Delta Computer Systems RMC100 User Manual

Motion controller and rmcwin software

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Page 1 sales@artisantg.com artisantg.com (217) 352-9330 | Visit our website - Click HERE...
Page 2 RMC100 Motion Controller RMCWin Software User Manual Version 2.31.2 December 9, 2015...
Page 4: Table Of Contents
Starting Up the RMC ..............2-1 A step-by-step guide to quickly get up and running. Using RMCWin ................3-1 Detailed information on how to use the RMC100 motion control software. Controller Features ............... 4-1 Splines, Gearing, Synchronizing, Speed Control, Event control and more…...
Page 5 RMC100 and RMCWin User Manual...
Page 6 Toolbar ........................... 3-5 Connecting to an RMC ................... 3-6 Connecting RMCWin to an RMC ................... 3-6 Setting the Firewall to Allow RMC100 Ethernet Browsing ............. 3-8 Using the Communication Options Tab ................. 3-9 Working Offline ........................3-10 Configuration Conflict Detection ..................3-12 Resolve Configuration Conflict Dialog Box ................
Page 7 Changing Data from the Keyboard ..................3-23 Read-back versus Write Mode .................... 3-24 RMC Configuration Dialog Box .................... 3-25 RMC100/101 CPU Options Dialog Box ................3-26 Using Pop-up Editors ......................3-26 Using the Status Bits Window ....................3-27 Using the Command Log ..................... 3-27 Using the Parameter Error List Window ................
Page 8 RMC100 and RMCWin User Manual LCD Screen Editor: Overview ....................3-58 Editor Window Elements ...................... 3-59 LCD Screen Editor: Editor Window Elements ..............3-59 LCD Screen Editor: Tree Pane Details ................3-60 LCD Screen Editor: Screen Pane Details ................ 3-61 LCD Screen Editor: Field Pane Details ................
Page 9 RMC100 and RMCWin User Manual Curve Tool: Editing Cells ....................3-103 Curve Tool: Deleting Cells ..................... 3-104 Curve Tool: Cutting and Copying Cells ................3-104 Curve Tool: Pasting Cells ....................3-105 Curve Tool: The Insertion Point ..................3-106 Curve Tool: Resizing columns ..................3-106 Using Curves ........................
Page 10 RMC100 and RMCWin User Manual Speed Control ....................... 4-15 Rotational Mode ....................4-17 Spline Overview ....................4-18 Synchronizing Axes....................4-26 Teach Mode Overview ..................4-27 VC2100 and VC2124 Voltage-to-Current Converters .......... 4-28 Position/Pressure Control ..................4-30 Position-Pressure Overview ....................4-30 Position-Pressure Setup ......................
Page 11 RMC100 and RMCWin User Manual RMC Ethernet Protocols ....................5-62 Controlling and Monitoring the RMC over Ethernet ............. 5-65 Allen-Bradley Controllers ....................5-65 Using Allen-Bradley Controllers with the RMC Ethernet Module ......... 5-65 RMC Register Map (Allen-Bradley) ................5-70 Using EtherNet/IP with the ControlLogix ..............5-80 Automationdirect.com's DL205/305 .................
Page 12 RMC100 and RMCWin User Manual Using the MSTR Modicon Ladder Logic Block .............. 5-197 MSTR Block Read Operation ..................5-199 MSTR Block Write Operation ..................5-202 MSTR Block Read Global Data Operation ..............5-205 MSTR Block Peer Cop Health Operation ............... 5-206 MSTR Block Error Codes ....................
Page 13 RMC100 and RMCWin User Manual Analog Transducer Overview ....................6-0 Analog Transducer Wiring ..................... 6-1 Analog Transducer Configuration ..................6-3 Analog Transducer LED Indicators ..................6-6 Analog Transducer Specifications ..................6-6 Analog Transducer Scaling ....................6-8 Setup Details ........................6-10 Using Analog Channels as Position Inputs ..............
Page 14 RMC100 and RMCWin User Manual SSI Scaling .......................... 6-76 ............... 7-0 UPPORT AND ROUBLESHOOTING Warranty ........................7-0 Troubleshooting ..................... 7-0 Programming Hints ........................ 7-0 Error Handling ........................7-1 RMC Module Problems ......................7-1 Hydraulic System Problems ....................7-2 Technical Support ....................7-6 Technical Support ........................
Page 15 RMC100 and RMCWin User Manual No Axes Selected for Use by the Function (,) Command ............ 7-16 No initialized pressure axis is assigned ................7-17 Non-existent pressure axis selected in "Config" word ............7-17 Numeric overflow while sending a spline to the Spline Download Area ......7-17 One or more synced axes are uninitialized .................
Page 16 RMC100 and RMCWin User Manual Amp Enable/Disable Command ..................A-14 Clear Spline Segments Command ..................A-15 Set Position/Pressure Command ..................A-16 Change Deceleration Command ..................A-16 Start Events Command ....................... A-17 Set Feed Forward Command ..................... A-17 Follow Spline Segment Command ..................A-17 Go Command ........................
Page 17 RMC100 and RMCWin User Manual Set Parameters Command ....................A-50 Quit Events Command ......................A-51 Set Pressure Ramp Time Command .................. A-51 Set Pressure Command ..................... A-52 Set Pressure Set A Command .................... A-52 Set Pressure Set B Command .................... A-53 Set Parameter On-the-Fly ....................
Page 18 RMC100 and RMCWin User Manual Offset ............................ C-8 Extend Limit .......................... C-8 Retract Limit .......................... C-9 Proportional Gain ........................C-9 Integral Gain ........................C-10 Differential Gain ........................C-10 Extend Feed Forward ......................C-11 Retract Feed Forward ......................C-13 Extend Acceleration Feed Forward ..................C-13 Retract Acceleration Feed Forward ..................
Page 19 RMC100 and RMCWin User Manual Configuration Word ......................C-48 Configuration Word Bit Map ....................C-50 Configuration Bits - Quadrature/Stepper Specific ............... C-51 Coord. Limit ......................... C-53 Extend Limit ........................C-53 Retract Limit ........................C-54 Comp. Rate ......................... C-54 Comp. Timeout ........................C-54 Steps/Rev ...........................
Page 20 RMC100 and RMCWin User Manual Valid 16-Bit Positions .................... D-1 Position Status Fields ................... D-2 Command Position........................ D-2 Target Position ........................D-2 Actual Position ........................D-3 COUNTS ..........................D-3 Status (Position/Speed) ......................D-7 Status Word Bit Map (MDT, SSI, Analog, Resolver) ............D-18 Status Word Bit Map (Quadrature) ..................
Page 21 RMC100 and RMCWin User Manual F: RMC100 S ............... F-1 PPENDIX PECIFICATIONS RMC100 Specifications ..................F-1 General Wiring Information ..................F-4 G: G ..................G-1 PPENDIX LOSSARY Glossary ......................... G-1 H: ASCII T .................. H-1 PPENDIX ABLE ASCII Table ......................H-1 ........................1...
Page 22 The information in this documentation is subject to change without notice. Neither Delta Computer Systems, Inc. nor anyone else involved in the creation, production, or delivery of this product shall be liable for any direct, indirect, consequential injuries and or damages arising out of the use, the results of use, or the inability to use this product.
Page 24: Introducing The Rmc100 Series
1 Introducing the RMC100 Series 1.1 RMC100 Overview The RMC100 series brings the benefits of modular, high-performance motion control to a wide range of industrial applications. Communications options—ranging from high-speed field buses to discrete I/O—make these controllers an excellent choice for large and small systems. Transducer types can be combined to control any hydraulic, electric, and pneumatic system.
Page 25 RMC100 and RMCWin User Manual • Presses • Injection/RIM/blow molding • Packaging equipment • Indexing/transfer lines • Edgers/headrigs/veneer lathes • Pinch rollers/winders/wrappers • Casting/forging • Palletizers/stackers • Flying cutoff/curve sawing • Cyclic testing • Robotics/animatronics • Pneumatic press rolls •...
Page 26 Integral Gain, to calculate the integral portion of the drive output. The change in position error, along with the Differential Gain, is used to calculate the differential portion of the drive output. Introducing the RMC100 Series...
Page 27 RMC100 and RMCWin User Manual In addition to the closed loop drive, this motion controller has two feed forward terms, made up of Extend and Retract Feed Forward, and Extend and Retract Acceleration Feed Forward. These feed forward terms give approximately the drive needed to make the axis follow the target, freeing the PID loop to correct for non-linearity in the system and changes in system load.
Page 29: Starting Up The Rmc
Before providing power to the RMC for the first time, disconnect all other wiring from the module. Use the provided three-position power connector to attach power. Each input is labeled on the front panel of the RMC. For details on the RMC power requirements, see RMC100 Specifications. 2. Connect the RMC to the RMCWin software Many of the steps that follow assume the RMCWin software package is used in conjunction with the RMC to set up the system.
Page 30 B. Start RMCWin and ensure it is Online with the RMC. C. Connect the RMC100 drive output to the motor or hydraulic valve of the axis being setting D. In RMCWin, with the cursor on the axis you want to adjust, press ALT+R to restore the null.
Page 31 RMC100 and RMCWin User Manual users must use raw transducer counts. Delta’s motion controllers provide a conversion between raw transducer counts and user-definable position units. Defining position units achieves the following two purposes: • The mapping between raw transducer counts and position units is defined. This involves at least one scale term, and in some cases an offset.
Page 32 Step-by-Step RMC Startup 2.1 topic for details on tuning: • Tuning an Axis At this point Auto Stop should be set to 0xE0E0 so any transducer error on the axis will cause it to stop, but other errors will not. Check the Status word for errors after each move. 9.
Page 33 2.2 Setup Details 2.2.1 Scaling Overview Scaling refers to converting the transducer feedback into meaningful units. The RMC100 uses the Scale and Offset parameters to convert the transducer Counts into measurement units (position, pressure, force). For example, the counts returned by an analog position transducer must be converted to positions in order to be useful for control.
