Delta RMC151 User Manual download pdf (Page 56)

RMC70/150 and RMCTools User Manual

Correct Velocity Feed Forward

The Actual Position tracks the Target Position perfectly during the latter half of the move.

8. Adjust the Acceleration Feed Forward

36 Delta Computer Systems, Inc.

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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

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