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Delta RMC101 User Manual Page 47
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951
Setup De
tails
2.
2
Starting
Up the R
MC
2-
19
1
2
...
42
43
44
45
46
47
48
49
50
51
52
...
950
951
Version 2.30.4
1
August 9, 2012
1
Condensed Contents
3
Contents
5
Disclaimer
21
1.1 RMC100 Overview
23
1.2 Principle of Operation
25
2 Starting Up the RMC
28
2.2 Setup Details
32
2.2.2 Advanced Scaling
33
2.2.3 Tuning
33
2.2.3.6.1 Open Loop Moves
45
2.2.3.6.2 Closed Loop Moves
45
3 Using RMCWin
50
3.2 Screen Layout
51
3.2.2 Command Area
52
3.2.3 Parameter Area
53
3.2.4 Plot Time Area
54
3.2.5 Status Area
54
3.2.6 Status Bar
55
3.2.7 Toolbar
55
3.3 Connecting to an RMC
56
3.3.4 Working Offline
60
3.3.7 Communication Drivers
63
3.4 Basic Topics
71
3.4.7 Using Pop-up Editors
76
3.4.9 Using the Command Log
77
3.4.12 Using Stored Commands
80
3.4.14 Using Multiple RMCs
82
3.4.15 File Types
82
3.5 Using Plots
93
3.5.2 Opening a Plot Window
94
3.5.8 Printing a Plot
97
3.5.9 Plot Time
98
3.6 Table Editors
99
3.7 Step Table Editor
103
3.8 LCD Screen Editor
108
3.8.2 Editor Window Elements
109
3.8.4 Using Screens
121
3.8.5 Using Fields
124
3.9 Curve Tool
130
3.9.2 Screen Elements
132
3.9.2.5 Curve Tool: Toolbar
136
3.9.3 Using the Curve Tool
138
3.9.4 Using the Graph View
143
3.9.6 Using Curves
155
3.9.7 Using Points
169
3.10 Address Tool
177
Foreground
179
3.11 Advanced Topics
180
3.11.3 Options: Preferences
181
3.11.5 Using Look-only Mode
183
3.11.6 Using PC Mode
183
3.11.7 Command-Line Options
183
4 Controller Features
186
4.2 Flash Memory
188
4.3 Gearing Axes
189
4.4 LED Indicators
193
4.5 Reference Axis Filtering
196
4.6 Speed Control
201
4.7 Rotational Mode
203
4.8 Spline Overview
204
4.9 Synchronizing Axes
212
4.10 Teach Mode Overview
213
Converters
214
5 Communications
250
5.1.2 Digital I/O Wiring
251
5.1.2.3 CPU Inputs
253
5.1.2.4 DI/O Inputs
253
5.1.3 Using Counters
256
5.1.4 CPU Digital I/O
257
5.1.5 Sensor Digital I/O
258
5.1.6.3 Using Command Mode
263
• DI/O
280
5.2 Ethernet
298
5.2.4 Ethernet Setup Topics
301
5.2.6.4 Modicon Quantum
370
Register Description
371
5.2.6.8 Siemens S7
417
5.3 Modbus Plus
429
5.4 PROFIBUS-DP
458
5.4.2 PROFIBUS Configuration
459
PROFIBUS
462
Configuration
464
5.4.6 Compact Mode
467
5.4.7 Message Mode
473
5.5 Serial (RS-232/422/485)
485
5.5.3 RMC SERIAL Protocols
500
Communications 5-263
513
BIDIN Instruction:
513
5.6 RMC CPU RS232 Port
515
5.6.3 RS232 Wiring
517
5.7 LCD420 Terminal
520
5.8 Status Map
525
5.9 Communication Tasks
528
5.9.3 Parameter Error Values
541
6.1 Analog
544
6.1.7 Setup Details
554
6.1.8 Usage Details
560
6.2 MDT
564
6.2.2 MDT Wiring
565
6.2.3 MDT Configuration
568
6.2.4 MDT LED Indicators
569
6.2.5 MDT Specifications
570
6.2.6 MDT Scaling
571
6.3.2 Quadrature Wiring
577
6.3.7 Quadrature Scaling
585
6.4.2 Stepper Wiring
592
6.4.3 Stepper Configuration
594
6.4.4 Stepper LED Indicators
595
6.4.5 Stepper Specifications
596
6.4.6 Stepper Scaling
597
6.4.7 Stepper Compensation
602
6.5 Resolver
603
6.5.2 Resolver Wiring
605
6.5.3 Resolver Configuration
607
6.5.6 Resolver Scaling
610
6.6 SSI
611
6.6.2 SSI Wiring
612
6.6.3 SSI Configuration
614
6.6.4 SSI LED Indicators
618
6.6.5 SSI Specifications
619
6.6.6 SSI Scaling
620
7.1 Warranty
624
7.2 Troubleshooting
624
7.2.2 Error Handling
625
7.2.3 RMC Module Problems
625
7.3 Technical Support
630
7.4 Parameter Errors
631
7.4.33 Invalid command value
638
7.4.38 Invalid scale value
639
Download Area
641
7.4.61 SSI transducer noise
644
A.1 General ASCII Commands
653
A.1.4 MulDiv Command
655
A.1.5 Add Command
658
A.1.6 Function Command
659
A.1.7 Subtract Command