Page 34 Setup Details 2.2 2.2.2 Advanced Scaling This topic describes specialized scaling techniques. For general scaling information, see the Scaling Overview topic. Scaling position so that speed is represented in feet per minute or revolutions per minute. Use the following steps to scale the position so that the speeds can be expressed in units of feet per minute or RPM.
Page 35 RMC100 and RMCWin User Manual • A Hydraulic Position Axis or Motor in Velocity Mode • A Motor in Torque Mode • A Position/Pressure System Tuning Wizard RMCWin provides a time-saving tuning wizard that calculates the gains based on plots of the motion.
Page 36 Setup Details 2.2 can tune the axis. Remember to set these bits to either "Soft Stop" or "Hard Stop" when you have gained sufficient control of the axis. This may not be possible on some systems because of safety concerns. •...
Page 37 RMC100 and RMCWin User Manual • Make a long move without any oscillation or overdrive. Then issue the Set Feed Forward command. This command will automatically adjust the Feed Forward parameter for the direction of that move. • Set the Differential Gain and Integral Gain to zero and keep the Proportional Gain value from the previous step.
Page 38 Setup Details 2.2 Important: If you use Differential Gain, you may be able to increase the Proportional Gain somewhat without causing the system to oscillate. If the drive output during the constant velocity portion of the move is smooth, the Differential Gain is perhaps not set high enough.
Page 39 RMC100 and RMCWin User Manual Tuning Procedure 1. Do Open Loop Move This step is for verifying that the system wiring and setup is correct before doing any closed loop control. Issue an Open Loop (O) command with a small drive, such as 50-150. Increase the drive until the axis begins to move.
Page 40 Setup Details 2.2 slowly increasing it and making moves. If the system begins to oscillate, decrease the gain. 5. Adjust the Feed Forwards In torque motor applications, feed forward parameters (Extend Feed Forward and Retract Feed Forward) often do not require high values. Adjust these parameters by making a long move without any oscillation or overdrive.
Page 41 RMC100 and RMCWin User Manual • If the Drive is not high, the gains can probably be increased for better control. If the Drive is too high, or an overdrive error occurs, the system is not capable of performing the requested move.
Page 42 Setup Details 2.2 3. Adjust the Proportional Gain The Proportional Gain should be adjusted first to gain some control over the pressure before continuing the tuning procedure. Note: If negative drive causes an increase in pressure, use negative values throughout the tuning procedure.
Page 43 RMC100 and RMCWin User Manual • A disadvantage of Differential Gain is that it amplifies measurement noise. If there is too much noise or the gain is too high, this can cause the system to chatter or oscillate. In this case, decrease the Differential Gain.
Page 44 Setup Details 2.2 Using the Integrator Preload is useful for systems with predictable position-to-pressure transitions. It always provides the same amount of drive. 11. Drive Transfer Percent The Drive Transfer Percent acts similarly to the Integrator Preload. The difference is that the Integrator Preload places a constant value into the integral drive term, while the Drive Transfer Percent places a certain percentage (positive or negative) of the current drive into the integral drive term.
Page 45 RMC100 and RMCWin User Manual generate this model by evaluating the response of the system to changes in the Drive output. 2. Choose Gains You can then select gains appropriate to your system by using a simple slider indicating your preference for the desired responsiveness of the system from "Conservative"...
Page 46 Closed Loop moves. 2.2.3.6.1 Open Loop Moves Warning: In Open Loop, the safety features of the RMC100 are disabled. Take extra precautions to keep the axis from moving too fast or too far. Be prepared to stop the axis immediately with an emergency stop switch.
Page 47 RMC100 and RMCWin User Manual folder as RMCWin, which is by default C:\Program Files\RMCWin\. 3. Download the Step Table to the RMC100 by clicking the download button on the Event Step Editor toolbar ( 4. To start the open loop step sequence in the positive direction on the axis: •...
Page 48 Setup Details 2.2 Starting Up the RMC 2-19...
Page 49 RMC100 and RMCWin User Manual 2-20...
Page 51: Using Rmcwin
RMC100 and RMCWin User Manual 3 Using RMCWin 3.1 RMCWin Overview Description RMCWin is a Windows 98/NT/2000/XP/Vista/7 based software package that allows you to access, display, troubleshoot, configure and control features of Delta’s RMC motion control products. RMCWin allows you to adjust the parameters of the RMC and make simple movements.
Page 52 Screen Layout 3.2 • Using Multiple RMCs • Using the Scale/Offset Calibration Utilities Table Editors • Table Editor Basics • Editing the Stored Command Table • Editing the Profile Table • Editing the Event Step Table • Editing the Input to Event Table Tools •...
Page 53 RMC100 and RMCWin User Manual • Plot Time area (top-right pane) • Parameter area (bottom-right pane) The following is a sample main screen: 3.2.2 Command Area This area is located in the lower left portion of the main window. It holds the Command fields for each axis.
Page 54 Screen Layout 3.2 For details on saving and loading commands, see Changing Between Board Files. 3.2.3 Parameter Area This area is located in the lower right portion of the main window. It holds the Parameter fields for each axis. This area is updated only in Read-back Mode. Refer to the following sections for details on the parameter fields: Configuration Word Scale...
Page 55 RMC100 and RMCWin User Manual parameters for that axis will be displayed in WHITE. Note: When in Read-back Mode, you will notice that RED parameters will be replaced with WHITE parameters as the current values are read from the RMC. This is done to indicate that the values displayed match those used by the RMC.
Page 56 Screen Layout 3.2 3.2.6 Status Bar The status bar is located at the bottom of the main screen. This bar is divided into four areas: Menu Help All of the status bar except the three panes described below is used to display help on menu items. When no menu item is selected, it displays "For help, press F1."...
Page 57 RMC100 and RMCWin User Manual Creates a new board file with default parameters. Refer to Using Multiple Motion Modules for details on board files. Open Opens a different board file. Refer to Using Multiple Motion Modules for details on board files.
Page 58 Note: If your computer has a firewall, it may prevent RMCWin from finding RMC100s on your Ethernet network from the Communications tab in the Options dialog. See the Setting the Firewall to Allow RMC100 Ethernet Browsing topic for details. •...
Page 59 A shortcut menu will appear with the options described above. 3. In the shortcut menu, click the option you want to use. 3.3.2 Setting the Firewall to Allow RMC100 Ethernet Browsing This topic is pertinent to all computers with a firewall, especially Windows XP SP2, which includes a firewall.
Page 60 Connecting to an RMC 3.3 Create an Exception 1. On the Start menu, click Control Panel. 2. Double-click Windows Firewall, and click the Exceptions tab. 3. Click Add Program, then choose RMCWin from the Programs list. If RMCWin is not listed, browse to the RMCWin.exe file.
Page 61 Note: If your computer has a firewall, it may prevent RMCWin from finding RMC100s on your Ethernet network from the Communications tab in the Options dialog. See the Setting the Firewall to Allow RMC100 Ethernet Browsing topic for details. •...
Page 62 Connecting to an RMC 3.3 There are three ways to open and close a communication path. Each is described below: To use the Communication tab in the Options dialog box: 1. Start RMCWin. 2. On the Tools menu, click Options, and then click the Communication tab. You can also double-click the Communication pane of the main window's status bar, or right- click this pane and then click Communication Options from the shortcut menu.
Page 63 When a new module is connected to RMCWin. The following items are compared: • All physical hardware (e.g. PROFIBUS-DP, RMC100 CPU, and two MDTs). • All hardware configuration options. This includes all options editable from the RMC Configuration dialog box and none of the axis parameters. Examples of hardware configuration options include PROFIBUS-DP station address, analog channel assignments, and MDT blanking period settings.
Page 64 Connecting to an RMC 3.3 Note: If the connection to the RMC is lost while this dialog box is displayed, the dialog box will be removed. This is to allow for cases where you realize the board file belongs to another RMC module.
Page 65 RMC100 and RMCWin User Manual The RMC's serial port has a DTE DB9 serial connector. For further wiring details, see RS232 Wiring. Note: RMCWin and the RMC have been tested with USB-based serial ports. In the best case, the USB-based serial ports were twice as slow as a standard serial port. One of the USB-based serial ports we tested with also did not work with Windows 2000.
Page 66 Connecting to an RMC 3.3 Signals: RS232 Baud Rate: 38400 Data Bits: 8 Parity: None Stop Bits: 1 Flow Control: None Therefore, RMCWin does not require choosing these options to communicate with the RMC. The only setting necessary to set up on RMCWin is to select which serial port will be used. Two other options are available that affect the performance and reliability.
Page 67 Ethernet network from the Communications tab in the Options dialog. See the Setting the Firewall to Allow RMC100 Ethernet Browsing topic for details. Also, If your RMC is behind a firewall, make sure the firewall forwards Ethernet port 1324 to the RMC’s IP address.
Page 68 RMC IP addresses, plus all RMCs on the local network. Note: If your computer has a firewall, it may prevent RMCWin from finding RMC100s on your Ethernet network. See the Setting the Firewall to Allow RMC100 Ethernet Browsing topic for details.
Page 69 RMC, even if it currently has invalid TCP/IP settings. Note: If your computer has a firewall, it may prevent RMCWin from finding RMC100s on your Ethernet network. See the Setting the Firewall to Allow RMC100 Ethernet Browsing topic for details.
Page 70 This driver adds many of the benefits of Ethernet—it allows routing and addressing multiple modules and provides isolation—to all RMCs because it uses the RMC100 CPU's "RS-232 Monitor" serial port, but does so at the expense of performance. This is possible using a TCP/IP- to-RS232 Bridge device.
