Delta RMC150 Startup Manual
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Delta RMC150 Startup Manual

Motion controller
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RMC150 MOTION CONTROLLER
STARTUP
GUIDE
With wiring diagrams
Motion Control and More

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Summary of Contents for Delta RMC150

  • Page 1 RMC150 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Motion Control and More...
  • Page 2 RMC150 Startup Guide Where to Get Help Video Tutorials In RMCTools, on the Help menu, click Video Tutorials. RMCTools Help In RMCTools, on the Help menu, click Help Topics. Forum forum.deltamotion.com Delta Technical Support Phone: +1-360-254-8688 Email: support@deltamotion.com deltamotion.com...

  • Page 3: Table Of Contents

    Continuing the Motion Application ........ 27 Diagnostic Tools ............29 Appendix A: Wiring ............30 Appendix B: Mounting Dimensions ....... 44 Appendix C: Agency Compliance ......... 45 Version 4.03, March 26, 2020 Copyright © 2020, Delta Computer Systems, Inc. deltamotion.com...

  • Page 4: Step 1: Mounting

    RMC150 Startup Guide Step 1: Mounting The RMC should be mounted upright on a vertical surface, such that the ventilation holes are on the top and bottom. Mounting Options Symmetrical DIN 3 Panel-mount • See Discrete Input Wiring • To turn on a discrete input, apply a voltage of the correct level. The polarity is unimportant.
  • Page 5 Step 1: Mounting RMC150E Module Each input has a “+” and “–” connection. Example deltamotion.com...
  • Page 6 RMC150 Startup Guide Appendix B: Mounting Dimensions for dimensions. Clearance The amount of clearance above and below depends on the maximum ambient temperature: Ambient Temperature Clearance 122 - 140°F (50 - 60°C) 3 in. (7.6 cm) 86 - 122°F (30 - 50°C) 2 in.

  • Page 7: Step 2: Wiring

    Step 2: Wiring Step 2: Wiring Wire the power, actuators and feedback devices to the RMC according to the instructions in Appendix A: Wiring on page 30. Note: Remove power from the RMC before connecting any wires. Wiring Topic Page General Wiring Information Power Control Output (Drive)

  • Page 8: Step 3: Install Rmctools

    RMC150 Startup Guide Step 3: Install RMCTools Download 1. Go to http://www.deltamotion.com/dloads/ 2. Choose the RMC70 or RMC150 category, then choose the Software category. 3. Choose the RMCTools 32-bit or 64-bit version as required for your computer. 4. Run the rmctoolsinstall32.exe or rmctoolsinstall64.exe file and follow the instructions.

  • Page 9: Step 4: Connect Rmc To Pc

    Step 4: Connect RMC to PC Step 4: Connect RMC to PC USB Cable Connect a standard A to B USB cable to the PC and to the RMC150E USB port This type of USB cable is used for PC peripherals such as printers, and is available at any store that sells electronics.

  • Page 10: Step 5: Start A New Project

    RMC150 Startup Guide Step 5: Start a New Project 1. Start RMCTools. 2. In the Startup dialog, choose Create a New Project and click OK. 3. Enter the Project Name, then click Finish. 4. In the New Controller Wizard, choose...
  • Page 11 Step 5: Start a New Project 5. RMC150E via USB: A. Click USB and click Next. B. When the RMC appears in the list, choose it and click Next. RMC150E via Ethernet: A. Click Ethernet and click Next. B. Use the MAC address (on the RMC150E label) to identify the RMC in the list, then click the...
  • Page 12 RMC150 Startup Guide 6. RMCTools will connect to the RMC and display it. Verify it is correct, then click Finish. 7. The toolbar now displays . This means RMCTools is communicating with the controller. Project Pane The project pane contains all the items in the project.
  • Page 13 Step 5: Start a New Project Set Up Universal I/O Channels If your RMC includes a Universal I/O module, you must first set up the high-speed channels before using them as part of an axis. 1. In the Project pane, expand the Modules folder and double-click the UI/O module.

  • Page 14: Step 6: Define The Axes

    RMC150 Startup Guide Step 6: Define the Axes To use a physical input or output, it must be assigned to an internal software axis. The RMC starts with default axis assignments which you will likely need to change. Note: It is important to define the axes at the start of the project.
  • Page 15 Step 6: Define the Axes View Axis Definitions 1. In the Project tree, expand the Axes folder and double-click Axis Definitions. 2. The Axis Definitions dialog opens: The list displays the software axes. To see the assigned hardware, click an axis in the list. The hardware assigned to that axis will be highlighted in the...

