graph can be quite slow. For higher performance, consider using the RMC PROFIBUS in Message Mode

RMC100 and RMCWin User Manual A-90 24 0x6000-0x63FF Axis 2 Option Data A 25 0x6400-0x67FF Axis 2 Option Data B 26 0x6800-0x6BFF Axis 3 Target Posi

Appendix A: Command Reference A-91 0xB3FF Position/Pressure 45 0xB400-0xB7FF Axis 6 Actual Position/Pressure 46 0xB800-0xBBFF Axis 6 Status Bits 4

RMC100 and RMCWin User Manual A-92 o Raw Transducer Counter. o Option Data A: Low 16 bits of the transducer counter. o Option Data B: Transducer-

Appendix A: Command Reference A-93 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.

RMC100 and RMCWin User Manual A-94 Command Register Data Register E000 Step 0 MODE E001 Step 0 ACCELERATION E002 Step 0 DECELERATION E003 Step 0 SP

Appendix A: Command Reference A-95 E805 Step 0 COMMAND/COMMANDED AXES E806 Step 0 LINK TYPE/NEXT E807 Step 0 LINK VALUE E808 Step 1 MODE E809 Step

Appendix B: Command Field Reference B-1 Appendix B: Command Field Reference B.1 Position Command Fields B.1.1 MODE (Non-Pressure/Force) Default: 0x

Basic Topics 3.4 Using RMCWin 3-25 Read-back Mode In this mode, the Command and Parameter areas will be continually read from the RMC. This mode

RMC100 and RMCWin User Manual B-2 Position. If this bit is set, the slave is geared based on the Actual Position. For details on gearing, see Gearin

Appendix B: Command Field Reference B-3 Bit 9 - Rotational Bit This bit needs to be set for most applications where the axis will be rotating mul

RMC100 and RMCWin User Manual B-4 • Go (G) • Move Relative (J) • Sine Move (~) • Follow Spline (f) • Follow Spline Relative Bit 6 - Quick Mod

Appendix B: Command Field Reference B-5 • Halt Bits 2-3 - Integrator Mode Select These two bits define four integrator modes: Bit # 3 2 Mode 0 -

RMC100 and RMCWin User Manual B-6 B.1.2 Mode (Non-Pressure/Force) Bit Map The axis Mode word contains 16 bits of information. The hexadecimal table

Appendix B: Command Field Reference B-7 Range: 0 to 65535 This parameter defines the acceleration ramp rate used by the axis for a move. It has f

RMC100 and RMCWin User Manual B-8 In Mode 3, it defines the time (in milliseconds) it will take to ramp to the specified Speed. B.1.4 Deceleration

Appendix B: Command Field Reference B-9 ',' (Function) Destination Step 0 to 255 '?' (Poll) Extended Link Value Depends on

RMC100 and RMCWin User Manual B-10 ’r;{ ’r; (Simulate rising edge) Input to simulate 0 to 15 ’r;}’ (Simulate falling edge) Input to simulate 0 t

Appendix B: Command Field Reference B-11 Arm Home Input @ 64 0x40 Change Acceleration A 65 0x41 Amp Enable/Disable a 97 0x61 Clear Spline

RMC100 and RMCWin User Manual 3-26 RMC CPU Firmware This area lists the firmware versions of either the currently connected RMC, or, if offline, the

RMC100 and RMCWin User Manual B-12 Reset Position q 113 0x71 Restore Null Drive R 82 0x52 Restore Integral Drive r 114 0x72 Save Null Drive

Appendix B: Command Field Reference B-13 0xDF This chart shows commands that can be issued to pressure axes: Description ASCII Decimal Hex Set

RMC100 and RMCWin User Manual B-14 Bit 4 - Ramp Time Type This bit affects the value used for the Ramp Time when the axis begins regulating pressure

Appendix B: Command Field Reference B-15 B.2.3 Pressure Set A Default: 0 Range: Valid Pressure Units Pressure Set A is used by Pressure Set Mo

RMC100 and RMCWin User Manual B-16 Pressure Set A, the axis begins regulating pressure. There are two ways to set the this field: • Issue a Set Pre

Appendix B: Command Field Reference B-17 • The second type of ramp occurs when the axis enters pressure mode. In this case the pressure is general

RMC100 and RMCWin User Manual B-18 'A' (Change Accel) Acceleration value 0 to 65,535 ’r;a’ (Amp Enable/Disable) Enable/Disable 0=disab