Page 71 RMC100 and RMCWin User Manual 3.3.7.6 Communication Driver: TCP/IP-to-RS232 Bridge Configuration Note: This communication driver requires RMC100 CPU firmware dated 20010522 or later. The main steps to configuring a TCP/IP-to-RS232 Bridge communication path are as follows: • Obtain a TCP/IP-to-RS232 Bridge There are a number of TCP/IP-to-RS232 bridge devices available.
Page 72 Basic Topics 3.4 • Configure RMCWin for the TCP/IP-to-RS232 Bridge Driver After you have set up the bridge, it is time to select and configure the TCP/IP-to-RS232 Bridge driver in RMCWin. To configure the TCP/IP-to-RS232 Bridge communication driver: 1. Start RMCWin. 2.
Page 73 RMC100 and RMCWin User Manual possible views at the top of the menu. Each view is described below: • Full Horizontal View: This view displays the status, command, plot time, and parameter areas of all axes at once. The following diagram shows the positions of each area: •...
Page 74 Basic Topics 3.4 • Half View: This view displays either the status and command areas or the plot time and parameter areas of all axes at once. To switch between the status/command and plot time/parameter displays, use one of the following methods: Press either CTRL+LEFT ARROW or CTRL+RIGHT ARROW.
Page 75 RMC100 and RMCWin User Manual To select a single cell from the keyboard: 1. Use the arrow keys to highlight a different cell. To select multiple cells: 1. Press and hold SHIFT at the first cell to be selected. 2. Use the arrow keys to change the last cell to be selected.
Page 76 Basic Topics 3.4 Read-back Mode In this mode, the Command and Parameter areas will be continually read from the RMC. This mode is necessary to monitor the commands given from another source (such as the PLC) and also to determine the parameters stored on the RMC. The Command area field values are displayed in red. Note: Because the Command and Parameter fields are constantly being updated, it is possible to have changes you are making be overwritten by a field update.
Page 77 See Downloading New RMC100 Firmware for details on both. 3.4.6 RMC100/101 CPU Options Dialog Box The RMC100/101 CPU Options Dialog Box has the following tabs: • Deadband Eliminator Select the Deadband Eliminator algorithm in this tab.
Page 78 Basic Topics 3.4 3.4.8 Using the Status Bits Window The Status Bits window displays the bits of the Status words for each axis. It is constantly updated as the bits change in the RMC. To display the Status Bits window, do one of the following from the main window: •...
Page 79 RMC100 and RMCWin User Manual Opening and Closing the Command Log Window To open the Command Log window, do one of the following from the main window: • On the Window menu, click Command Log. • Press CTRL+L. To close the Command Log window, do one of the following: •...
Page 80 Basic Topics 3.4 2. In the File name box, enter the name of the file. 3. Click Save. Note: As soon as the Save command is clicked, the Command Log is automatically paused. After saving the file, the title bar will display the filename. To return to the current Command Log, click Resume Update.
Page 81 RMC100 and RMCWin User Manual since RMCWin was started. The axis each error occurred on and a short description of the error is listed in this dialog box. To receive more in-depth help on a particular error do one of the following: •...
Page 82 Basic Topics 3.4 partial profile use any of these methods: • Hold down CTRL and press the number of the stored command you wish to execute: 0 to 9. (e.g. CTRL+2 uses the partial profile of stored command 2). • On the Stored Cmds menu, click the move you want to execute.
Page 83 Load Parameters Command 3.4.15 File Types An RMC100 motion control project may use several of the editors available in RMCWin. Several editors have their own file types in which to save data. This may result in multiple files for each project.
Page 84 • Hardware configuration of the RMC. This includes: List of the physical modules included (e.g. PROFIBUS-DP, RMC100 CPU, two MDTs). List of options for these modules. This includes all settings modified through the RMC Configuration dialog box (e.g. PROFIBUS station address, MDT blanking periods, number of SSI data bits, analog board channel assignments).
Page 85 • Hardware configuration of the RMC. This includes: List of the physical modules included (e.g. PROFIBUS-DP, RMC100 CPU, two MDTs). List of options for these modules. This includes all settings modified through the RMC Configuration dialog box (e.g. PROFIBUS station address, MDT blanking periods, number of SSI data bits, analog board channel assignments).
Page 86 • Hardware configuration of the RMC. This includes: List of the physical modules included (e.g. PROFIBUS-DP, RMC100 CPU, two MDTs). List of options for these modules. This includes all settings modified through the RMC Configuration dialog box (e.g. PROFIBUS station address, MDT blanking periods, number of SSI data bits, analog board channel assignments).
Page 87 RMC100 and RMCWin User Manual This situation can be avoided using this command, which does not open the new board file, but instead transfers everything except the hardware configuration from the selected board file into the currently open board file. Therefore this command only loads the following: •...
Page 88 Basic Topics 3.4 use (for example, thousandths of inches, millimeters). 7. Under First position, in the Actual position box, type the distance measured to the first point in position units. 8. Under First position, click Use Current, which copies the COUNTS on this axis being calibrated to the Counts box under First position.
Page 89 RMC100 and RMCWin User Manual from the RMC. 3. Place the cursor in a field under the axis you wish to calibrate. 4. On the Tools menu, click MDT Scale/Offset Calibration. 5. Enter the above pieces of information. 6. Under Extend/Retract Limits, choose how you wish to have the limits set: •...
Page 90 Basic Topics 3.4 3.4.20.5 Quadrature Calibration Utility For a list of all Scale/Offset Calibration Utilities, see Using the Scale/Offset Calibration Utilities. To use the Quadrature Calibration Utility: 1. Gather the following pieces of information for an axis: • The desired ratio of quadrature counts to position units. Recall that there are four quadrature counts per line or pulse.
Page 91 RMC100 and RMCWin User Manual 4. Enter the above pieces of information. • Under Coordinate Limits, choose the range of valid positions desired. 5. Under Extend/Retract Limits, choose how you wish to have the limits set: • If you had the extend and retract limits set correctly, click Use current limits, adjusted for new Scale and Offset to adjust the limits for your new Scale and Offset.
Page 92 Basic Topics 3.4 13. Click Done. 14. Issue a 'P' command for the axis to have the new parameters take affect. 3.4.20.8 Differential Force Scale/Offset Calibration Utility For a description of all Scale/Offset Calibration Utilities, see Using the Scale/Offset Calibration Utilities.
Page 93 RMC100 and RMCWin User Manual Because the surface areas on either side of the piston are equal, the scales and offsets will be equal for each pair.  Hydraulic Motor In this configuration, the conversion from pressure to force can take many forms, since the pressure is converted to torque, which exerts a force on the system.
Page 94 Using Plots 3.5 3. On the Tools menu, click Scale/Offset Calibration. 4. Enter the above pieces of information. 5. Review the values displayed in the Resultant Force/Pressure area. This area shows the maximum forces, or pressures for hydraulic motors, that can be read from either channel. The values in Force Units are what will be used by the RMC and displayed in RMCWin.
Page 95 RMC100 and RMCWin User Manual • Viewing the Raw Plot Data • Saving and Restoring Plots • Printing a Plot 3.5.2 Opening a Plot Window You can use one of the following methods to open a plot window from the main window: •...
Page 96 Speeds from the differences in positions, it reads the RMCs Actual and Target speed values used internally. This can be useful in tracking down problems with gearing and feed forwards. Note: The Internal Speeds option requires RMC100 CPU firmware dated 20010205 or newer. •...
Page 97 RMC100 and RMCWin User Manual the desired position on the plot and read the detail window data. To hide the Detail Window, use one of the following: • On the Data menu, click Hide Detail Window. • Click the Close button of the Detail window.
Page 98 Using Plots 3.5 • Press ESC while in the Raw Data chart. 3.5.7 Saving and Restoring Plots To save a plot, follow these steps: 1. Display the plot you wish to save. 2. On the File menu, click Save As. 3.
Page 99 Why is the Target Speed Jagged During Constant Velocity? With older versions of the RMC100 CPU firmware and RMCWin, you may notice that during some constant velocity moves, the Target Speed is not flat. The jaggedness is caused by quantizing.
Page 100 Table Editors 3.6 the Target Position would appear to increase by 4 position units for four milliseconds, and every fifth millisecond it would move 5 position units. Therefore, if we were to calculate the speed based on a single interval, the speed would vary by 25% every fifth interval. When the Target Speed is calculated, smoothing is performed so it does not vary by such a large amount, but some jaggedness is left from rounded-off position units.
Page 101 RMC100 and RMCWin User Manual given by the board filename, with the appropriate extension appended. 3. If an RMC is not connected to RMCWin and the table could not be read from disk, then default values will be filled into the table.
Page 102 Table Editors 3.6 To resize all other columns: 1. Drag the right edge of a data column. This will affect the width of all data columns. Saving and Restoring Tables To save a table: 1. On the File menu, click Save As. 2.
Page 103 RMC100 and RMCWin User Manual Communication Type Without Sensor DI/O With Sensor DI/O Comm. DI/O in Input- Comm DI/O inputs 0-15 Same as without Sensor to-Event Mode represent input-to-event DI/O. inputs 0-15. Comm. DI/O in No input-to-event inputs Sensor DI/O inputs 0-15 Parallel Position are available.
Page 104 Table Editors 3.6 Selecting Rising Edges or Falling Edges Only half of the input to event table is displayed at a time. To switch between the halves, click Show Rising Edge ( ) or Show Falling Edge ( ) from the toolbar or the Edit menu. The depressed toolbar button indicates the type of inputs edges currently being displayed.
Page 105 RMC100 and RMCWin User Manual 3.7 Step Table Editor 3.7.1 Step Table Editor: Overview Event Steps Explained The Event Step table contains 256 Event Steps. For details on the use of Steps, refer to Event Control Overview. For a summary of keyboard shortcuts in this editor, see Step Table Editor: Keyboard Shortcuts.
Page 106 Step Table Editor 3.7 • On the Edit menu, click Go to Event Step or press CTRL+G. This is a more general method, which prompts you to type the step number to which you want to go. Deleting Columns If you wish to delete a column or columns, follow these steps: 1.
