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Delta RMC151 manuals

Owner’s manuals and user’s guides for Sensors Delta RMC151.
We providing 2 pdf manuals Delta RMC151 for download free by document types: User Manual


Delta RMC151 User Manual (1221 pages)


Brand: Delta | Category: Sensors | Size: 19.73 MB |

 

Table of contents

Condensed Contents

3

Table of Contents

5

Table of Contents

19

Video Tutorials

21

Customer Support

21

Paper Copy of On-line Help

21

1.2. Basics of Operation

22

Issuing Commands

23

1.3. Disclaimer

24

Ownership

25

2. Starting Up the RMC

27

• SSI Data bits - (e.g. 24)

29

• Quadrature encoder

29

• Resolver

29

2.2. Scaling

32

Scaling Acceleration Units

35

2.2.6. MDT Scaling

36

2.2.7. SSI Scaling

39

2.2.8. Rotary Scaling

40

2.2.9. Quadrature Scaling

41

2.3. Tuning

43

Tuning Wizard and Autotuning

44

2.3.2. Tuning Wizard

46

Using the Tuning Wizard

47

2.3.3. Autotuning

48

2.3.5. Gain Calculator

49

Tuning Procedure

50

• Tuning Overview

64

• Tuning a Position Axis

64

Tuning Order

67

Control

68

3. Controller Features

69

3.2. General

70

3.2.2. Loop Time

71

3.2.3. RUN/PROGRAM Mode

73

3.2.4. Registration

74

3.2.5. Homing

75

How to Home an Axis

76

Quadrature Homing Details

76

Explicit Homing

78

• Offset Position (47)

78

• Set Target Position (48)

78

• Set Actual Position (49)

78

Homing SSI and Resolver Axes

78

3.2.6. Physical Limit Inputs

79

3.2.7. Feedback Resolution

81

• Quadrature

82

Exceeding 24 Bits

82

3.3. Axes

83

3.3.2. Defining Axes

85

3.3.3.1. Axis Type: Control

86

Creating a Control Axis

87

3.3.4. Other Axis Types

89

3.3.4.3. Virtual Axes

91

3.3.4.7. Input Type: Custom

93

3.4. Halts

94

3.4.2. External Halt

95

3.4.3. Closed Loop Halt

96

3.4.4. Open Loop Halt

97

3.4.5. Direct Output Halt

98

3.5. Control Modes

99

3.5.2. Closed Loop Control

100

3.5.3. Open Loop Control

101

3.5.5. Velocity PID

103

3.5.6. Gain Sets Overview

105

3.5.7. Ratioed Gains

106

3.5.8. Gain Scheduling

107

3.5.9. Valve Linearization

107

Linear and Non-Linear Valves

108

3.5.10. Unidirectional Mode

109

3.5.12. Advanced

111

3.5.12.1. Position I-PD

111

3.5.12.2. Velocity I-PD

113

3.5.12.3. Active Damping

114

Tuning Active Damping

116

Effect on Control

116

3.5.12.5. Cascade Control

117

3.6. Motion

120

3.6.2. Using Rotary Motion

121

• Positive:

123

• Negative:

123

• Nearest:

123

• Absolute:

123

• Current:

124

3.6.3. Velocity Control

128

3.6.4. Gearing

129

Gear Ratio

130

Clutching

131

• By Rate

131

• By Time

131

• By Distance

131

Transitions

131

3.6.5. Simulating Motion

133

Simulating a Real System

134

Troubleshooting

135

3.6.6. Step Jumps

136

3.6.7.1. Curves Overview

136

Managing Curves

137

Curve Capacity

138

Managing Permanent Curves

139

Managing Temporary Curves

139

Creating and Editing Curves

139

Step-by-Step Example

140

Additional Tasks

141

• Curve Delete (83)

141

Command

142

Example

144

Interpolation Methods

147

• Cubic (2)

147

• Linear (1)

147

• Constant (0)