  • Page 16: Step 7: Test An Actuator

    RMC150 Startup Guide Step 7: Test an Actuator You will now test an actuator such as a hydraulic valve or a motor. You will use the Direct Output command to send a voltage to the actuator. The actuator must already have been wired to the RMC.
  • Page 17 Step 7: Test an Actuator 3. In the Axis Status Registers, on the Basic tab, look at the Control Output. It should be 0. deltamotion.com...
  • Page 18 RMC150 Startup Guide 5. In the Command Tool, in the axis the actuator is connected to, click the button. 6. Browse to Motion Commands, then Open Loop. Choose the Direct Output command and click OK. 7. For the Direct Output command parameters, enter the following: •...
  • Page 19 Step 7: Test an Actuator 8. In the Command Tool, click Send. The axis should move, and the Control Output (in the Axis Status Registers) should be 0.100. 9. If the axis did not move, resend the command with a larger Output until the axis moves. Note: For the Quad module, if you are using the Enable Output for enabling the actuator, such as a motor drive, then you first need to set the Enable Output...

  • Page 20: Step 8: Test Feedback Device

    RMC150 Startup Guide Step 8: Test Feedback Device Now that you have connected and tested an actuator, you will connect and verify a feedback device. The device must already have been wired to the RMC. Configure Feedback In Axis Tools, in the Axis Parameters pane, on the Setup tab, you will configure certain parameters depending on the type of input you are using.
  • Page 21 Step 8: Test Feedback Device Start/Stop or PWM (Magnetostrictive) Feedback 1. In the Axis Parameters, on the Setup tab, set the MDT Type register to the type of magnetostrictive transducer you have. This information is available from your transducer datasheet. 2.
  • Page 22 RMC150 Startup Guide Analog Feedback 1. In the Axis Parameters, on the Setup tab, set the Input Type to Voltage (±10V), Voltage (±5V) or Current (4-20mA). If the input is the primary input of the axis, the Input Type is under the Primary Control Setup section in the Axis Parameters.
  • Page 23 Step 8: Test Feedback Device Verify Feedback 1. In the Axis Status Registers pane, on the All tab, expand the Feedback section. For secondary inputs, expand the Pressure/Force/Accel Feedback section. 2. Depending on your feedback type, look at the Counts, Volts or Current register.

  • Page 24: Step 9: Scale And Offset

    RMC150 Startup Guide Step 9: Scale and Offset The Scale and Offset parameters convert the Counts, Volts or Current from the transducer into meaningful measurement units. First, determine the approximate positions at either end of travel. This will help you verify later that you performed the procedure correctly.

  • Page 25: Step 10: Set The Output Polarity

    Step 10: Set the Output Polarity Step 10: Set the Output Polarity The Actual Position, Pressure, Force or Velocity must increase when the RMC applies a positive output voltage. If this condition is not met, you will not be able to perform closed-loop control. 1.

  • Page 26: Step 11: Tuning

    RMC150 Startup Guide Step 11: Tuning In order to control an axis in closed-loop, it must first be tuned. You can use autotuning or manually tune the axis. Autotuning – Position Axes Only Autotuning can be used for most position control axes.
  • Page 27 Step 11: Tuning 5. When the wizard is complete, the Gain Calculator will open. Use the slider bar to choose gains. Begin by pulling the slider close to the bottom, then click Apply Gains. 6. Use the buttons you previously set up to move the axis back and forth.
  • Page 28 RMC150 Startup Guide Manual Tuning–Position, Pressure, or Force Axes You can manually tune systems for which autotuning does not work. For instructions: 4. On the help menu, choose Help Topics. 5. On the Index tab, type tuning and double-click about.

  • Page 29: Continuing The Motion Application

    A User Program runs on a task. Each task can run one user program at a time. The RMC150 has ten tasks. Therefore, an RMC150 controller may run up to ten User Programs simultaneously.
  • Page 30 RMC150 Startup Guide Communications Most PLCs or other host controllers can communicate with the RMC, which includes reading status, writing values, and sending commands to the RMC. The RMC150E supports Ethernet and PROFIBUS-DP. See the Communications section of the RMCTools help for more detailed information.

  • Page 31: Diagnostic Tools

    Diagnostic Tools Diagnostic Tools This section describes the main diagnostic tools of RMCTools that will aid you in monitoring and troubleshooting your system. Plots The RMC provides very flexible plotting capabilities. Virtually any register in the RMC can be plotted, and multiple registers may be plotted simultaneously.