Page 107 RMC100 and RMCWin User Manual To toggled this feature on and off, do the following: • On the Settings menu, click Report Orphaned Links. Maintaining Input to Event Table Links Whenever event steps are shifted left or right as described above under Deleting Columns and Inserting Columns, there is the potential of entries in the Input to Event table to become broken.
Page 108 Step Table Editor 3.7 • Press CTRL+N to switch keyboard focus back to the Event Steps editor. • Click the Close button or press ALT+F4 to close the comment editor. 3.7.2 Step Table Editor: Keyboard Shortcuts The following chart lists all keyboard shortcuts available in the Step Table Editor: Press CTRL+O Close the current step table and open an existing file.
Page 109 The LCD Screen Editor is a window in RMCWin that is used to edit screens displayed on the LCD420 accessory for the RMC100 series motion controllers. The LCD420 is a hand-held or panel-mounted terminal with a 4-row, 20-column LCD display and a 20-key keypad.
Page 110 LCD Screen Editor 3.8 • Screen Pane Details • Field Pane Details • Data Tab Details • Format Tab Details • Toolbar Details • Status Bar Details Using the LCD Screen Editor • Using LCD Screen Files • Uploading and Downloading LCD Screens •...
Page 111 RMC100 and RMCWin User Manual This pane is used to view and edit field properties. For details on the field pane, see Field Pane Details. • Toolbar: The toolbar holds buttons for commonly used commands. To help identify these buttons, hovering the pointer over a button will pop up a ToolTip and display a description in the status bar.
Page 112 LCD Screen Editor 3.8 See Also: LCD Screen Editor Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.8.2.3 LCD Screen Editor: Screen Pane Details The screen pane is the 4-row, 20-column text box located in the upper-right quarter of the LCD Screen Editor.
Page 113 RMC100 and RMCWin User Manual 3.8.2.5 LCD Screen Editor: Data Tab Details The field pane's Data tab is divided into two areas: Data to Display This area is used by all fields and determines what data will be displayed in this field. The first item to fill in is the Data Area.
Page 114 LCD Screen Editor 3.8 edited. • Input-to-Event Table This area gives access to any Input-to-Event table entry. These fields may be read only or editable. Blank Input-to-Event table entries will be displayed as -1. This area has the following additional parameters that must be defined: Axis: Select the axis for the input-to-event table entry you want to display.
Page 115 RMC100 and RMCWin User Manual some types of fields. Specifically, the Integer (16-bit) Format area and Decimal Places text box are not available for bit fields, and the Bit On Text and Bit Off Text boxes are not available for integer fields.
Page 116 LCD Screen Editor 3.8 Position Units for Axis 2 as the integer format. In cases where you have multiple axes that execute the same step, you can use the position units of either axis, provided they have similar position unit ranges. Note: If you change the sign of the Offset parameter for an axis, you may need to re-download the LCD screens to ensure that the correct position unit range is used in fields that use the position unit format for that axis.
Page 117 RMC100 and RMCWin User Manual Open On the File menu, click Open. Save On the File menu, click Save. On the Edit menu, click Cut. Copy On the Edit menu, click Copy. Paste On the Edit menu, click Paste. Delete On the Edit menu, click Delete.
Page 118 LCD Screen Editor 3.8 To show or hide the status bar: 1. On the View menu, click Status Bar. See Also: LCD Screen Editor Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.8.3 Using the LCD Screen Editor 3.8.3.1 LCD Screen Editor: Using LCD Screen Files The entire set of LCD screens can be saved and restored from disk files in the LCD Screen File (.lcd) format.
Page 119 RMC100 and RMCWin User Manual The entire set of LCD screens can be downloaded to or uploaded from the RMC. It is not possible to upload or download individual screens or fields. Use the clipboard to copy these elements between LCD screen files. See Using the Clipboard for details.
Page 120 LCD Screen Editor 3.8 3.8.3.3 LCD Screen Editor: Using the Clipboard In the LCD Screen Editor, the clipboard can reduce repetitive entry by allowing you to cut, copy, and paste screens, fields, and text to and from the clipboard. The instructions below document using the Edit menu. You can also use shortcut menus or shortcut keys to further simplify these operations.
Page 121 RMC100 and RMCWin User Manual Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.8.3.4 LCD Screen Editor: Changing the View Options There are several options on the View menu that affect the appearance of the LCD Screen Editor. These settings are retained from one session to the next, but do not in any way affect the RMC and LCD420 behavior.
Page 122 LCD Screen Editor 3.8 3.8.3.5 LCD Screen Editor: Keyboard Shortcuts The following chart lists all keyboard shortcuts available in the LCD Screen Editor: Press CTRL+N Close the current file and start a new file. CTRL+O Close the current file and open an existing file. CTRL+S Save the current file.
Page 123 RMC100 and RMCWin User Manual Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.8.4 Using Screens 3.8.4.1 LCD Screen Editor: Adding and Removing Screens Each LCD screen file can hold from one to sixteen screens. Therefore, you will often need to add and remove screens in each LCD screen file.
Page 124 LCD Screen Editor 3.8 To move a screen up or down by dragging the screen: 1. In the tree pane, drag the screen you want to move up or down. As you drag the screen, watch for a horizontal insertion line indicating where the screen will be inserted. To move a screen up or down using the clipboard: 1.
Page 125 RMC100 and RMCWin User Manual extends from the original insertion point when the SHIFT key was first depressed to the current insertion point. Once text is selected you can cut or copy it to the clipboard or delete it. You can also select all text in the screen pane. To select all text in the screen pane: 1.
Page 126 LCD Screen Editor 3.8 To rename a screen: 1. In the tree pane, select the screen. 2. On the Edit menu, click Rename. You can also use the shortcut menu, shortcut key (F2), or click again on the screen name in the tree pane to start the rename command.
Page 127 RMC100 and RMCWin User Manual positioned by one or you can quickly add a field by typing ###.### and then more '#' characters. pressing CTRL+F. This will add a field at the given location, with a length of seven characters, and with three decimal places.
Page 128 LCD Screen Editor 3.8 2. Click and drag the field's edge to its new size. A shadow will show the new field size until the mouse button is released. You can also change a field's size from the field pane's Format tab. See Format Tab Details. See Also: LCD Screen Editor Topics Metadata type="DesignerControl"...
Page 129 RMC100 and RMCWin User Manual • Write Locations. A write location is a register in the RMC that is changed when a new value is entered for a field. When a field is first made editable, it will automatically have a single write location that matches the Data to Display area in the field pane's Data tab.
Page 130 LCD Screen Editor 3.8 • The RMC supports a total of 256 write locations among all multi-location fields. That is, the sum of all write locations of only those editable fields with more than one write location cannot exceed 256. The Edit Write Locations dialog box lists the total multi-location field locations used. See the discussion below on this dialog box.
Page 131 RMC100 and RMCWin User Manual To check the write location limits: 1. Open the Edit Write Locations dialog box as described above. 2. You will find the three numerical limits in the following locations. Each limit takes the form "n of m (p),"...
Page 132 Curve Tool 3.9 See Also: LCD Screen Editor Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9 Curve Tool 3.9.1 Curve Tool: Overview The Curve Tool in RMCWin is used to view and edit spline curves that can then be run on the RMC.
Page 133 RMC100 and RMCWin User Manual • Showing Velocity and Acceleration • Adjusting the Scales • Using the Grid • Using the Scale Bars • Changing the Orientation • Zooming In and Out • Scrolling Using the Spreadsheet View • Spreadsheet View Options •...
Page 134 Curve Tool 3.9 • Auto Repeat Curves • Enforcing Limits • Linking Curves Using Points • Selecting Points • Determining a Point's Exact Location • Adding Points • Deleting Points • Point Properties • Moving Points • Changing a Point's Velocity •...
Page 135 RMC100 and RMCWin User Manual Changing the Layout The following will modify the layout of these window elements: • Resize the window. Drag the border or the sizing handle in the lower-right corner of the window to resize the window.
Page 136 Curve Tool 3.9 curve will be red; all other curves will be black. • Velocity Plot. The active curve can have its velocity plotted. See Showing Velocity and Acceleration for details. The color of this curve defaults to magenta, but can be changed by the user.
Page 137 RMC100 and RMCWin User Manual To reposition the hairline with the keyboard: 1. Ensure that the hairline and Detail window are displayed as described above. 2. Press CTRL+SHIFT+UP ARROW or CTRL+SHIFT+LEFT ARROW to move the hairline toward 0 time (or master position), or press CTRL+SHIFT+DOWN ARROW or CTRL+SHIFT+RIGHT ARROW to move the hairline away from 0 time (or master position).
Page 138 Curve Tool 3.9 To show or hide the Spreadsheet View: 1. On the View menu, point to Spreadsheet, and then click the position to display the spreadsheet in or select Hide to remove it. To reposition the Spreadsheet View: 1. On the View menu, point to Spreadsheet, and then click the new position for the spreadsheet. See Also: Spreadsheet View Topics and Curve Tool Topics Metadata type="DesignerControl"...
Page 139 RMC100 and RMCWin User Manual Display nth On the View menu, click Axis Curve Display Axis, and then click the desired axis. Active Axis On the View menu, click Active Axis, and then click the desired axis. Zoom In On the View menu, click Zoom...
Page 140 Curve Tool 3.9 These icons indicate whether or not the curve limits are being enforced when the axis is modified through the Graph view. Double-clicking this icon will toggle this feature on and off. See Enforcing Limits for details. Valid Curve Invalid Curve These icons indicate whether the curve is currently within the limits or not.
Page 141 RMC100 and RMCWin User Manual (sms). A short millisecond is 1/1024th of a second. This term is used because, when the RMC follows a curve based on time, it processes one time unit every 976 microseconds, or 1024 time units per second. However, in many applications this quantity actually refers to a master position.