Appendix B: Command Field Reference B-19 ’r;|’ (Set Pressure Set A) Pressure Any Valid Pressure ’r;\’ (Set Ramp Time) Milliseconds 0 to 65535 ’

RMC100 and RMCWin User Manual B-20 Clear Spline Segments C 67 0x43 Set Position/Pressure c 99 0x63 Change Deceleration D 68 0x44 Start Even

Appendix B: Command Field Reference B-21 Save Null Drive S 83 0x53 Save Integral Drive s 115 0x73 Set Spline Interval T 84 0x54 Teach Step

Basic Topics 3.4 Using RMCWin 3-27 3.4.8 Using the Status Bits Window The Status Bits window displays the bits of the Status words for each axis

RMC100 and RMCWin User Manual B-22 Description ASCII Decimal Hex Set Pressure Set A | 124 0x7C Set Bias Drive B 66 0x42 Start Events E 69 0

Appendix C: Parameter Field Reference C-1 Appendix C: Parameter Field Reference C.1 MDT, SSI, Analog, Resolver Position Parameters C.1.1 Configurat

RMC100 and RMCWin User Manual C-2 assigned. 0 1 The second auxiliary pressure/force axis is assigned. 1 0 The third auxiliary pressure/force axis i

Appendix C: Parameter Field Reference C-3 the move. The drive will not go negative if the motion controller overshoots the target. This is useful f

RMC100 and RMCWin User Manual C-4 and Retract Feed Forward . C.1.2 Configuration Word Bit Map The axis Configuration word contains 16 bits of info

Appendix C: Parameter Field Reference C-5 C.1.3 Configuration Bits - MDT Specific Transducer Type - Bits 12-15 15 14 13 12 Transducer Type 0 0 0

RMC100 and RMCWin User Manual C-6 to 65535 minus the "extra" counts. To correct for this effect the module calculates the "extra"

Appendix C: Parameter Field Reference C-7 C.1.6 Configuration Bits - Resolver Specific Bits 12 - Resolver Resolution This bit selects the resolut

RMC100 and RMCWin User Manual C-8 C.1.8 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with q

Appendix C: Parameter Field Reference C-9 and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless different

RMC100 and RMCWin User Manual 3-28 Opening and Closing the Command Log Window To open the Command Log window, do one of the following from the mai

RMC100 and RMCWin User Manual C-10 Think about this: Internally, the motion controller must compare the error between the Target and Actual Position

Appendix C: Parameter Field Reference C-11 First, this is a gain multiplied by the current rate of change in the position error. The differential d

RMC100 and RMCWin User Manual C-12 TIP: After the axis has made a complete move without oscillations or overdrive errors, use the 'F' co

Appendix C: Parameter Field Reference C-13 gains. C.1.15 Retract Feed Forward Default: 100 Range: 0 to 65535 Same as Extend Feed Forward, excep

RMC100 and RMCWin User Manual C-14 Range: 0 to 2000 Some valves and drives do not react to small changes in output around the null drive value; th

Appendix C: Parameter Field Reference C-15 If an axis Command Position is 10,000 and the In Position parameter is 30, the In Position bit will be s

RMC100 and RMCWin User Manual C-16 The fault will be reflected in its corresponding status bit in the Status word, but no further action will be tak

Appendix C: Parameter Field Reference C-17 0 0 Status Only 0 1 Soft Stop 1 0 Hard Stop 1 1 Disable Drive If you select Status Only for a fault that

RMC100 and RMCWin User Manual C-18 If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and

Appendix C: Parameter Field Reference C-19 C.2 Quadrature with Analog Output Parameters C.2.1 Configuration Word Default: 0x0000 This 16-bit word

Basic Topics 3.4 Using RMCWin 3-29 2. In the File name box, enter the name of the file. 3. Click Save. Note: As soon as the Save command is cl

RMC100 and RMCWin User Manual C-20 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a posit

Appendix C: Parameter Field Reference C-21 This bit affects what happens when the module loses contact with the Programmable Controller. When this

RMC100 and RMCWin User Manual C-22 C.2.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the

Appendix C: Parameter Field Reference C-23 Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14

RMC100 and RMCWin User Manual C-24 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For det

Appendix C: Parameter Field Reference C-25 • Scaling Stepper Axes • Scaling Resolver Axes What if it is displayed under RMCWin incorrectly? The

