Delta RMC151 User Manual Page 55
- Page / 122
- Table of contents
- TROUBLESHOOTING
- BOOKMARKS
Rated. / 5. Based on customer reviews
2 Starting Up the RMC
In many systems the Velocity Feed Forward parameter is the most important parameter
for position tracking during a move. To adjust the Velocity Feed Forward:
• Start with a small value of Velocity Feed Forward. Remember that it is a floating point
number, and you may have to start with a number smaller than 1, depending on your
system.
Tip:
Use the Adjust VFF button in the Tuning Tools to automatically determine the
Velocity Feed Forward. Make a move, wait for it to complete, then click Adjust VFF.
Repeat for the other direction.
• Make long slow moves in both directions. Adjust the Velocity Feed Forward until the
axis tracks within 10% in both directions.
• If you are using Ratioed gains, make sure to adjust both Velocity Feed Forwards.
• Click the Download button to apply the changes to the RMC.
If the Symmetrical/Ratioed
parameter is set to Ratioed, you will have two Velocity Feed
Forwards, one for each direction of motion. Make sure to tune both.
Plots
Look at these plots for examples of good and bad plots at this step. Be aware that not all
systems will be like these examples.
Too little Velocity Feed Forward
The Actual Position lags the Target Position during the entire move.
Too much Velocity Feed Forward
The Actual Position starts leading the Target Position.
deltamotion.com 35
- 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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