Page 142 Curve Tool 3.9 3.9.3.2 Curve Tool: Using Curve Files Curves can be saved and restored from disk files in the Curve (.crv) format. Curves from all axes are saved and restored, even if they are currently not visible. It is not possible to save individual curves or points.
Page 143 RMC100 and RMCWin User Manual Select all points between the first point selected SHIFT+Click Point and the one clicked. Spreadsheet Select all cells between the previously selected SHIFT+Click Cell cell and the one clicked. CTRL+Click Point Toggle whether the point is selected or not.
Page 144 Curve Tool 3.9 Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.3.4 Curve Tool: Keyboard Shortcuts Shortcuts available in both Graph and Spreadsheet views: Press CTRL+N Close the current file and start a new file. CTRL+O Close the current file and open an existing file. CTRL+S Save the current file.
Page 145 RMC100 and RMCWin User Manual ALT+ENTER Display properties for the currently selected point(s). Switch the active curve to the next displayed axis. SHIFT+TAB Switch the active curve to the previous displayed axis. Fit all curves to Screen. Zoom In. Zoom Out.
Page 146 Curve Tool 3.9 2. Click the Graph tab. 3. Change any options on this page. 4. Click OK. The Graph tab has the following sections: • Additional Plot Values This section controls the plotting of velocity and acceleration. From this section you can turn on or off the velocity and acceleration plots, set the color of the velocity and acceleration plots, and set the zero line color.
Page 147 RMC100 and RMCWin User Manual speed limits in the same color as the velocity plot. Similar lines are drawn at the acceleration limits. See Curve Limits for details. To show or hide a velocity or acceleration plot: 1. On the Tools menu, click Options.
Page 148 Curve Tool 3.9 • Lines. Light gray, dotted lines are drawn at each minor division and dark gray, dotted lines are drawn at each major division. The position and time scales determine the grid spacing. The spacing of the dots, crosses, or lines corresponds to the major and minor tick marks on the scale bars.
Page 149 RMC100 and RMCWin User Manual 4. Click OK. See Also: Curve Tool Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.4.5 Curve Tool: Using the Scale Bars Each quantity being plotted can have an associated scale bar displayed. These scale bars help give the user an idea of the approximate positions, time (or master positions), velocities, and accelerations shown in the Graph view.
Page 150 Curve Tool 3.9 If while dragging a major tick mark, you are unhappy with your changes, press ESCAPE to cancel the scale change. 4. Release the button to finalize the scale change. Note: This is not the only way to change the scales. You can also change the scale using the Options dialog box (see Adjusting the Scales for details) or using the Zoom In, Zoom Out, and Fit to Screen commands described in Zooming In and Out.
Page 151 RMC100 and RMCWin User Manual It is expected that the user knows how to use the standard Windows scroll bars, but the additional scrolling methods are described below: • Centering on the Pointer in the Graph View If you can see the location you want to work on, then you can center on that location with a single keystroke.
Page 152 Curve Tool 3.9 1. Position the pointer on the portion of the Graph view you want to center on. 2. Press the PLUS SIGN (+) on the numeric keypad to zoom in or the MINUS SIGN (-) on the numeric keypad to zoom out. You can also hold down the CTRL key and scroll the mouse wheel up to zoom in or down to zoom out.
Page 153 RMC100 and RMCWin User Manual section are displayed in inches. Click Set All To Default to set all column widths to the default values. See Also: Curve Tool Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.5.2 Curve Tool: Selecting Cells The spreadsheet allows for single cell selections as well as selecting ranges of cells.
Page 154 Curve Tool 3.9 See Also: Curve Tool Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.5.3 Curve Tool: Editing Cells The Spreadsheet view allows for editing individual cells as well as editing cell ranges. In order to edit a cell or range of cells, the cell or cells must first be selected; see Selecting Cells for details. The cell that is editable is highlighted by a black box.
Page 155 RMC100 and RMCWin User Manual more information. Note: Since the time, or master position, property cannot be set to a value within 10 units of another point, editing a range will fail if more than one time cell is included in the range.
Page 156 Curve Tool 3.9 Cutting and copying work on individual cells and cell ranges. When cutting or copying with multiple cell ranges selected, the ranges must be the same in one or more dimensions of the selection. That is, they must all contain the same number of rows, but can contain a different number of columns.
Page 157 RMC100 and RMCWin User Manual Note: When pasting the Interval Type property, a 0 is used for "Cubic" and a 1 is used for "Linear". This is only used when pasting from an external application. See Also: Curve Tool Topics Metadata type="DesignerControl"...
Page 158 Curve Tool 3.9 To Change a column's width using the mouse: 1. Move the pointer over the right edge of the cell whose width you want to change. 2. When the pointer becomes a , drag the cell divider left or right to decrease or increase the column's width.
Page 159 RMC100 and RMCWin User Manual 3.9.6.2 Curve Tool: Selecting the Active Axis Only one axis is active at any given time. The name of the active axis is displayed in the toolbar, as in the following example toolbar section: The active curve is special in the following ways: •...
Page 160 Curve Tool 3.9 3.9.6.3 Curve Tool: Copying Curves between Axes The clipboard can be used in the Curve Tool to copy curves between axes as well as import and export curves to other applications such as Microsoft Excel. For further details on importing and exporting curves, see Importing and Exporting Curves.
Page 161 RMC100 and RMCWin User Manual 1. Select the axis of the curve you want to export, as described in Selecting the Active Axis. 2. Click the Graph view to make it the active view. 3. On the Edit menu, click Cut or Copy.
Page 162 Curve Tool 3.9 that curve. If you answer yes, then the existing curve will be replaced by the one on the clipboard. You can also paste data from an external program into the Spreadsheet view. See Pasting Cells for more information. See Also: Curve Tool Topics kadov_tag{ { }} Metadata type="DesignerControl"...
Page 163 RMC100 and RMCWin User Manual 5. If you want to save this and all other splines to Flash memory, then proceed with the steps below for saving all splines to Flash. To save all curves in the RMC to Flash: 1.
Page 164 Curve Tool 3.9 The Curve Tool will be opened or brought to the foreground. You will be prompted for the conversion interval. 4. In the Convert Plot to Curve dialog box, type the number of milliseconds that you want between each point in the curve.
Page 165 RMC100 and RMCWin User Manual copying curves from one axis to another. Ensure that both axes 0 and 1 are displayed. See Selecting Which Curves to Display for details. Select axis 0 as the active axis, as described in Selecting the Active Axis.
Page 166 Curve Tool 3.9 1. On the Tools menu, click Options. 2. Click the General tab. 3. Change any options on this page. 4. Click OK. The General tab has the following settings: • Axis Settings This section has several settings for each axis. Axes that cannot have curves—such as axes that do not exist in the current RMC configuration and auxiliary pressure axes—will be unavailable.
Page 167 RMC100 and RMCWin User Manual 3.9.6.9 Curve Tool: Curve Axis Labels Any text can be typed into these labels for Time and Position. These labels are used whenever the curve tool refers to one of these dimensions. For example, the Detail window, data tips, and the Point Properties dialog box all use these labels.
Page 168 Curve Tool 3.9 The Extend and Retract Limits for the active axis are indicated in the Graph view by showing the area beyond the limits with a yellow background. • Velocity Each curve has a maximum speed assigned to it. This maximum speed can be changed from the General tab of the Options dialog box in the Curve Tool as described below.
Page 169 RMC100 and RMCWin User Manual and therefore result in an acceleration discontinuity and relatively high jerk at each endpoint. • It is difficult to accurately approximate a linear segment. • It is difficult to set and maintain a given velocity at a given point.
Page 170 Curve Tool 3.9 3.9.6.12 Curve Tool: Auto Repeat Curves The Auto Repeat feature affects what happens when the end of a curve is reached. Auto Repeat is available only for Enhanced curves. See Standard vs. Enhanced Curves for details. With respect to Auto Repeat, Standard curves behave the same as an Enhanced curve with Auto Repeat disabled.
Page 171 RMC100 and RMCWin User Manual 3.9.6.13 Curve Tool: Enforcing Limits There are a number of limitations that each curve must satisfy. For example, each must not exceed position, velocity, and acceleration limits. For a detailed discussion on these limits, see Curve Limits.
Page 172 Curve Tool 3.9 • When a point is added to a curve, the following steps will be taken:  If the point being added is within five pixels in the time (or master position) direction from a point on another visible curve, then the point to be added will have its time (or master position) adjusted to match the existing point on the linked curve.
Page 173 RMC100 and RMCWin User Manual To select multiple points using the mouse and selection box: 1. Click and drag to select a region of the Graph view. All points that fall within this region will become selected. The selection box will be resized to fit just the selected points.
Page 174 Curve Tool 3.9 Press To Select HOME First point in the curve. Last point in the curve. LEFT ARROW Previous point. UP ARROW RIGHT ARROW Next point. DOWN ARROW 3. See Also: Curve Tool Topics 4. Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.7.2 Curve Tool: Determining a Point's Exact Location Displaying a curve graphically is convenient for viewing the entire curve.
Page 175 RMC100 and RMCWin User Manual 3.9.7.3 Curve Tool: Adding Points To add a point to your curve, use one of the following methods. The keyboard method has the advantage of allowing you to add points at a precise location. In any of these methods, it is possible that adding a point at the requested location will be invalid.
Page 176 Curve Tool 3.9 If you have the Link Curves Together option enabled, then deleting a point will also delete all other visible points on other axes with identical time (or master position) values. See Linking Curves for details. To delete a point in the Graph view: 1.
Page 177 RMC100 and RMCWin User Manual 1. Select the point or points whose properties you wish to view or edit, as described in Selecting Points. 2. On the View menu, click Point Properties. You can also double-click on a point, right-click on a point and then click Properties on the shortcut menu, or press ALT+ENTER or ENTER to open the Point Properties dialog box.