RMC100 and RMCWin User Manual C-26 C.2.8 Proportional Gain Default: 1 Range: 0 to 65535 The Proportional Gain controls how much drive is generated

Appendix C: Parameter Field Reference C-27 that you set the Integral Gain to a value of at least 50. Integral Gain is defined as: Integral Gain

RMC100 and RMCWin User Manual C-28 where: Kd= Differential Gain in mV/[pos-units/s] TarVel = target velocity in pos-units/s ActVel = actual v

Appendix C: Parameter Field Reference C-29 above and solving for the Feed Forward term gives the follow relationship: Feed Forward <= (10,000

RMC100 and RMCWin User Manual viii Curve Tool: Editing Cells ...

RMC100 and RMCWin User Manual 3-30 since RMCWin was started. The axis each error occurred on and a short description of the error is listed in this

RMC100 and RMCWin User Manual C-30 The Acceleration Feed Forward provides a second order approximation ( prediction ) of how much drive is requ

Appendix C: Parameter Field Reference C-31 CAUTION: Do not make this value too large or the drive will oscillate. Selecting a Deadband Algorithm To

RMC100 and RMCWin User Manual C-32 which error bits cause which levels of stop, or whether an error will cause a stop at all. The default setting of

Appendix C: Parameter Field Reference C-33 fault type and click OK. Changes to this parameter do not take effect until you issue a Set Parameters (

RMC100 and RMCWin User Manual C-34 If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and

Appendix C: Parameter Field Reference C-35 C.3 Quadrature with Stepper Output Parameters C.3.1 Configuration Word Default: 0x0000 This 16-bit wor

RMC100 and RMCWin User Manual C-36 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a posit

Appendix C: Parameter Field Reference C-37 This bit affects what happens when the module loses contact with the Programmable Controller. When this

RMC100 and RMCWin User Manual C-38 C.3.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the

Appendix C: Parameter Field Reference C-39 Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14

Basic Topics 3.4 Using RMCWin 3-31 partial profile use any of these methods: • Hold down CTRL and press the number of the stored command you wi

RMC100 and RMCWin User Manual C-40 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For det

Appendix C: Parameter Field Reference C-41 C.3.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Lim

RMC100 and RMCWin User Manual C-42 C.3.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is used with

Appendix C: Parameter Field Reference C-43 Degrees 360 Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thou

RMC100 and RMCWin User Manual C-44 Range: 1 to 1024 steps per millisecond This parameter is available only on stepper axes. It is used to ensure t

Appendix C: Parameter Field Reference C-45 Range: 0 to 65535 The Following Error determines how large the difference between the Target Position

RMC100 and RMCWin User Manual C-46 and Encoder Error/Fault Input. This is done because the position feedback is not dependable and closed loop contr

Appendix C: Parameter Field Reference C-47 C.3.17 Auto Stop Bit Map The table below provides an easy method to convert bit patterns to hexadecima

RMC100 and RMCWin User Manual C-48 C.4 SSI with Stepper Output Parameters C.4.1 Configuration Word Default: 0x0000 This 16-bit word controls the c

Appendix C: Parameter Field Reference C-49 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis t

RMC100 and RMCWin User Manual 3-32 3.4.14 Using Multiple RMCs RMCWin can keep track of several RMCs. The following pieces of information are associa

RMC100 and RMCWin User Manual C-50 This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is se

Appendix C: Parameter Field Reference C-51 C.4.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to se

RMC100 and RMCWin User Manual C-52 Bit 15 Active Input State 0 No current applied 1 Current Applied Limit Inputs Active State - Bit 14 Determine

Appendix C: Parameter Field Reference C-53 1 Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched

RMC100 and RMCWin User Manual C-54 C.4.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specif

Appendix C: Parameter Field Reference C-55 C.4.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is u

RMC100 and RMCWin User Manual C-56 Degrees 360 Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thousandths o

Appendix C: Parameter Field Reference C-57 C.4.12 Max Steps/MSec Default: 1024 Range: 1 to 1024 steps per millisecond This parameter is available

RMC100 and RMCWin User Manual C-58 C.4.15 Following Error Default: 250 Range: 0 to 65535 The Following Error determines how large the difference b

Appendix C: Parameter Field Reference C-59 down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not be af

Basic Topics 3.4 Using RMCWin 3-33 .bd1 .plt .st1 .fn1 .pr1 .i2e .log .Crv .lcd .map Board Parameter File Plot Data File Event Step F

