Delta RMC101 User Manual

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Summary of Contents

Page 1 - Startup Guide

Motion Controller Motion Software Startup Guide for RMC100 and RMCWin

Page 2 - February 25, 2010

Getting Started RMC100 Startup Guide 10 deltamotion.com Options dialog box appears. From the Communication tab in the Options dialog box,

Page 3 - Contents

RMC100 Startup Getting Started 11 deltamotion.com Analog Transducers: First, in the RMCWin Tools menu, select Module Configuration. Select

Page 4

Getting Started RMC100 Startup Guide 12 deltamotion.com In the Command area of the RMCWin display, select the correct axis and enter the fo

Page 5 - Overview

RMC100 Startup Getting Started 13 deltamotion.com 3. The actuator does not move. In this case check the output voltage, check that the act

Page 6 - Obtaining a Manual

Getting Started RMC100 Startup Guide 14 deltamotion.com After performing the startup, save your configuration settings. See the appropriat

Page 7 - Getting Started

RMC100 Startup Features of the RMC100 15 deltamotion.com Features of the RMC100 The RMC100 contains a host of useful features that will enab

Page 8 - The RMCWin Display

Features of the RMC100 RMC100 Startup Guide 16 deltamotion.com S Curves For applications requiring smooth motion with more gradual starts a

Page 9 - Command Table

RMC100 Startup Features of the RMC100 17 deltamotion.com Pressure or Differential Force The RMC100 excels in pressure control applications.

Page 10 - Index/configuration/SSI

Features of the RMC100 RMC100 Startup Guide 18 deltamotion.com Analog Reference The RMC100 analog modules can be used as reference inputs.

Page 11 - Test Actuator Motion

RMC100 Startup Features of the RMC100 19 deltamotion.com • Compare functions • Math capabilities • Trigger an event sequence from a digit

Page 12 - deltamotion.com

RMC100 Startup Guide 2 deltamotion.com Version 2.3 February 25, 2010 Copyright © 2010, Delta Computer Syste

Page 13 - Tuning the System

Features of the RMC100 RMC100 Startup Guide 20 deltamotion.com Command Log When debugging problems with a system that is using the RMC, it

Page 14 - Communications

RMC100 Startup Features of the RMC100 21 deltamotion.com Stored Commands Stored Commands are useful when setting up and tuning an axis. Setu

Page 16 - Gearing

RMC100 Startup RMC100 Modules 23 deltamotion.com RMC100 Modules This section gives an overview of the communications and feedback capabiliti

Page 17 - Quick Mode

RMC100 Modules RMC100 Startup Guide 24 deltamotion.com Communications Choices The versatile RMC100 Motion Controllers can be configured wit

Page 18 - Programming

RMC100 Startup RMC100 Modules 25 deltamotion.com Profibus (-PROFI) The RMC100 offers a communication module for the PROFIBUS-DP open industr

Page 19 - Diagnostic Tools

RMC100 Modules RMC100 Startup Guide 26 deltamotion.com • Command Mode − Allows any command to be sent to the motion controller and allow

Page 20 - Parameter Error List

RMC100 Startup RMC100 Modules 27 deltamotion.com Modicon TSX Quantum (*2) Modicon# 140 NOE 211 00 Modicon# 140 GRP 811 00 Many options ava

Page 21 - Stored Commands

RMC100 Modules RMC100 Startup Guide 28 deltamotion.com Automation Direct (www.automationdirect.com) CTI: Control Technology, Inc. (www.cont

Page 22

RMC100 Startup RMC100 Modules 29 deltamotion.com Drive and Transducer Interface Choices Nine different I/O modules are available for the RMC

Page 23 - RMC100 Modules

RMC100 Startup Contents 3 deltamotion.com Contents Contents ...

Page 24 - Communications Choices

RMC100 Modules RMC100 Startup Guide 30 deltamotion.com drive for servo valves. The full-scale output of the VC2100 is adjustable from ±10

Page 25 - DI/O (-DI/O)

RMC100 Startup RMC100 Modules 31 deltamotion.com • Additional Inputs: − Extend (CW) Travel Limit Input − Retract (CCW) Travel Limit Input

Page 26

RMC100 Modules RMC100 Startup Guide 32 deltamotion.com • Step Output • Direction Output • Drive Enable Output • Drive Fault Input Stepp

Page 27 - 27

RMC100 Startup RMC100 Modules 33 deltamotion.com Transducer Compatibility with Common Manufacturers Transducer Manufacturer RMC100 Family I

Page 29 - 29

RMC100 Startup Appendix A: Wiring 35 deltamotion.com Appendix A: Wiring This section describes how to wire the following RMC modules to feed

Page 30

Appendix A: Wiring RMC100 Startup Guide 36 deltamotion.com Wiring the Analog Feedback Module Voltage Feedback Transducers Voltage feedback

Page 31 - Analog Input (-An)

RMC100 Startup Appendix A: Wiring 37 deltamotion.com Wiring the MDT Feedback Module RMC MDT Six-Pin Plug-in Terminal Block Pin-out Pin Fun

Page 32 - Index/ digital i/o /sensor

Appendix A: Wiring RMC100 Startup Guide 38 deltamotion.com Temposonics I transducer users • Connect the transducer '+ interrogatio

Page 33 - 33

RMC100 Startup Appendix A: Wiring 39 deltamotion.com Wiring the SSI Feedback Module RMC SSI Input Six-Pin Plug-in Terminal Block Pin-out Pi

Page 35 - Appendix A: Wiring

Appendix A: Wiring RMC100 Startup Guide 40 deltamotion.com 11 N/C 23 N/C 12 Drive* Drv: blue/white 24 Enable*- Drv: white/orang