Page 178 Curve Tool 3.9 1. Select a range of points by creating a selection box, as described in Selecting Points. 2. Drag the body of the selection box by placing the pointer over the center region of the selection box and dragging. To hold time (or master position) constant during the drag, hold down the CTRL key while dragging.
Page 179 RMC100 and RMCWin User Manual 4. Click OK. You can also change a point's interval type in the Spreadsheet view; see Spreadsheet View and Editing Cells for details. See Also: Curve Tool Topics Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 3.9.7.8 Curve Tool: Changing a Point's Velocity Each point can have either a fixed velocity or dynamic velocity.
Page 180 Address Tool 3.10 endspan 3.9.7.9 Curve Tool: Expanding or Contracting Points It is often useful to expand or contract a range of points with respect to either time (or master position) or position, such that the ratio of the times or positions between the points does not change.
Page 181 RMC100 and RMCWin User Manual then click on the value for Axis 0's Target Position in the main window. The Address Tool will be updated to display the name and address of this field. • Bookmark list. Addresses can be bookmarked for later use. See Bookmarking Addresses for details.
Page 182 Address Tool 3.10 2. In the Bookmarked Fields list, select the fields that you want to remove from the list. 3. Click Delete. To paste a bookmarked address to the Event Step table, see Using with the Event Step Editor. Note: If you find yourself bookmarking many addresses, you may find it useful to increase the size of the Address Tool so that you do not have to scroll up and down in the bookmark list to find the address you need.
Page 183 Note: You cannot update the RMC100 firmware when connected to the RMC via the TCP/IP Direct to RMC-ENET communication driver. You will need to use either the Serial or TCP/IP-to- RS232 Bridge driver.
Page 184 Advanced Topics 3.11 disk. 9. If the firmware you requested to download is not supported by the current Boot/Loader firmware, a notification will appear. Click OK if you have the Boot/Loader firmware and give the Boot/Loader firmware filename in the Open dialog box. 10.
Page 185 Ethernet Firmware Files The RMC Ethernet protocols are divided into two different firmware files. When updating the RMC100 Ethernet firmware, you must choose the file that contains the protocol you need. The files are called Protocol Group E and Protocol Group F: •...
Page 186 Advanced Topics 3.11 • Limit Instances to One per Board File check box Clear this option if you want to open multiple RMCWin copies at once but do not care which board file is used. For example, if you wish to share between two event step tables, you can clear this option, start a second RMCWin, open an Event Step table editor under each, and copy and paste between them.
Page 187 RMC100 and RMCWin User Manual To toggle look-only mode: 1. On the Tools menu, click Options, and then click the Preferences tab. 2. Select or clear the Look-only check box to enable or disable look-only mode. 3. Click OK. Notice that this setting is saved so that it will be remembered the next time that RMCWin is started.
Page 188 Advanced Topics 3.11 Preferences tab of the Options dialog box is set. Start RMCWin with the communication path closed. This can be used for demonstrations or offline editing. Start in Read-back mode. See Read-back versus Write Mode for details. Start in Write mode. See Read-back versus Write Mode for details. Board The parameter after the filename that does not start with a ’r;-’...
Page 189: Controller Features
RMC100 and RMCWin User Manual 4 Controller Features 4.1 Event Control Overview The Event Control feature allows you to execute a sequence of commands without intervention from the Programmable Controller (P/C). This lets the module respond to events within the control-loop time (1ms or 2ms) rather than the scan rate of the P/C.
Page 190 Event Control Overview 4.1 To start a sequence of events, use one of these methods: • Issue a Start Event command to trigger an event from RMCWin or the Programmable Controller. • Use the Input to Event Table to trigger an event sequence from a digital input. A sequence of events will stop when one of the following occurs: •...
Page 191 RMC100 and RMCWin User Manual Command Commanded Default Default Default Axes Link Type BitsON DelayMS DelayMS Link Value 00001 Link Next Step 15 issues a Go (G) command to 15.5 inches (15500). The BitsON (B) link type with a link value of 0x0001 causes the motion controller to look for the least significant bit in the STATUS word (the In Position bit).
Page 192 Gearing Axes 4.3 table in the Flash without storing all the other data in that section listed above. This will not be a problem as long as you ensure that all data you want to be stored is set correctly before saving the data in the Flash.
Page 193 RMC100 and RMCWin User Manual In the Mode command parameter, do the following: • Set the Gear Bit (bit 12, 0x2000 hex). If this bit is not set, then the Go command will not initiate a geared move. It will instead do a point-to-point or speed control move.
Page 194 Gearing Axes 4.3 in the Speed command parameter) must remain constant. When a Gear command is given to an axis that is not currently geared, then its initial gear ratio is computed such that the computed geared speed of the axis will match its current speed. Note: RMC CPU firmware prior to 20020222 always starts a previously non-geared axis with a zero gear ratio.
Page 195 RMC100 and RMCWin User Manual reach the requested gear ratio when the master is at 300 position units. Note that if the axis is given this gearing command when the master axis is at a position less than 300, the gearing will start instantaneously.
Page 196 4.4 LED Indicators Understanding the CPU LED Indicators The CPU module, labeled RMC100, has five LEDs. Each is labeled as follows: This LED can be in the following states: Status On power up, this LED will be red until the firmware is started.
Page 197 RMC100 and RMCWin User Manual in this state, or the Flash write will fail. In 0 When this LED is RED, the CPU digital input 0 is a logical 1. In 1 When this LED is RED, the CPU digital input 1 is a logical 1.
Page 198 LED Indicators 4.4 In the communication types that use the Motion Profile Table, the PLC can issue only a Command and Command Value in a single command cycle. Therefore, the Go command can only give the Requested Position as the command value, and to set the entire motion profile and give the Go command would require five commands.
Page 199 The drive output is in open loop. It can be changed normally using Open Loop (O) commands. In cases where the RMC100 is controlling an axes used as a reference by another axis, the effect of Actual Position noise on the geared axis can be eliminated by gearing to the reference axis's Target Position instead of the Actual Position.
Page 200 Reference Axis Filtering 4.5 examples at the end of this topic: • Filter Time Constant: This parameter controls the time constant itself for the filter. It is entered in milliseconds. The cut-off frequency for the filter in Hertz is found by 1/2pt, where t is the time constant is seconds.
Page 201 RMC100 and RMCWin User Manual This would result in an Actual Position with the same shape, although scaled to the user's units. Without a reference filter enabled, the Target Position will match this Actual Position curve: So, without the reference filter, the RMC would not ramp the reference input at all, and jumps in the input current or voltage would be translated directly to jumps in the reference position and jumps in any axes geared to this reference.
Page 202 In the above graph, the Target Position is smoothed out at the time of the step jump. This curve should be usable as a reference for RMC100 geared moves. In addition, the Reference Deadband parameter can be used to remove slight ripple in the Target Position while the input voltage is at rest.
Page 203 RMC100 and RMCWin User Manual While the effect of quantization on the positions themselves does not appear very great--after all, the position is accurate to one-half a quadrature count--its effect on velocities is much more dramatic. By applying a Filter Time Constant, the Target Position and Velocity are improved as shown: The Velocity and Acceleration Limits are necessary only if the quadrature reference axis moves too quickly at times.
Page 204 RMC100 generates a target that moves at the commanded speed. This means that if the Actual Position of the axis falls behind the Target Position, the RMC100 will attempt to catch up to the moving Target Position, requiring the axis to move at a speed much higher than the commanded speed.
Page 205 RMC100 and RMCWin User Manual Note: Speed Control with Velocity Loop is supported in RMC100 CPU firmware dated 20030515 or later. Using Speed Control with Position Loop Speed control with Position Loop is used in the same way as position control with the following exceptions: •...
Page 206 Rotational Mode 4.7 Only speeds between 0 and 32,767 can be set with this command. Also, this command cannot set the Rotational bit in the Mode word, so another command must do this. 3. Set Speed (Unsigned) Command This command works the same as the Set Speed (Signed) command except that only the requested speed is changed;...
Page 207 RMC100 and RMCWin User Manual Axes remain in Rotational mode through all Auto Stops, Halt (H) commands, Disable Drive (K) commands, and Set Parameters (P) commands. Example: To reset an axis position every 3600 position units, set the Retract Limit to 0 and the Extend Limit to 3599.
Page 208 Spline Overview 4.8 The user defines several spline points for a single curve. In the example shown above, the X's mark the points set by the user. The horizontal direction in this graph is time and the vertical direction is the axis position.
Page 209 RMC100 and RMCWin User Manual These issues prompted the introduction of Enhanced curves. Enhanced Curves Enhanced curves were introduced with RMC CPU firmware dated 20010208. They greatly enhance the capabilities of the RMC in following an arbitrary curve, and further enhance the smoothness of the curve.
Page 210 Spline Overview 4.8 The first curve is the actual curve that we want to match. The second curve is the one that would be generated by the RMC if no leading or trailing points were used. The velocities do not match well at the ends in this curve.
Page 211 RMC100 and RMCWin User Manual Clear Spline Segments This is used to clear one or more segments from the motion controller's memory. Follow Spline Segment This causes the axis to follow a single spline segment. The motion controller updates the spline every millisecond. The axis must already be at the position of the first point for this command to succeed.
Page 212 Spline Overview 4.8 -400 60000 60000 61000 61500 61250 61000 1000 60750 1200 61000 1600 61000 The optimizer must then send this spline segment to the motion controller. Assuming that the optimizer cannot use RMCWin to download the spline, there are two methods of doing this. The first is to use the Add Spline Point, Set Spline Interval, and End Spline Segment commands.
Page 213 RMC100 and RMCWin User Manual Address Value Description 14337 Number of points in the spline segment. 14338 60000 Point 0 position 14339 60000 Point 1 position 14330 61000 Point 2 position 14331 61500 Point 3 position 14332 61250 Point 4 position...
Page 214 Spline Overview 4.8 61000 Send 7th scanned value. 61000 Send trailing point. Signal end of the segment. In this example, notice that the case of the Add Spline Point (X) command is toggled each time it is used. In order for the motion controller to process a command, it must detect that the command or command value has changed.