147

Interpolation Options

148

• +2 Cyclic Curve

149

3.6.7.6. Curve Data Formats

151

• (10+) Error

152

Multiple Curve Formats

155

• Format field

158

Non-Volatile Memory

159

Memory Requirement Examples

161

Pressure/Force Limit

169

3.7.5. Pressure/Force Limit

174

3.8. Filtering/Modeling

178

3.8.2. Modeling

179

3.9. Plots

180

Plot Commands

181

Plot Storage Size

181

Saving Plots

181

3.9.3. Triggering Plots

182

How to Trigger a Plot

183

• Automatic Trigger

183

• Manual Trigger

183

Rearming the Trigger

183

• Automatically Rearm

183

• Manually Rearm

184

Reading RMC Plots with a PLC

184

Registers

192

3.10. Custom Feedback

193

Error Handling

196

• PROGRAM Mode

197

• Disabled

197

Formula

200

3.11. Applications

203

3.11.2. Hydraulic Control

204

3.11.3. Pneumatic Control

205

3.12. Transducers Basics

206

 RMC70: MA axis module

207

 RMC150: MDT module

207

Start/Stop

207

3.12.2. SSI Fundamentals

208

SSI Cable Length

210

Operation

212

Homing Quadrature Axes

213

How Resolvers Work

213

3.13. Other

214

Image Area

217

4. Using RMCTools

219

Tabbed Windows

220

Dockable Panes

220

4.4. Project

222

4.4.1. RMCTools Project

223

4.4.2. RMCTools Project Pane

223

Components

224

4.5. Controller

225

4.5.2. Connection Path

226

4.5.3. Go Online, Go Offline

226

Going Online or Offline

227

Connecting to a Controller

227

4.5.6. Updating Flash

228

4.6. Modules

229

4.7. Axes

230

• Basic Tab

231

• All Tab

231

Hiding and Showing Columns

231

View an Axis Definition

233

Change an Axis Definition

233

Rename an Axis

233

Add or Remove an Axis

233

4.8. Command Tool

234

4.9. Plots

235

4.9.1. Plot Manager Overview

236

4.9.2. Plot Manager Elements

237

4.9.3. Plot Template Editor

239

4.9.4. Using Custom Plots

241

Editing Trigger Settings

242

Adding Individual Registers

243

Adding Groups of Registers

243

Advanced Quantities

243

• Mean Squared Error

243

4.10. Tuning

244

4.10.2. Tuning Tools

245

Using the Tuning Tools

246

4.11. Programming

248

4.11.3. Program Triggers

251

First Scan Bit

253

4.11.4. Task Monitor

254

4.11.6. User Functions

257

Managing User Functions

259

Calling User Functions

260

Columns

260

4.11.8. I/O Monitor

261

4.12. Curve Tool

262

How to View a Curve

263

How to Manage Curves

264

4.12.2. Curve Properties

265

4.13. Indirect Data Map

266

4.14. Shortcut Sets

268

4.15. Event Log

270

4.15.2. Event Log Filtering

271

Filtered Items

272

4.16. General Tools

274

4.16.4. Output Window

276

4.16.6. Actuator View

277

Environment Page

278

Programming Page

278

Communications Page

278

4.16.8. Communication Log

279

4.16.9. Keyboard Shortcuts

279

4.16.10. Copy and Paste

284

4.16.11. Find and Replace

285

4.17. Wizards

286

Additional Information

287

4.17.4. Simulator Wizard

290

4.18. Menu and Toolbars

292

4.18.2. Standard Toolbar

296

4.18.4. RMCTools Status Bar

298

5. Programming

299

Command Format

303

• Command Number

303

• Command Parameters

303

Advanced Details

303

5.3. Tasks

304

Default Axis

306

5.4. Variables

307

5.5. Program Triggers

310

5.7. Tag Names

314

Entering Tag names

315

Special Tag Names

315

Reducing the Program Size

316

• Offload to the PLC

316

• Use Arrays

316

Reducing the Time Usage

316

5.9. Programming Security

318

Enable Programming Security

319

5.11. User Programs

321

Expressions

323

Disabling User Programs

323

Basics of Editing a Step

324

• Add a Command:

327

• Delete a Command:

327

• Move a Command:

327

To Verify the User Programs

328

Starting a User Program

328

5.11.6. Labeling Steps

330

5.11.9. Link Types

332

5.11.9.3. Link Type: Jump

334

5.11.9.4. Link Type: Delay

334

5.12. Data Types

338

5.12.2. BOOL Data Type

339

5.12.3. DINT Data Type

340

5.12.4. DWORD Data Type

340

5.13. Expressions

341

Parts of an Expression

342

Expression Color-Coding

342

Troubleshooting Expressions

342

Operators and Functions

342

Assignment Expression Basics

342

5.13.4. Value Expressions

346

5.13.6. Arrays

348

Using Variable Arrays

349

5.13.7. Operators

350

5.13.8. Keywords

352

5.13.9. IF Statement

352

5.13.10. Constants

353

5.13.11. Comments

354

5.14. Functions

356

5.14.2. Standard Functions

357

5.14.2.1. Standard Functions

357

5.14.2.2. ABS Function

359

5.14.2.3. ACOS Function

359

5.14.2.4. ADDR_OFS Function

360

5.14.2.5. ASHR Function

360

5.14.2.6. ASIN Function

361

5.14.2.7. ATAN Function

361

5.14.2.8. CEIL Function

362

5.14.2.9. COPY Function

362

Examples

363

5.14.2.10. COS Function

364

5.14.2.11. COSH Function

365

Parameters

366

Return Value

366

Remarks

366

Returns

367

• Gain Scheduling

367

5.14.2.19. EXP Function

369

5.14.2.20. FILL Function

370

5.14.2.21. FLOOR Function

371

5.14.2.22. LENGTH Function

372

5.14.2.23. LIMIT Function

372

5.14.2.24. LOG Function

372

5.14.2.25. LN Function

373

5.14.2.27. MAX Function

374

5.14.2.28. MIN Function

374

5.14.2.29. MROUND Function

375

5.14.2.30. POLY Function

375

5.14.2.33. ROL Function

377

5.14.2.34. ROR Function

377

5.14.2.35. ROUND Function

378

5.14.2.36. SEL Function

378

5.14.2.37. SHL Function

379

5.14.2.38. SHR Function

379

5.14.2.39. SIGNUM Function

380

5.14.2.40. SIN Function

380

5.14.2.41. SINH Function

381

5.14.2.42. SQRT Function

381

5.14.2.43. TAN Function

381

5.14.2.44. TANH Function

382

5.14.2.45. TRUNC Function

382

5.14.3. User Functions

383

5.14.3.1. User Functions

383

• Input/Output

384

Editing a User Function

384

Functions

386

5.15. Discrete I/O

389

5.15.2. Using Discrete I/O

391

Application Tips

395

Other Examples

395

• _SysMS

405

• _SysTicks

405

5.16.7. Example: Time-out

406

• Issue the move

407

General Considerations

410

• Blocking Valve

410

RUN/PROGRAM Mode

411

Configuring Discrete Outputs

411

6. Communication

413

6.4. Indirect Data Map

418

6.5. Communicating with HMIs

420

Requirements of the HMI

421

• Command Request Bit (REQ)

424

6.8. Ethernet

425

• PLC Ethernet Emulation

426

• Direct over TCP or UDP

426

Writing Data to the RMC

431

Reading Data from the RMC:

432

Register Addresses

433

DMCP Response Codes

433

Protocol Overview

435

6.8.6. Ethernet Link/Act LED

439

6.8.8. Ethernet Setup Topics

442

TCP/IP Layers Overview

443

Supported Protocols

444

• 10.0.0.0 - 10.255.255.255

447

• 172.16.0.0-172.31.255.255

447

IP Address

448

Subnet Mask

448

Default Gateway

449

6.8.10. Supported Protocols

450

6.8.10.1. Modbus/TCP

450

6.8.10.2. CSP

451

6.8.10.3. FINS/UDP

451

• Network Address

452

• Node Number

452

• Unit Number

452

Addressing:

452

Configuring the Q-Series

457

6.8.10.5. DMCP

463

6.8.10.6. EtherNet/IP

463

Input Data

467

Output Data

467

Configuration Data

468

Using a Generic EDS File

468

Quality of Service (QoS)

469

Advanced Multicast Settings

470

Using Input Data in the PLC

471

Using the Event Log

477

• Initial Data

478

• Data Changed

478

• Request Made

478

• Input Only

479

• Listen Only

479

6.8.10.7. PROFINET

487

• Troubleshooting PROFINET

488

Cyclic and Acyclic Data

488

Handling Broken Connections

494

Fixed Data Records

495

Custom Data Records

495

6.9. PROFIBUS

498

6.9.3. Configuration

500

• RMC75P: DELT07E1.GSD

501

• RMC150E: DELT0AC6.GSD

501

PROFIBUS

503

Profibus Configuration

504

6.9.4. Using I/O Modes

507

Using the I/O Modes

508

• Axis 0 Status bits

508

• Axis 0 Actual Position

508

• Task 0 Status

508

• Task 0 Current Program

508

Data Blocks

513

Configuring the Data

514

• Data Changes

519

• A Request is Made

519

• Command Area

519

• Data Channel 0

519

Using the Data Blocks

525

Features

529

• Task 1 Current Step

534

• Data Channel 1

539

• Axis 0 Status Bits

544

Changing Serial Settings

554

Multi-Drop

556

Connectors

557

Cabling

557

Cable Length

558

The Termination Concept

560

The Biasing Concept

561

General

562

Writing to the RMC75S

564

Reading from the RMC75S

564

RMC70 Support for Modbus/RTU

565

• Click OK

568

EtherNet/IP I/O

573

Performing Communications

579

Example Programs

581

Modbus/TCP

583

Click OK

599

Click OK

603

• Fixed Data Records

626

• Custom Data Records

626

Communicating with the RMC

628

Using the DASABCIP Server

628

Using the DASMBTCP Server

630

Using RMCLink

634

Ethernet

634

7. Hardware

637

Optional Expansion Modules

639

Common Specifications

639

7.2.2. RMC70 Part Numbering

640

7.2.3. CPU Modules

641

7.2.3.2. RMC75E

642

7.2.3.3. RMC75S CPU Module

644

7.2.3.4. RMC75P CPU Module

647

7.2.4. Axis Modules

649

7.2.4.2. AA Module

649

7.2.4.3. MA Axis Module

652

Setting Up the MA Module

653

Specifications (per axis)

653

7.2.4.4. QA Axis Module

655

7.2.5. Expansion Modules

657

7.2.5.3. A2 Expansion Module

658

• Analog Reference Input

659

• Input for a Control Axis

659

Part Number

659

Specifications

659

7.2.5.5. D8 Expansion Module

661

7.2.5.6. Q1 Expansion Module

662

7.3. RMC150

664

Module Descriptions

665

7.3.2. RMC150 Part Numbering

666

7.3.4. Analog Modules

671

7.3.5. MDT Module

676

Supported Transducers

677

Setting Up the MDT Module

677

7.3.6. SSI Module

678

7.3.7. Quadrature Module

680

7.3.8. Resolver Module

683

7.3.9. DI/O Module

687

7.3.10. UI/O Module

688

Setting Up UI/O Discrete I/O

690

7.3.11. PROFIBUS Module

694

7.4. General

695

7.4.2. Enable Output

696

7.4.3. Fault Input

698

7.5. Accessories

699

• Output Bias

700

• Output Scale

700

• Output Limit

700

7.5.2. Quadrature Cable

702

• Drive (3 pair):

703

• Encoder (4 pair):

703

• Limits (3 pair):

