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Delta RMC151 User Manual Page 58
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TROUBLESHOOTING
BOOKMARKS
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RMC70/150 a
nd RMC
Tools User Ma
nual
Correct Accele
ration Feed Forward
The Act
u
al Pos
ition trac
ks the Ta
rget Pos
ition w
ell during th
e accelerati
on an
d
decelerati
o
n.
9.
Readju
st the Proporti
onal G
ain
38
Delta Comp
uter Systems, Inc.
1
2
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122
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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