Page 215 RMC100 and RMCWin User Manual 4.9 Synchronizing Axes Axis synchronization is achieved by setting either the Sync A or Sync B bit in the MODE word on the axes to be synchronized and then issuing a Go or Relative Move command to the last axis in the sync group.
Page 216 Teach Mode Overview 4.10 Note: Because a new Go or Relative Move command will cause the travel distance ratios to be recalculated, any change in the speeds or travel distances of any of the axes may result in a speed discontinuity in the new slave axes, although the position will always be continuous. It is normally not possible to use RMCWin to issue commands to several axes simultaneously.
Page 217 RMC100 and RMCWin User Manual 4.11 VC2100 and VC2124 Voltage-to-Current Converters The VC2100 and VC2124 two-axis voltage-to-current converters transform ±10V signals into current signals capable of driving hydraulic servo valves or similar loads. They also provide a convenient way to set the full scale current to match valve requirements, limit maximum current and set optimum working ranges.
Page 218 VC2100 and VC2124 Voltage-to-Current Converters 4.11 VC2100 Fuse the ±15Vdc inputs with 5A maximum, UL-listed, fast-blow fuses. For maximum protection, use two 500mA fuses per VC2100. For noise immunity, use twisted, shielded pairs for all connections (twisted pair with overall shield is acceptable).
Page 219 4.12 Position/Pressure Control 4.12.1 Position-Pressure Overview The RMC100 excels at smoothly transitioning from position to pressure (or force) control while in motion. This requires two axes: one for the position control and one for the pressure control. When set up for position/pressure control, the RMC100 effectively controls these two axes as one unit.
Page 220 • Set up the RMC100 See Position/Pressure Setup for a step-by-step illustrated procedure on how to set up the RMC100 for position/pressure control. Included are instructions for using the Step Table and the commands required for position/pressure control. • Tune the system...
Page 221 RMC100 and RMCWin User Manual See Tuning a Position/Pressure System for a step-by-step procedure on how to tune your system. • Example See Position/Pressure Example for a fully detailed, step-by-step, illustrated example of setting up and tuning position/pressure control. 4.12.2 Position-Pressure Setup This section provides detailed information on how to set up the RMC for position/pressure control.
Page 222 Position/Pressure Control 4.12 • If you wish your measurement to be in the opposite direction of the transducer counts, select decreasing position units in the Increasing counts equals field. • Set the desired extend and retract limits in the Extend/Retract Limits field. •...
Page 223 RMC100 and RMCWin User Manual • If the axis is force control: Enter the following information: • Maximum gauge reading • Actuator Type • Cylinder Dimensions • Desired Force Units • Desired Force Direction This information allows the Actual Pressure in the Status area of the main screen to display the net force on the cylinder.
Page 224 Position/Pressure Control 4.12 3. Move the axis to the correct starting position. Normally, the axis should be at a position where the pressure is below the desired entry pressure (Pressure Set A). 4. Set up the pressure control mode. This sets up the parameters that the pressure axis will use when it enters pressure regulating mode.
Page 225 RMC100 and RMCWin User Manual Step 0: This step is normally linked to after finishing a sequence. If the event control is at step 0, it usually means the event control has stopped. This step does nothing. Step 1: Issues a P command so the axis will hold position. Waits for 1/2 sec so the drive output will stabilize for the next step.
Page 226 Position/Pressure Control 4.12 pressure axis, then the command is issued to the pressure axis instead of the position axis. For a list of pressure commands that will be sent to the pressure axis, refer to Command. Notice, however, that the Set Mode (M), Open Loop (O), and Set Parameters (P) commands will not be sent to the pressure axis because they are also valid on the position axis.
Page 227 RMC100 and RMCWin User Manual Note the good design practices: • Metal tubing between valve and cylinder. • An accumulator close to valve. • Use of a zero-overlap valve. 2. Wiring It is important to wire the transducer correctly. See MDT Wiring and Analog Wiring for details.
Page 228 Position/Pressure Control 4.12 • Axes 0 and 1 are the two MDT axes. • Axes 2-5 are the 4 channels of the Analog module. 4. Configuring the pressure/force axes. To configure the pressure axis, the following steps are performed: • On the Tools menu, click Module Configuration.
Page 229 RMC100 and RMCWin User Manual • Since the system is double-ended pressure, select the auxiliary differential force option. • Do the same on the Channels 2-3 tab. • Click Update RMC. • When the RMC is finished updating, click Close.
Page 230 Position/Pressure Control 4.12 • Notice that there are only 4 axes now, because each force axis uses two channels on the Analog module. • Axis 0 is the MDT axis, and Aux 2 is the pressure axis. 5. Configuring the MDT position axis. To scale the MDT position axis, the following steps are performed: •...
Page 231 RMC100 and RMCWin User Manual • It is already set to 21 ms, which is correct. If the MDT transducer is a clevis-mount type, choose 5 ms. • Click Update RMC. • Double-click the Axis 0 Config Word, which opens the following window: •...
Page 232 Position/Pressure Control 4.12 • The information is entered as shown in the picture: The pressure transducer has a max reading of 3000 psi, so "3000" and "psi" are entered in the Pressure Gauge Scale. The cylinder is a single-ended rod, so this option is selected in the Actuator Type field. The cylinder dimensions are 2.5 in.
Page 233 RMC100 and RMCWin User Manual To scale the MDT position axis, the following steps are performed: • Click on any Axis 0 field. • On the Tools menu, click MDT Scale/Offset Calibration. The following window opens: • The position feedback is to be measured in thousandths of inches, so 1000 pos units per inch is entered in the Desired Position Units field.
Page 234 Position/Pressure Control 4.12 1024 into the counts field. …increasing counts is selected in the Increasing counts equal… field. • In the Extend/Retract Limits field, click Set limits to the following values:. Set the desired extend and retract limits to 0.100 and 52 inches. This system can extend 52.700 inches, but it is undesirable to ever reach either end.
Page 235 RMC100 and RMCWin User Manual • Issue Open Loop (O) commands with small positive and negative drives to see if the cylinder goes in the right direction. • If the cylinder moves in the wrong direction, the wiring to the drive may be swapped, or Reverse Drive mode can be selected in the Config word.
Page 236 Position/Pressure Control 4.12 in. and ALT-5 to move to 20 in. The command will be issued to the axis where the cursor is located. • Using the Stored Commands, a move is made in this example from 2 in. to 8 in. The move will take less time than what the Plot Time is set to so that the entire move can be viewed.
Page 237 RMC100 and RMCWin User Manual The Sum Error Squared decreased from 53 million to 27 million. The position lags during the constant speed portion of the move, which the next step will address. • Make a fairly long move without any oscillations. After the move has completed, issue a Feed Forward Adjust (F) command.
Page 238 Position/Pressure Control 4.12 • The next step is the integral gain. Gradually increase it as long as it does not adversely affect the system. Generally, the Integral gain does not need to be extremely high. In this example, 150 was deemed enough. The plot (not shown) did not change much from the previous one. This does not mean the integral gain won't help! It is important for dynamic changes that may be encountered during system operation and may not be present during the tuning.
Page 239 RMC100 and RMCWin User Manual The Sum Error Squared decreased to 13,000! The overshoot disappeared. The Extend and Retract Feed Forwards are generally not the same for hydraulic systems. • The position is now tuned. To check that this will work at higher speeds, increase the Accel and Decel to 300 and the speed to 40000.
Page 240 Position/Pressure Control 4.12 This example is continued in the next topic. 4.12.5 Position-Pressure Example (Part 3) This is part 3 of the complete step-by-step example of setting up and tuning a position/pressure axis. Part 3: Setting up for Pressure Control Now that the position control is tuned, the pressure can be tuned.
Page 241 RMC100 and RMCWin User Manual Step 3: This step moves to 36.0 in. at 10 in./sec (assuming it is set up for a resolution of 0.001 in., then 36000 = 36 in. and 10000 = 10 in./sec) It then waits until bit 1 (the In Position bit) is on before continuing to the next step.
Page 242 Position/Pressure Control 4.12 Note how the pressure (yellow) begins increasing and when it reaches 1000, pressure regulation begins. The white line is the target pressure. Note the large undershoot as pressure regulation begins. • Once the axis is in pressure control, type 'y' in the Axis 0 command field. This will start a plot. Press the Insert key to view the plot: The plot shows the pressure ramping up and down.
Page 243 RMC100 and RMCWin User Manual • To change the gains now, simply enter the gain, issue a "P" command, and start a plot. There is no need to run event step 1, because the pressure is ramping up and down endlessly. The gain will take affect as soon as the "P"...
Page 244 Position/Pressure Control 4.12 • The next step is to adjust the Differential Gain. Gradually increasing it to 250 results in this: It removed the oscillations. • Now that the Differential Gain has been added, the Proportional Gain can be further increased. After trying several values, 8 seems the best for tightest control and least oscillation: Notice that the pressure reaches the command pressure faster.
Page 245 RMC100 and RMCWin User Manual 4.12.7 Position-Pressure Example (Part 5) This is Part 5 of the complete step-by-step example of setting up and tuning a position/pressure axis. Part 5: Tuning the position-to-pressure transition. Now that the position has been tuned and the pressure has been tuned, we can focus on the transition from position to pressure.
Page 246 Position/Pressure Control 4.12 • Notice that there is some overshoot when the pressure ramps up and down. This is because the rate of change in pressure is high. During normal operation, the rate should be lower. The system is tuned for a high rate because a system stable at a high rate will generally be stable at a lower rate.
Page 247 RMC100 and RMCWin User Manual Note how the target pressure begins rising immediately once the pressure reaches Pressure Set A, causing the actual pressure to lag. Because of the short ramp time, the pressure overshoots when it reaches the commanded pressure.