661
A.1.8 Poll Command
662
A.1.9 Arm Home Command
666
A.1.15 Start Events Command
669
A.1.18 Go Command
671
A.1.19 Halt Command
672
A.1.22 Relative Move Command
673
A.1.24 Limit Drive Command
673
A.1.26 Set Mode Command
674
A.1.29 Open Loop Command
675
A.1.31 Quit Events Command
677
A.1.39 Teach Step Command
681
A.1.40 Update Flash Command
681
A.1.44 Reference Command
683
A.1.47 Start a Graph Command
686
A.1.50 Reset Outputs Command
687
A.1.51 Set Outputs Command
688
A.1.54 Sine Move Command
690
A.2.1 Set Bias Drive Command
699
A.2.2 Start Events Command
700
A.2.3 Set Mode Command
700
A.2.4 Open Loop Command
701
A.2.5 Set Parameters Command
702
A.2.6 Quit Events Command
703
A.2.8 Set Pressure Command
704
A.3.6 Set Parameter Commands
715
A.3.7 Set Profile Commands
717
A.3.8 ASCII Commands
722
A.3.11 Get Profile Commands
726
A.3.15 LINK TYPE/NEXT
738
A.3.16 Diagnostics Command
739
B.1 Position Command Fields
749
B.1.3 Acceleration
754
B.1.4 Deceleration
756
B.1.5 Speed
756
B.1.6 Command Value
756
B.1.7 COMMAND
758
B.2.1 Mode (Pressure/Force)
761
B.2.3 Pressure Set A
763
B.2.4 Pressure Set B
764
B.2.6 Command Value
765
B.2.7 COMMAND
767
C.1.1 Configuration Word
771
C.1.7 Scale
777
C.1.8 Offset
778
C.1.9 Extend Limit
778
C.1.10 Retract Limit
779
C.1.11 Proportional Gain
779
C.1.12 Integral Gain
780
C.1.13 Differential Gain
780
C.1.14 Extend Feed Forward
781
C.1.15 Retract Feed Forward
783
C.1.18 Dead Band Eliminator
783
C.1.19 In Position
784
C.1.20 Following Error
785
C.1.21 Auto Stop
785
C.1.22 Auto Stop Bit Map
787
C.2.1 Configuration Word
789
C.2.4 Scale
794
C.2.5 Coord. Limit
794
C.2.6 Extend Limit
795
C.2.7 Retract Limit
795
C.2.8 Proportional Gain
796
C.2.9 Integral Gain
796
C.2.10 Differential Gain
797
C.2.11 Extend Feed Forward
798
C.2.12 Retract Feed Forward
799
C.2.15 Dead Band Eliminator
800
C.2.16 In Position
801
C.2.17 Following Error
801
C.2.18 Auto Stop
801
C.2.19 Auto Stop Bit Map
803
C.3.1 Configuration Word
805
C.3.4 Coord. Limit
810
C.3.5 Extend Limit
810
C.3.6 Retract Limit
811
C.3.7 Comp. Rate
811
C.3.8 Comp. Timeout
811
C.3.9 Steps/Rev
812
C.3.10 Pos Units/Rev
812
C.3.11 Quad Cnts/Rev
813
C.3.12 Max Steps/MSec
813
C.3.13 Comp. Window
814
C.3.14 In Position
814
C.3.15 Following Error
814
C.3.16 Auto Stop
815
C.3.17 Auto Stop Bit Map
817
C.4.1 Configuration Word
818
C.4.4 Coord. Limit
823
C.4.5 Extend Limit
823
C.4.6 Retract Limit
824
C.4.7 Comp. Rate
824
C.4.8 Comp. Timeout
824
C.4.9 Steps/Rev
825
C.4.10 Pos Units/Rev
825
C.4.11 SSI Counts/Rev
826
C.4.12 Max Steps/MSec
827
C.4.13 Comp. Window
827
C.4.14 In Position
827
C.4.15 Following Error
828
C.4.16 Auto Stop
828
C.4.17 Auto Stop Bit Map
830
C.5.15 At Pressure
843
C.5.16 Pressure Window
843
C.5.17 Auto Stop
843
C.5.18 Auto Stop Bit Map
845
C.6.1 Configuration Word
847
C.6.4 Scale
851
C.6.5 Offset
852
C.6.6 Extend Limit
852
C.6.7 Retract Limit
853
C.6.12 In Position
857
C.6.13 Following Error
858
C.6.14 Auto Stop
858
C.6.15 Auto Stop Bit Map
860
D.1 Valid 16-Bit Positions
863
D.2 Position Status Fields
864
D.2.3 Actual Position
865
D.2.4 COUNTS
865
D.2.8 DRIVE
882
D.2.9 Actual Speed
883
D.2.10 NULL DRIVE
884
D.2.11 STEP
884
D.2.12 LINK VALUE
884
D.3.1 Command Pressure/Force
885
D.3.2 Target Pressure/Force
885
D.3.3 Actual Pressure/Force
885
D.3.6 DRIVE
889
E.2 Link Next
893
E.3 Commanded Axes
893
E.4 System-wide Link Types
894
E.4.3 Link Type - Delay
896
E.4.8 Link Type - Loop
905
E.4.12 Link Type - Timer
911
E.5 Current Axis Link Types
917
E.6 Selected Axis Link Types
921
F.1 RMC100 Specifications
925
Appendix G: Glossary
929
Appendix H: ASCII Table
933
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