RMC100 and RMCWin User Manual C-60 If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for

Appendix C: Parameter Field Reference C-61 executed and the Amp Enable output will be opened on QUAD and STEP axes. C.5 Pressure/Force Parameters

RMC100 and RMCWin User Manual C-62 Note: This bit is only available on pressure-only and force-only control axes and not on auxiliary pressure and f

Appendix C: Parameter Field Reference C-63 C.5.3 Configuration Bits - Analog Specific Analog Input Type - Bits 12-14 Use the following table to

RMC100 and RMCWin User Manual C-64 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

Appendix C: Parameter Field Reference C-65 1. Transducer Compensation: The Scale parameter compensates for differences in analog transducers. Each

RMC100 and RMCWin User Manual C-66 C.5.6 Pressure/Force Scale and Offset Calculation Examples Example 1 Suppose a pressure transducer gives an outpu

Appendix C: Parameter Field Reference C-67 Example 2 Suppose a pressure transducer gives an output from 4 to 20mA. This range is represented by C

RMC100 and RMCWin User Manual C-68 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

Appendix C: Parameter Field Reference C-69 Note: Use positive Feed Forward and Gain values if the pressure increases in the extend direction, and

RMC100 and RMCWin User Manual 3-34 • The plot times will be set to the minimum (1ms for 1ms control loops, 2ms for 2ms control loops). • The hardw

RMC100 and RMCWin User Manual C-70 Integral Gain = 0.1 mV per 1024 counts of accumulated Pressure Error Integral Drive is defined as: Integral Drive

Appendix C: Parameter Field Reference C-71 changing. This value is expressed in terms of millivolts per 1,000 Pressure Units per second. Extend Fee

RMC100 and RMCWin User Manual C-72 C.5.13 Filter Time Constant (Pressure/Force) Default: 0 (disabled) Range: 1 to 65,535 milliseconds, or 0 to disab

Appendix C: Parameter Field Reference C-73 C.5.15 At Pressure Default: 50 Range: 0 to 65535 At Pressure specifies the size of a window around the

RMC100 and RMCWin User Manual C-74 7 Encoder Error/Fault Encoder Error/Fault No Transducer 6 Extend Limit Extend Limit Transducer Noise 5 Retract L

Appendix C: Parameter Field Reference C-75 S 12 Fault 4 - Bit S 4 Fault 4 - Bit H 11 Fault 3 - Bit S 3 Fault 3 - Bit H 10 Fault 2 - Bit S 2 Fault

RMC100 and RMCWin User Manual C-76 If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and

Appendix C: Parameter Field Reference C-77 C.6 Analog Reference Parameters C.6.1 Configuration Word Default: 0x0000 This 16-bit word controls the

RMC100 and RMCWin User Manual C-78 1 1 The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a posit

Appendix C: Parameter Field Reference C-79 This bit affects what happens when the module loses contact with the Programmable Controller. When this

Basic Topics 3.4 Using RMCWin 3-35 selected board file into the currently open board file. The filename will not change on the currently open bo

RMC100 and RMCWin User Manual C-80 C.6.3 Configuration Bits - Analog Specific Analog Input Type - Bits 12-14 Use the following table to select th

Appendix C: Parameter Field Reference C-81 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

RMC100 and RMCWin User Manual C-82 C.6.5 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with

Appendix C: Parameter Field Reference C-83 and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless differen

RMC100 and RMCWin User Manual C-84 By lowering the Velocity Limit parameter, the Target Position changes to the following: The Velocity Limit is ig

Appendix C: Parameter Field Reference C-85 By lowering the Acceleration Limit parameter, the Target Position changes to the following: Notice tha

RMC100 and RMCWin User Manual C-86 Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter allows filteri

Appendix C: Parameter Field Reference C-87 This and the other position filter parameters can also be changed through the Reference (W) command. Fo

RMC100 and RMCWin User Manual C-88 Range: 0 to 65535 This parameter specifies the size of a window around the Command Position. When the Actual Po

Appendix C: Parameter Field Reference C-89 2 Home Input Home Input Pos./Press. Overflow 1 Integrator Windup Compensation Timeout Integrator Wind

RMC100 and RMCWin User Manual 3-36 This situation can be avoided using this command, which does not open the new board file, but instead transfers e

