Delta RMC70 Startup Manual
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Delta RMC70 Startup Manual

Delta RMC70 Startup Manual

Motion controller
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RMC70 MOTION CONTROLLER
STARTUP
GUIDE
With wiring diagrams
Motion Control and More

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Summary of Contents for Delta RMC70

  • Page 1 RMC70 MOTION CONTROLLER STARTUP GUIDE With wiring diagrams Motion Control and More...
  • Page 2 RMC70 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 ........ 25 Diagnostic Tools ............27 Appendix A: Wiring ............28 Appendix B: Mounting Dimensions ....... 43 Appendix C: Agency Compliance ......... 45 Version 4.00, June 1, 2017 Copyright © 2017, Delta Computer Systems, Inc. deltamotion.com...

  • Page 4: Step 1: Add Expansion Modules

    4 expansion modules. No more than two Q2 modules can be installed per RMC75. 1. Remove 4 screws Remove the 4 phillips-head screws on the right side of the top and bottom of the RMC70. 2. Install Expansion Module 3. Reinstall the 4 screws Delta Computer Systems, Inc.

  • Page 5: Step 2: Mounting

    Step 2: Mounting Step 2: 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 Appendix B: Mounting Dimensions for dimensions Clearance The amount of clearance above and below depends on the maximum ambient temperature:...

  • Page 6: Step 3: Wiring

    RMC70 Startup Guide Step 3: Wiring Wire the RMC, actuators and feedback devices according to the instructions in Appendix A: Wiring. For expansion module wiring, consult the wiring diagram you received with it, or use the RMCTools help. For communications wiring, consult the RMCTools help.

  • Page 7: Step 4: Install Rmctools

    Step 4: Install RMCTools Step 4: 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 8: Step 5: Connect Rmc To Pc

    RMC70 Startup Guide Step 5: Connect RMC to PC RMC75E USB Cable Connect a standard A to B USB cable to the PC and to the RMC75E port labeled USB Monitor. This type of USB cable is used for PC peripherals such as printers, and is available at any store that sells electronics.

  • Page 9: Step 6: Start A New Project

    Step 6: Start a New Project Step 6: 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 Automatically Detect the Controller Information,...
  • Page 10 RMC70 Startup Guide 5. RMC75E via USB: A. Click USB and click Next. B. When the RMC appears in the list, choose it and click Next. RMC75E via Ethernet: A. Click Ethernet and click Next. B. Use the MAC address (on the RMC75E...
  • Page 11 Step 6: Start a New Project RMC75S or RMC75P: Select the serial port and click Next. 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.
  • Page 12 RMC70 Startup Guide Saving Settings Throughout the startup procedure, make sure to save the configuration changes you make or they may be lost! 1. Save RMCTools Project On the File menu, click Save. 2. Update Flash On the Controller menu, click Update Flash.

  • Page 13: Step 7: Define The Axes

    Step 7: Define the Axes Step 7: 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 14 RMC70 Startup Guide 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.

  • Page 15: Step 8: Test An Actuator

    Step 8: Test an Actuator Step 8: 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. USE THE DIRECT OUTPUT COMMAND WITH CAUTION! IT DISABLES THE SAFETY FEATURES OF THE RMC! Fault Controller Button...
  • Page 16 RMC70 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 17 Step 8: 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.

  • Page 18: Step 9: Test Feedback Device

    RMC70 Startup Guide Step 9: 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 19 Step 9: Test Feedback Device MA Module–Start/Stop or PWM 1. In the Axis Parameters, on the Setup tab, set the Feedback Type to MDT. 2. Set the MDT Type register to the type of MDT transducer you have. This information is available on the transducer datasheet.
  • Page 20 RMC70 Startup Guide AA Module 1. In the Axis Parameters pane, on the Setup tab, set the Input Type to Voltage or Current. 2. Click the Download button to apply the changes to the RMC. 3. Continue to the Verify Feedback section on page 19.
  • Page 21 Step 9: 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 22: Step 10: Scale And Offset

    RMC70 Startup Guide Step 10: 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 23: Step 11: Set The Output Polarity

    Step 11: Set the Output Polarity Step 11: 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 24: Step 12: Tuning

    RMC70 Startup Guide Step 12: 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 25 Step 12: 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 26 RMC70 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 27: Continuing The Motion Application

    A User Program runs on a task. Each task can run one user program at a time. The RMC70 has four tasks. Therefore, an RMC70 controller may run up to four User Programs simultaneously.
  • Page 28 RMC at a specific time. Up to 32 discrete I/O can be added to the RMC70. Each I/O point is individually configurable in software as inputs or outputs. See the Discrete I/O topic in the RMCTools help for details.