703

Wire Colors

703

7.6. Agency Compliance

704

8. Command Reference

705

8.2. RMC Commands

706

8.3. General Commands

710

Command Parameters

711

8.4. Motion Commands

714

8.4.2. Stops

715

Target Generator State Bits

717

Status Bits

719

8.4.3. Open Loop

721

8.4.4. Synchronized

726

• From RMCTools

728

• From a User Program

728

8.4.5. Point-to-Point

731

Special Notes

732

• Command Position (0)

740

• Actual Position (1)

740

• Target Position (2)

740

8.4.6. Gearing

745

• Fault (0)

746

• Truncate (1)

746

• Extrapolate (2)

746

Gear Ratio Details

760

Rotary Motion

760

• Position

766

• Gear Ratio

766

• Gear Ratio Rate

766

8.4.7. Specialty

773

Stopping a Sine Move

778

Ramping Sine Move Parameters

778

Sine Move Status

778

• Pos Peak

781

• Neg Peak

781

• Next Peak

781

• Offset (0)

782

• Amplitude (1)

782

• Standard (0)

787

• Start-Once (1)

788

• Complete-Once (2)

788

• Permanent (3)

788

• Time-Based

791

• Master-Based

791

Starting a Curve

791

Cycles Status

792

Completing a Curve

792

Endpoint Behavior

795

Curve Scale and Offset

797

Master Scale and Offset

798

Status Block

798

Running a Curve Backwards

798

8.4.8. Velocity

800

8.4.9. Transitions

802

• Seek (0)

804

• Reach (1)

804

• Superimposed (2)

804

8.5. Pressure/Force Control

806

• Linear (0)

812

• S-curve (1)

812

8.5.2. Pressure/Force Limit

819

8.5.3. Specialty

822

• Sine Start (Prs/Frc) (76)

835

Sine Start Parameters

835

8.6. Set Parameters

838

• Positive (1)

843

• Negative (-1)

843

8.7. System

845

• Pause (0)

849

• Resume (1)

849

8.8. Programming

850

What is a Task?

852

Valid Task Numbers

852

I/O Point

853

8.9. Plots

856

Details

858

8.10. Step Editor Commands

859

Entering an Expression

860

Data Types

861

Order of Execution

861

Logging Results

861

9. Register Reference

863

9.2.1.2. Common

864

• No Transducer

868

• Transducer Overflow

868

Error Bits

870

• Positive Mode:

875

• Negative Mode:

875

• Bidirectional Mode:

875

9.2.1.3. Feedback

876

• Position Feedback Axes

877

• Velocity Feedback Axes

877

• Triple Differential Gain

879

9.2.1.4. Output

889

9.2.1.5. Primary Control

890

9.2.1.6. Secondary Control

895

9.2.1.7. Target

898

9.2.1.8. Home/Registration

903

9.2.2.2. Feedback

908

Setting the Offset

909

• MDT Scaling

909

• SSI Scaling

909

• Analog Position Scaling

909

• Resolver Scaling

910

Setting the Velocity Scale

910

Why bother?

910

• Low-Pass

925

• Model

925

Changing this Parameter

932

• Active High

943

• Active Low

943

• St/St Rising

945

• St/St Falling

945

• Binary

946

• Gray

946

24-Bit Limitation

947

Address Format Details

947

Choosing the SSI Clock Rate

948

• Standard Mode

949

• Monitor Mode

949

• ±10V

954

• 4-20 mA

954

• 14 bits

957

• 16 bits

957

9.2.2.3. Simulator

964

• Always Active

973

• Always Held

973

Mathematical Definition

975

Special Conditions

976

• Within Deadband Window

976

Definition

978

• None

991

• Acceleration Control

991

• Active Damping

991

9.2.2.6. Output

1000

Control Modes

1001

Description

1002

Why Bother?