RMC100 and RMCWin User Manual C-90 S 9 Fault 1 - Bit S 1 Fault 1 - Bit H 8 Fault 0 - Bit S 0 Fault 0 - Bit H For each fault, the two bits in the A

Appendix C: Parameter Field Reference C-91 If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be exec

Appendix D: Status Field Reference D-1 Appendix D: Status Field Reference D.1 Valid 16-Bit Positions The positions used by the RMC are stored in a

RMC100 and RMCWin User Manual D-2 Offset: 40,000 Position Range: -25,535 to 40,000 Discussion: Because Scale is negative, the positions range from O

Appendix D: Status Field Reference D-3 During a move the path of the Target Position toward the Command Position will be the perfect profile for th

RMC100 and RMCWin User Manual D-4 your Scale and Offset settings. For pressure axes, this field is renamed COUNTS A. For force axes, there are two c

Appendix D: Status Field Reference D-5 Example 2: A single-turn rotary absolute encoder with SSI feedback has 8192 counts per revolution. The cou

RMC100 and RMCWin User Manual D-6 >10.08V 32,767* >10.07V 65,535* 10.00V 32,500 10.00V 65,100 0.00V 0 0.00V 100 <-0.50

Appendix D: Status Field Reference D-7 Pressure, Force, Velocity Position Input Counts Input Counts >20.16mA 32,767* >20.13mA 6

Basic Topics 3.4 Using RMCWin 3-37 7. Under First position, click Use Current, which copies the COUNTS on this axis being calibrated to the Cou

RMC100 and RMCWin User Manual D-8 Bit 15 (MDT, SSI, Analog, Resolver) - No Transducer This error bit is set to indicate that the transducer is not r

Appendix D: Status Field Reference D-9 This bit only applies to position axes. Therefore, analog velocity, pressure, and force axes never set this

RMC100 and RMCWin User Manual D-10 The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter.

Appendix D: Status Field Reference D-11 The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop param

RMC100 and RMCWin User Manual D-12 1. The Arm Home (@) command is issued. Without this command the Actual Position will not latch to the home posi

Appendix D: Status Field Reference D-13 This error bit is cleared when any of the commands listed above is issued, and the underlying error conditi

RMC100 and RMCWin User Manual D-14 • A spline has been successfully downloaded to this axis through the Spline Download Area. The Spline Download A

Appendix D: Status Field Reference D-15 Quick moves are initiated using the Go (G and g) command with the Quick Move mode bit set. The state bits i

RMC100 and RMCWin User Manual D-16 Sine Moves Sine moves are started using the Sine Move (~) command. In this state, the state bits indicate whether

Appendix D: Status Field Reference D-17 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 mo

RMC100 and RMCWin User Manual 3-38 • If you had the extend and retract limits set correctly, click Use current limits, adjusted for new Scale and O

RMC100 and RMCWin User Manual D-18 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) th

Appendix D: Status Field Reference D-19 * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause ei

RMC100 and RMCWin User Manual D-20 * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a

Appendix D: Status Field Reference D-21 using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in st

RMC100 and RMCWin User Manual D-22 T is the sample period (control loop time) Suppose that the sample period (control loop time) is 1 millisecon

Appendix D: Status Field Reference D-23 For DelayMS (D) and DelayTicks (d) link types, this field displays the number of delay units left (in eithe

RMC100 and RMCWin User Manual D-24 D.3.4 Status (Pressure/Force) The pressure Status word contains 16 bits of information about the condition of the

Appendix D: Status Field Reference D-25 not always be available. However, the motion controller does try to replace the erroneous value with anothe

RMC100 and RMCWin User Manual D-26 Not Regulating Pressure 0 0 Increasing Pressure 0 1 Constant Pressure 1 0 Decreasing Pressure 1 1 Bit 1 - Regu

Appendix D: Status Field Reference D-27 * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause ei

Basic Topics 3.4 Using RMCWin 3-39 • The desired ratio of quadrature counts to position units. Recall that there are four quadrature counts per

RMC100 and RMCWin User Manual D-28 using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in steps of

Appendix E: Event Step Link Reference E-1 Appendix E: Event Step Link Reference E.1 Link Types and Link Values Link Type and Link Value specify the

RMC100 and RMCWin User Manual E-2 Delay Wait for either a number of milliseconds or a number of counts on the edge or quadrature counter (if availa

Appendix E: Event Step Link Reference E-3 Link Type Description Position/Pressure Wait for the position on an axis to be above or below a specifie