Page 36 - Current Feedback Transducers

RMC100 Startup Appendix A: Wiring 41 deltamotion.com Normally Closed recommended for Limits Drive Output Wiring Fault Input Wiring From

Page 37 - RS422 signals

Appendix A: Wiring RMC100 Startup Guide 42 deltamotion.com To active low Enable input: Wiring the Stepper Module Use shielded twisted p

Page 38

RMC100 Startup Appendix A: Wiring 43 deltamotion.com Stepper Output Wiring NOTE: Do not use Vcc Out to power your encoder because: • This

Page 39 - Index/wiring/quadrature

Appendix A: Wiring RMC100 Startup Guide 44 deltamotion.com Drive with common cathode inputs: Input Wiring The wiring for all inputs is ide

Page 40 - Encoder Wiring

RMC100 Startup Appendix B: Tuning 45 deltamotion.com Appendix B: Tuning After setting up your system, it must be tuned in order to control i

Page 41 - Enable Output Wiring

Appendix B: Tuning RMC100 Startup Guide 46 deltamotion.com Only" will make the RMC ignore the errors so you can tune the axis. This m

Page 42 - Wiring the Stepper Module

RMC100 Startup Appendix B: Tuning 47 deltamotion.com movement. The Acceleration Feed Forward terms can help compensate for this delay. Look

Page 43 - Stepper Output Wiring

Appendix B: Tuning RMC100 Startup Guide 48 deltamotion.com • If a following error occurs during acceleration and deceleration and adjustin

Page 44 - Input Wiring

RMC100 Startup Appendix B: Tuning 49 deltamotion.com c) Repeat b until sufficient damping is obtained. There are several methods to do thi

Page 45 - Appendix B: Tuning

RMC100 Startup Overview 5 deltamotion.com Overview The RMC100 series brings the benefits of modular, high-performance motion control to a wi

Page 46 - Tuning a Position Axis

Appendix B: Tuning RMC100 Startup Guide 50 deltamotion.com the axis. Note that not all systems allow the differential gain to be set high

Page 47 - 47

RMC100 Startup Appendix B: Tuning 51 deltamotion.com • Select the transducer type you have. See MDT configuration for more details on the

Page 48 - Tuning a Torque Motor

Appendix B: Tuning RMC100 Startup Guide 52 deltamotion.com • Double-click the Config Word (in the parameter area of the main screen) for t

Page 49 - 49

RMC100 Startup Appendix B: Tuning 53 deltamotion.com commands numerous times. Doing this from a PLC or by typing commands in RMCWin is very

Page 50 - Position/Pressure Setup

Appendix B: Tuning RMC100 Startup Guide 54 deltamotion.com Step 0: This step is normally linked to after finishing a sequence. If the eve

Page 51 - 51

RMC100 Startup Appendix B: Tuning 55 deltamotion.com and Set Parameters (P) commands will not be sent to the pressure axis because they are

Page 52

Appendix B: Tuning RMC100 Startup Guide 56 deltamotion.com 4. Add Filter if Necessary If the pressure feedback signal is excessively noisy

Page 53 - 53

RMC100 Startup Appendix B: Tuning 57 deltamotion.com • Selecting Calculate Ramp Time in the Mode word allows the RMC to automatically calcu

Page 54

Appendix B: Tuning RMC100 Startup Guide 58 deltamotion.com • Adding or changing the Filter TC value may help if noisy feedback is suspecte

Page 55 - Index/position-pressure

RMC100 Startup Appendix C: An Example 59 deltamotion.com Appendix C: An Example Example Setup & Tuning of a Hydraulic System This illu

Page 56

Obtaining a Manual RMC100 Startup Guide 6 deltamotion.com Obtaining a Manual The RMC100 motion controller manual is available in the follo

Page 57 - 57

Appendix C: An Example RMC100 Startup Guide 60 deltamotion.com • Axes 0 and 1 are the two MDT axes. • The other axes are for pressure a

Page 58

RMC100 Startup Appendix C: An Example 61 deltamotion.com • In the Transducer Type field, select Start/Stop (Rising Edge). • Leave all the

Page 59 - Appendix C: An Example

Appendix C: An Example RMC100 Startup Guide 62 deltamotion.com • The position feedback is to be measured in thousandths of inches, so 1000

Page 60

RMC100 Startup Appendix C: An Example 63 deltamotion.com • Check the deadband. This system has a very small deadband, approx 5 millivolts,

Page 61 - Calibration. The following

Appendix C: An Example RMC100 Startup Guide 64 deltamotion.com − The detail window in the plot may be opened by clicking Show Detail Win

Page 62

RMC100 Startup Appendix C: An Example 65 deltamotion.com − The position lags during the constant speed portion of the move, which the next

Page 63 - 63

Appendix C: An Example RMC100 Startup Guide 66 deltamotion.com − If the system starts oscillating or chattering, decrease the Differential

Page 64

RMC100 Startup Appendix C: An Example 67 deltamotion.com • Now that the system is tuned, it is important to enable any Auto Stops that were

Page 65 - 65

Appendix C: An Example RMC100 Startup Guide 68 deltamotion.com • The RMCWin window now looks like this: • The system is now ready to b

Page 66

RMC100 Startup Getting Started 7 deltamotion.com Getting Started This chapter describes the minimum hardware requirements, how to install an

Page 67 - 67

Getting Started RMC100 Startup Guide 8 deltamotion.com 1. Index/stored commands/Editing the Stored Command Table. This means to display t

Page 68

RMC100 Startup Getting Started 9 deltamotion.com Command area — The six registers in this area are used to send commands to the RMC100 contr

Related models: RMC100

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