1003

How it Works

1004

Pressure and Force Control

1011

Format Details

1011

Tag Names and Bits

1012

• None (0)

1013

• Single-Point (1)

1013

9.2.2.7. Target

1014

9.2.2.8. Halts

1018

Tag Name and Bits

1019

9.2.3.1. Ethernet Status

1022

9.2.4. Axis Definitions

1025

9.2.5. Task Registers

1029

9.2.5.1. Task Status

1029

9.2.5.2. Current Program

1029

9.2.5.3. Current Step

1030

9.2.5.4. Current Axis

1030

9.2.6. Controller Registers

1032

9.2.6.1. Controller Tags

1032

9.2.6.2. Controller Status

1032

9.2.6.3. Loader Command

1033

9.3. Address Formats

1034

9.3.2. DF1 Addressing

1035

Addressing Individual Bits

1036

Discrete I/O

1036

9.3.3. IEC-61131 Addressing

1037

9.3.4. FINS Addressing

1038

Low Address Range

1039

FINS Address Sections

1039

9.3.5. Modbus Addressing

1040

Modbus Address Sections

1041

9.4. RMC70 Register Map

1042

Usage Notes

1089

9.5. RMC150 Register Map

1109

Tag Names

1131

10. Wiring and Installation

1147

10.2. RMC70

1148

10.2.2. RMC75E Wiring

1150

10.2.3. RMC75S Wiring

1150

10.2.4. RMC75P Wiring

1151

10.2.5. AA Wiring

1151

Voltage Feedback Transducers

1152

Current Feedback Transducers

1152

10.2.6. MAx Wiring

1153

10.2.7. QAx Wiring

1156

Encoder Wiring

1157

10.2.8. A2 Wiring

1158

10.2.9. AP2 Wiring

1159

10.2.10. D8 Wiring

1160

Discrete Outputs

1161

Discrete Inputs

1162

10.2.11. Q1 Wiring

1163

Pin-Out

1164

10.3. RMC150

1165

10.3.4. RMC150 MDT Wiring

1168

Signals

1169

10.3.5. RMC150 SSI Wiring

1170

Typical Wiring Diagram

1177

DI/O Module Outputs

1178

DI/O Module Inputs

1180

10.3.10. RMC150 UI/O Wiring

1181

UI/O Discrete Inputs

1183

UI/O Quadrature Channel

1184

UI/O SSI Channels

1185

11. Troubleshooting

1187

11.2. Error Codes

1188

11.3. Technical Support

1198

RMC Return for Repair

1199

12. Index

1201

12 Index

1203

Delta RMC151 User Manual (44 pages)


Brand: Delta | Category: Sensors | Size: 2.35 MB |

 

Table of contents

STARTUP

1

Where to Get Help

2

Contents

3

Step 1: Mounting

4

Step 2: Wiring

5

Step 3: Install RMCTools

6

Step 4: Connect RMC to PC

7

Step 5: Start a New Project

8

Project Pane

10

Saving Settings

11

1. Save RMCTools Project

11

2. Update Flash

11

3. Repeat Often

11

Step 6: Define the Axes

12

View Axis Definitions

13

Edit Axis Definitions

13

Step 7: Test an Actuator

14

Configure Feedback

17

SSI Feedback

18

Analog Feedback

19

Quadrature Encoder Feedback

19

Resolver Feedback

19

Verify Feedback

20

Step 9: Scale and Offset

21

Enable the Axes

22

Step 11: Tuning

23

Commands

25

User Programs

25

Communications

26

Discrete I/O

26

Variables

26

Program Triggers

26

Diagnostic Tools

27

Appendix A: Wiring

28

General Wiring Information

29

Wiring Power

30

UL and CUL Requirements

30

Power Wiring Diagram

30

6-pin MDT

31

Connector

31

Power Supply

31

SSI Transducer Wiring

33

Voltage Transducer, 3-Wire

35

Analog 4-20 mA

36

Quadrature Encoder Wiring

37

8-pin Resolver

38

Discrete Output Wiring

39

DI/O and UI/O Module

39

RMC150E Module

39

Discrete Input Wiring

40

UL and CUL

42

Class I Div 2

42




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