RMC100 and RMCWin User Manual E-4 E.4 System-wide Link Types E.4.1 Link Type - End of sequence Link Type: 0 (hex 0x00, dec 0) Link Value: Reserved -

Appendix E: Event Step Link Reference E-5 from the master. When this value is changed, the link type copies it into the Extended Link Value, so a n

RMC100 and RMCWin User Manual E-6 • Steps 11 and 12 are executed normally. • When step 10 is reached, the event sequence pauses again, waiting for

Appendix E: Event Step Link Reference E-7 counter. If a counter is enabled, this link type will wait until the specified number of ticks have occur

RMC100 and RMCWin User Manual E-8 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

Appendix E: Event Step Link Reference E-9 • The main sequence could be much more sophisticated, such that the axes do not always move together, wh

RMC100 and RMCWin User Manual ix Speed Control ...

RMC100 and RMCWin User Manual 3-40 6. Click Apply, which sets the Scale, Coord. Limit, Extend Limit, and Retract Limit. 7. Click Done. 8. Issue a

RMC100 and RMCWin User Manual E-10 • 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

Appendix E: Event Step Link Reference E-11 even if you do), you should use the Link Type and Link Value dialog box to edit these link types. • If

RMC100 and RMCWin User Manual E-12 and Level Low (o) link types when polling. These link types wait for an event on a single discrete input. This

Appendix E: Event Step Link Reference E-13 Example 2: Link Type: InputLow (o) Link Value: 0 Link Next: 15 This link waits until input bit 0 of th

RMC100 and RMCWin User Manual E-14 1 1 Current Event Step + 4 Note: If the next Event Step would be greater than 255, then the event step will wr

Appendix E: Event Step Link Reference E-15 Using without the Link Type and Link Value Dialog Box 1. Enter a 'J' for the Link Type. 2. E

RMC100 and RMCWin User Manual E-16 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 L

Appendix E: Event Step Link Reference E-17 (+), Subtract (-), and MulDiv ('). These link types evaluate the results of the last math command t

RMC100 and RMCWin User Manual E-18 4. If you selected to jump on a comparison, then select the comparison type (=, <, >, etc.) and enter the

Appendix E: Event Step Link Reference E-19 Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Bas

Basic Topics 3.4 Using RMCWin 3-41 Scale/Offset Calibration Utility: 1. Obtain the following information: • Pressure Gauge Scale: This is the

RMC100 and RMCWin User Manual E-20 axis must be just as far ahead or behind its respective Target Position. This allows the target positions to be d

Appendix E: Event Step Link Reference E-21 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Skew Det

RMC100 and RMCWin User Manual E-22 Examples 2 and 3 below. • The Timer (T and t) link types allow multiple times to be checked since the beginning

Appendix E: Event Step Link Reference E-23 Command G G Commanded Axes Default Default Default Default Link Type TimerSt/Exp BitsON BitsON Timer

RMC100 and RMCWin User Manual E-24 Step 13 immediately links back to step 11 to restart the polling loop. Notice that this extra step does take one

Appendix E: Event Step Link Reference E-25 • The disadvantage of this method is that many users will find it confusing to have to reverse the sens

RMC100 and RMCWin User Manual E-26 • If you want to take the link when the timer has not yet reached its preset, select Link if the Timer is Not Ex

Appendix E: Event Step Link Reference E-27 E.5 Current Axis Link Types E.5.1 Link Type - Current Axis Absolute Limit Switch Link Type: TarPos (L, h

RMC100 and RMCWin User Manual E-28 Value: Range: 0 to 65,535 position units This family of link types waits for the position of the current axis t

Appendix E: Event Step Link Reference E-29 Link Type Position Used Relative To R Target Position Start of Move r Actual Position Start of Move N Ta

RMC100 and RMCWin User Manual 3-42 Because the surface areas on either side of the piston are equal, the scales and offsets will be equal for each p

RMC100 and RMCWin User Manual E-30 1. Select the Link Type: Use 'P' to compare with the Actual Pressure, 'p' to compare with th

Appendix E: Event Step Link Reference E-31 1. Under Link Type Category, select Current Axis (Basic). 2. Under Link Type, select Status Bits. 3.