  • Page 29: 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 30: Appendix A: Wiring

    RMC70 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 expansion module wiring, consult the wiring diagram you received with it, or use the RMCTools help.
  • Page 31 Appendix A: Wiring General Wiring Information For CE compliance and 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 32 RMC70 Startup Guide Wiring Power Voltage: +24VDC ( 21.6 – 26.4VDC) Current rating: Minimum 500 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 33 Appendix A: Wiring Wiring for all Axis Modules Control Output, Enable Output, and Fault Input Axis Connector Flt In+ Apply 12-24 VDC across input to turn on Flt In- +VCC (12-24 VDC) Drive or Amplifier En Out+ En Out- Enable or Inhibit + Ref In Ctrl Out - Ref In...
  • Page 34 RMC70 Startup Guide MA Module SSI Transducer Wiring For Synchronous Serial Interface (SSI) transducers and encoders. For linear SSI transducers, make sure to choose the synchronized type. 12-pin Axis Connector Clock + Int/Clk+ Clock - Int/Clk- Data + Ret/Dat+ Data -...
  • Page 35 Appendix A: Wiring Manufacturer-Specific Wiring Labels and Colors These diagrams provide only transducer manufacturer labels and colors. Follow all wiring instructions on p.32 Balluff Micropulse BTL-5 with SSI output Styles: Z, W, K, P 12-pin Axis Connector Yellow + Clk Int/Clk+ Pink - Clk...
  • Page 36 RMC70 Startup Guide MA Module Start/Stop or PWM Transducer Wiring For magnetostrictive transducers with Start/Stop or PWM outputs. 12-pin Axis Connector Interrogate + Int/Clk+ Interrogate - Int/Clk- DC Ground Return + Ret/Dat+ Return - Ret/Dat- Pwr+ Case +Pwr Power Supply Tip: See next page for manufacturer-specific wiring diagrams.
  • Page 37 Appendix A: Wiring Manufacturer-Specific Wiring Labels and Colors Follow all wiring instructions on p.34. Balluff Micropulse BTL-5, digital RS-485 output Styles: Z, W, K, E, P, R, AT 12-pin Axis Connector Yellow Interrogate + Input Int/Clk+ Pink Interrogate - Input Int/Clk- Blue Gray...
  • Page 38 RMC70 Startup Guide MA Module Pin-out Function Flt In + Fault Input Flt In - Fault Input En Out + Enable Output En Out - Enable Output Ctrl Out Control Output, ± 10 V 16-bit Analog Common MDT Transducer SSI Transducer...
  • Page 39 Appendix A: Wiring AA Module Voltage Transducer Wiring Voltage Transducer, 4- or 5-Wire 12-pin Axis Connector +Analog In +Analog Out Jumper for 4-20 mA -Analog Out -Analog In Signal Common Pwr Common +10Vdc Exciter +Pwr To reduce electrical interference: Case •...
  • Page 40 RMC70 Startup Guide AA Module Potentiometer with Exciter Pin Note: When using a potentiometer, use the Exciter pin to increase the accuracy of the analog to digital conversion. 12-pin Axis Potentiometer Connector +Analog In Wiper Jumper for 4-20 mA -Analog In...
  • Page 41 Appendix A: Wiring AA Module Pin-out Function Flt In + Fault Input Flt In - Fault Input En Out + Enable Output En Out - Enable Output Ctrl Out Control Output, ±10 V 16-bit Analog Common Analog In + Signal + Jumper for Jumper for Current Transducer 4-20 mA...
  • Page 42 RMC70 Startup Guide QA Module Wiring See page 41 for the QA module pin-out. 25-pin Axis Connector Pin 1: A- Pin 2: A+ Pin 3: B- Pin 4: B+ Pin 14: Z- Pin 15: Z+ Common Pwr+ Important! Power Supply...
  • Page 43 Appendix A: Wiring QA Module Pin-out Label Function A- from encoder A+ from encoder B- from encoder B+ from encoder No connection Reg Y/NegLim- Registration Y or Negative Limit Reg Y/NegLim+ Reg X/PosLim- Registration X or Positive Limit Reg X/PosLim+ No connection No connection Control Out...
  • Page 44 RMC70 Startup Guide D8 Module Discrete I/O Wiring The eight I/O on the D8 expansion module are individually configurable via software to be inputs or outputs. Discrete Outputs The discrete outputs are solid state relays. When off, they have high impedance, and when on, they have low impedance (50 Ω...

  • Page 45: Appendix B: Mounting Dimensions

    Appendix B: Mounting Dimensions Appendix B: Mounting Dimensions This sections contains mounting hole dimensions for the RMC75 series motion controller and expansion modules. Up to four expansion modules may be added to the right side of the RMC75 base module. Base Module RMC75S, RMC75P, RMC75E Note: Drawing is not 1:1 scale.
  • Page 46 RMC70 Startup Guide Expansion Modules There are two different expansion module widths. AP2, A2, Q1 Note: Drawings are not 1:1 scale. Delta Computer Systems, Inc.

  • Page 47: Appendix C: Agency Compliance

    Appendix C: Agency Compliance Appendix C: Agency Compliance For CE compliance and 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 48 The RMC Family of Motion Control Connect. Control. Optimize.

This manual is also suitable for:

Rmc70 seriesRmc75

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