  • Page 32: Appendix A: Wiring

    RMC150 Startup Guide Appendix A: Wiring This appendix describes how to wire the RMC. Use the table below to find the wiring diagram you need. For communications wiring, consult the RMCTools help. Note: Remove power from the RMC before connecting any wires.
  • Page 33 Appendix A: Wiring General Wiring Information To minimize electrical interference: • Use twisted pairs for all wiring where possible. • Use shielded cables for all wiring. • Keep RMC wiring separate from AC mains or conductors carrying high currents, especially high frequency switching power such as conductors between servo drives and motors or amplifiers and proportional valves.
  • Page 34 RMC150 Startup Guide Wiring Power Voltage: +24VDC ( 20.4 – 27.6VDC) Current rating: Backplane Slots Max Current (mA) UL and CUL Requirements For UL and C-UL compliance, the power supply must be Class 2. Class 2 power supplies are limited to 100W output. No additional fusing is required if a class 2 power supply is used.
  • Page 35 Appendix A: Wiring SSI Transducer Wiring For Synchronous Serial Interface (SSI) transducers and encoders. If the SSI transducer is linear, make sure to choose the synchronized type. Input Connector Clock + Clk+ Clock - Clk- Data + Dat+ Data - Dat- DC Gnd Pwr+...
  • Page 36 RMC150 Startup Guide SSI Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all SSI wiring instructions on page 33. Balluff Micropulse BTL-5 with SSI output Styles: Z, W, K, P Input Connector Yellow + Clk...
  • Page 37 Appendix A: Wiring MDT Module Start/Stop or PWM Transducer Wiring For magnetostrictive transducers with Start/Stop or PWM outputs. 6-pin MDT Connector Interrogate + Int+ Interrogate - Int- DC Ground Return + Ret+ Return - Ret- Pwr+ Case +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams.
  • Page 38 RMC150 Startup Guide MDT Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all MDT wiring instructions on page 35. Balluff Micropulse BTL-5, digital RS-485 output Styles: Z, W, K, E, P, R, AT 6-pin MDT...
  • Page 39 Appendix A: Wiring Analog Voltage Transducer Wiring Voltage Transducer, 4- or 5-Wire Input Connector + In +Analog Out Res or Jmpr -Analog Out - In Signal Common Pwr Common +Pwr To reduce electrical interference: Case • -In and Cmn must be connected, either internal to the transducer or externally as close as possible to the transducer.
  • Page 40 RMC150 Startup Guide Potentiometer with Exciter Pin Note: Use the Exciter pin to increase the measurement accuracy of the potentiometer. Not available on the UI/O module. Input Potentiometer Connector + In Wiper - In +10VDC Exciter Case To reduce electrical interference: •...
  • Page 41 Appendix A: Wiring Quadrature Encoder Wiring Pin-out table is available in the RMCTools help. Important! The A, B and Z signals accept 5 V differential (RS-422) signals. Single- ended (TTL) are strongly discouraged. If absolutely necessary, see the RMCTools help for single-ended wiring. Universal I/O Module The Universal I/O encoder wiring is identical to the diagram shown above, with the exception of the pin order.
  • Page 42 The wiring diagram below is for resolvers that fall within the Resolver module’s signal specifications (800 Hz to 5 kHz and 1.41 to 4.8 VRMS). The Ref In input is only used for reference signals outside of these specifications, and requires contacting Delta for assistance. 8-pin Resolver Connector...
  • Page 43 Appendix A: Wiring Discrete Output Wiring The RMC150E, DI/O and UI/O outputs are solid state relays. When off, they have high impedance, and when on, they have low impedance. RMC150E DI/O UI/O On Impedance 50Ω max, 25Ω typical Max Current 75 mA 75 mA (50 mA for Class I Div 2)
  • Page 44 RMC150 Startup Guide Each output has a “+” and “–” connection. Outputs can be wired in either a high-side or low-side configuration. +VCC (12-24 VDC) +VCC (12-24 VDC) RMC Module Resistive RMC Module Output + load Output + Output -...
  • Page 45 Appendix A: Wiring Discrete Input Wiring To turn on a discrete input, apply a voltage of the correct level. The polarity is unimportant. RMC150E DI/O UI/O Signal Levels 12-24 VDC 5-24 VDC 12-24 VDC Max Current 3 mA max 6 mA at 5V 3 mA max Draw 10 mA at 24V...

  • Page 46: Appendix B: Mounting Dimensions

    RMC150 Startup Guide Appendix B: Mounting Dimensions Backplane Slots Total Width 4.10 in. 5.10 in. 6.10 in. 7.10 in. (104.1 mm) (129.5 mm) (154.9 mm) (180.3 mm) Note: Allow space for the connectors on the front of the RMC. Delta Computer Systems, Inc.

  • Page 47: Appendix C: Agency Compliance

    Appendix C: Agency Compliance Appendix C: Agency Compliance • UL and CUL For UL and CUL compliance: • Power supply must be Class 2. • All RMC inputs and outputs must be connected to Class 2 circuits only. Class I Div 2 Products marked “Class I Division 2, Group A, B, C, D”...
  • Page 48 The RMC Family of Motion Control Connect. Control. Optimize.

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