RMC100 and RMCWin User Manual E-32 6. Under Link Condition, enter the Limit position in the Threshold box. Using without the Link Type and Link Val

Appendix E: Event Step Link Reference E-33 3. Under Link Type, select Speed. 4. Under Link Condition, select whether you wish to use Target or Ac

RMC100 and RMCWin User Manual E-34 4. Under Link Condition, click the appropriate option for whether you wish to wait for one or more bits to be ON

Appendix F: RMC100 Specifications F-1 Appendix F: RMC100 Specifications F.1 RMC100 Specifications Motion Control Control loop time 1 or 2 ms depend

RMC100 and RMCWin User Manual F-2 mA 8 axes (6 slots) Typical 585 mA @ 24 VDC, max 750 mA DC-DC converter isolation 500 VAC, 700 VDC, input to contr

Appendix F: RMC100 Specifications F-3 CE Tests Performed See also General Wiring Information. Radiated Emissions EN55022 Class A Conducted Emission

RMC100 and RMCWin User Manual F-4 • Stepper Specifications • SSI Specifications Digital I/O See Digital I/O Specifications Communication Modul

Appendix G: Glossary G-1 Appendix G: Glossary G.1 Glossary Clockwise Rotating in the direction of increasing encoder or transducer counts. Closed

Using Plots 3.5 Using RMCWin 3-43 the multiplier under Desired Force/Pressure Units to get finer resolution. For example, if the maximum force i

RMC100 and RMCWin User Manual G-2 MDT Magnetostrictive Displacement Transducer. A device that senses position by sending an electron pulse down a wa

Appendix G: Glossary G-3 The PID LOOP is: DO FOREVER WAIT FOR NEXT TIME PERIOD READ ACTUAL FROM POSITION OR PRESSURE SENSOR E0 = TARGET - ACTUAL

Appendix H: ASCII Table H-1 Appendix H: ASCII Table H.1 ASCII Table Dec Hex ASCII Dec Hex ASCII Dec Hex 32 20 Space 64 40 @ 96 60 33 21 !

Index Index-1 Index - Command... 442 ' ' Command ...

RMC100 and RMCWin User Manual Index-2 bookmarks ... 107 event step table editor ...

Index Index-3 Command ... 504 Command Deceleration ...

RMC100 and RMCWin User Manual Index-4 step table ... 57 CommTrig Link Type ...

Index Index-5 fit to screen ... 88 fixed velocity ... 10

RMC100 and RMCWin User Manual 3-44 3.5.2 Opening a Plot Window You can use one of the following methods to open a plot window from the main window:

RMC100 and RMCWin User Manual Index-6 Drive ... 597, 602 Drive Transfer Percent ...

Index Index-7 exciter output ... 360 Exiting Pressure Mode ... 511 Ex

RMC100 and RMCWin User Manual Index-8 IGMP ... 239, 244 In Position bit ...

Index Index-9 toolbar ... 61, 65 tree pane ... 61, 62

RMC100 and RMCWin User Manual Index-10 Link Type EQ ... 614 Link Type ...

Index Index-11 313, 348, 349 RMC Register Map ... 211, 221, 245, 255, 263, 269, 275, 284, 313 map editor ...

RMC100 and RMCWin User Manual Index-12 digital outputs ...167, 168, 169 drive (analog) ...

Index Index-13 controlling ... 133, 373 filter ...

RMC100 and RMCWin User Manual Index-14 Retract Acceleration Feed Forward ... 524, 536 Retract Feed Forward ...523, 535, 567 Ret

Index Index-15 Set Position/Pressure ... 448 Set Pressure ... 474 S

Using Plots 3.5 Using RMCWin 3-45 3. Click the option button of the data you want to include. The options are described below. 4. If you wish

RMC100 and RMCWin User Manual Index-16 wiring ... 395 STEPS/REV ...

Index Index-17 VC2100/VC2124 ... 131 Velocity Control ... 123 ve

RMC100 and RMCWin User Manual 3-46 • Click the Close button of the Detail window. To show the Detail Window after it has been hidden: • On the D

Using Plots 3.5 Using RMCWin 3-47 3.5.7 Saving and Restoring Plots To save a plot, follow these steps: 1. Display the plot you wish to save. 2.

RMC100 and RMCWin User Manual 3-48 3. Under Orientation, click either Portrait or Landscape. 4. Click OK in the Print Setup dialog box. 5. Click

Table Editors 3.6 Using RMCWin 3-49 When the Target Speed is calculated, smoothing is performed so it does not vary by such a large amount, but