Page 248 Position/Pressure Control 4.12 The overshoot disappeared because the pressure did not change as quickly. There is some lag upon the transition, but can likely be corrected by adjusting the entering speed. • Another method of eliminating the lag immediately after the transition is to use the following two parameters: Integrator Preload Drive Transfer Percent...
Page 249 RMC100 and RMCWin User Manual Note that the pressure lags much less immediately after the transition, but the pressure begins to lead because the Integral Drive has not yet unwound. This is probably because "Integrator Active Only at Pressure" was selected in the mode word of Step 4. This causes the integrator to be inactive until the pressure reaches the commanded pressure.
Page 250 Position/Pressure Control 4.12 The results are much better. Notice how the pressure leads a little, but it eventually tapers off and the pressure is right on when it reaches the commanded pressure. Increasing the Integral gain makes a system more prone to oscillation. It may be necessary to reduce it a little.
Page 251 RMC100 and RMCWin User Manual Only. Double-click the Axis 0 Auto Stop field. The following window appears: • On most systems, it is preferable to have any axis errors cause a Soft or Hard Stop for safety. Additionally, Soft Stops are often desirable because they slowly stop the axis. A Hard Stop immediately puts the drive output to 0 volts, which in some cases can cause a sudden (and potentially dangerous) jerk in the system.
Page 252 Position/Pressure Control 4.12 Controller Features 4-63...
Page 253 RMC100 and RMCWin User Manual 5 Communications 5.1 Digital I/O 5.1.1 Digital I/O Specifications The following specifications apply to the digital inputs and outputs on the CPU, Communication Digital I/O and Sensor Digital I/O modules: Inputs (CPU 0-1 and DI/O 0-17)
Page 254 Digital I/O 5.1 CPU: Independent DI/O: Common high or low side Logic polarity CPU: True High DI/O: Configurable (True high default) Isolation 2500 VAC RMS Maximum voltage ±30 V (DC or peak AC) Maximum current ±100 mA Max. propagation 1.5 ms delay Logic 1 Low impedance (50 W maximum)
Page 255 RMC100 and RMCWin User Manual detail. Figure #1: SSR switching inductive load; high-side configuration To calculate the maximum current through the SSR in the above diagram, we assume zero SSR resistance: Max. current = 24V / 240W = 100mA Max. current = 5V / 240W = 20.8mA In the 24V case, the maximum current is right at the maximum allowed by the SSRs.
Page 256 Digital I/O 5.1 Figure #2: SSR switching resistive load; low-side configuration To calculate the maximum current through the SSR in the above diagram, we assume zero SSR resistance: Max. current = 24V / 470W = 51.1mA Max. current = 5V / 470W = 10.6mA Notice that both maximum current are well within the ratings.
Page 257 RMC100 and RMCWin User Manual (sinking) outputs. See the discussion below for using sinking outputs. Note: Because the inputs are designed for use with 5V outputs, the threshold is 2.75VDC. This is a small percentage of the 24V output. As a result, it is important that the inputs have very little noise.
Page 258 Digital I/O 5.1 Figure #5: Open Collector Outputs to RMC CPU Inputs The RMC’s DI/O inputs are not optimized for use with open collector (sinking) outputs. The difficulty arises from the fact that sinking outputs have a common ground, but the DI/O also needs a common ground.
Page 259 RMC100 and RMCWin User Manual To divide the inputs, attach resisters to each input as shown in the following diagram: This configuration will reduce noise susceptability by a factor of about five. See also: General Wiring Information kadov_tag{ { }} Metadata type="DesignerControl" startspan Metadata type="DesignerControl"...
Page 260 Digital I/O 5.1 and if the B phase leads the A phase, then the counter decreases. This type of counter is often used on belts to determine both the speed and direction of a belt. If the A and B signals have a frequency of 1000Hz (they each have 1000 rising edges a second), then the quadrature counter will register 4000 counts per second (because it counts both rising and falling edges on both signals).
Page 261 RMC100 and RMCWin User Manual • The inputs can be used by the Input to Event table. • The inputs can be used to control transitions between Steps in the Event Step table through the Single Input (I, i, O, and o) and Multiple Inputs link types.
Page 262 Digital I/O 5.1 The use of this I/O is configured using the Sensor Digital I/O dialog box. To open this dialog box: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the Sensor Digital I/O item. This item will be available only if the Sensor Digital I/O module is installed.
Page 263 RMC100 and RMCWin User Manual this dialog box: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the Comm Digital I/O item. This item will only be available if a Communication Digital I/O module is installed.
Page 264 Digital I/O 5.1 Note This section is only used by RMC CPU firmware dating 20011112 or later. By default, the Ready discrete output (CPU output 0) matches the state of the Run/Stop input (CPU input 0). However, with 20011112 or later firmware, this output can also be used to indicate that an error has occurred on a group of axes.
Page 265 RMC100 and RMCWin User Manual CPU Output 1 - Command Acknowledge Note: This special functionality is valid only if there is a DI/O module in the comm (leftmost) slot. This bit toggles each time a new command is received. The criteria for a new command varies on the mode used;...
Page 266 Digital I/O 5.1 User Auto Stop Controlled (Axis 2) User Auto Stop Controlled (Axis 3) Output RMC100-M3 RMC100-M4 In Position In Position (Axis 0) (Axis 0) In Position In Position (Axis 1) (Axis 1) In Position In Position (Axis 2)
Page 267 RMC100 and RMCWin User Manual 1. Raise the CPU input 0. This input is also called Run/Stop. CPU input 1 should start low. 2. Wait for the CPU output 0 to raise. This input is called Ready. 3. Place a 16-bit command word on digital inputs 0-15. This word gives the command type and also information for which data is requested back.
Page 268 Digital I/O 5.1 Perform steps 5 through 8 to send the second half of second command. 6th scan: Perform steps 9 and 10 to finish receiving the data requested by the second command. Perform steps 3 and 4 to send first half of third command. …...
Page 269 RMC100 and RMCWin User Manual the digital outputs before toggling the Acknowledge output. 5.1.6.4 Using Input to Event Mode This mode should be used when the positions to which an axis will be moved are known and can be pre-programmed. It takes advantage of the Input to Event and Event Step tables. Refer to Features Shared by All Modes for details on input and output assignments that are common to all modes.
Page 270 Digital I/O 5.1 the button a Single-axis input. Then, in the Input to Event table, the input transition row would have Step numbers for each axis, but only one would be executed depending on the Axis select bits at the time of the transition. Non-linkable Inputs This area operates similarly to the Single-axis inputs area described above.
Page 271 RMC100 and RMCWin User Manual Axis Select Bits when Edge Counter is Used: DI/O Input Input Axis Axis Select Bits when Quadrature Counter is Used: Input Axis * When an axis is selected that is not present on the motion module, the single-axis input is ignored.
Page 272 Digital I/O 5.1 2. Wait for the Ready bit (CPU output 0) to go to a logical 1. You must continue to hold the Run/Stop bit high. If a move is in progress when you make the Run/Stop go low, the move will stop immediately. If a move is requested when the Run/Stop is low, the request will be ignored.
Page 273 RMC100 and RMCWin User Manual 6. Select the desired options. 7. Click OK. 8. Click Update RMC. 9. The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually.
Page 274 Digital I/O 5.1 Axis and Profile Select Bits for 4-axis RMCs: DI/O DI/O Input Input Input Axis Profile Axis and Profile Select Bits for 6-axis RMCs: DI/O DI/O Input Input Input Axis Profile Communications 5-21...
Page 275 RMC100 and RMCWin User Manual Axis and Profile Select Bits for 8-axis RMCs: DI/O DI/O Input Input Input Axis Profile 5.1.6.6 Using Parallel Event Mode Note: This mode is available only in firmware version 19980706 and later. This mode is intended for use with devices that can provide parallel outputs, such as PLCs and thumb-wheel switches.
Page 276 Digital I/O 5.1 Input 0 Run/Stop. Described in Features Shared by All Modes. Input 1 Unused. Output 0 Ready. Described in Features Shared by All Modes. Output 1 Acknowledge. Described in Features Shared by All Modes. Communication DI/O: Inputs 0-7 Axis 0 Command Event Step (in binary) Inputs 8-15 Axis 1 Command Event Step (in binary)
Page 277 I/O. This technical brief will compare the four discrete I/O interfaces of the RMC100 series product- line, describe implementing Command Mode, and finally provide a sample application using Command Mode.
Page 278 Digital I/O 5.1 Interface Advantages Disadvantages Mode • • Command Any RMC command can Requires a PLC • Mode be issued Requires 2 PLC scans • Any status information per command • can be retrieved Gives commands to only (including Actual one axis per command Position, Actual Speed, cycle...
Page 279 RMC100 and RMCWin User Manual The RMC accepts commands of up to 32 bits and returns 16-bit data words. However, because it has only half that number of inputs and outputs, an extra input and output on the RMC are used to strobe half of the data at a time.
Page 280 The operator display will include the current actual position. This application can easily be done using an RMC100-M1-DI/O module using Command Mode. The simplest way to implement this application is to begin by loading the profile table with the two...
Page 281 This technical brief will compare the four discrete I/O interfaces of the RMC100 product-line, describe implementing Input to Event Mode, and finally provide a sample application using Input to Event Mode.
Page 282 Digital I/O 5.1 • Event Mode Bit—indicating an error Multiple axes may be has occurred—and an In given commands from a Position Bit per axis single input • • Issues only Start Event Allows use of Event commands Control feature •...
Page 283 RMC100 and RMCWin User Manual good reference for this information. Input to Event mode does not require multiple inputs to be switched simultaneously. For this reason, many applications can use the RMC without a controlling PLC. The following points describe the operation of Input to Event mode: •...
Page 284 Digital I/O 5.1 Error Position • Using the RMCWin software, these outputs may be marked to be user-controlled instead of being used for the above default assignments. User-controlled outputs are set and cleared from the Event Step table. The following features of Input to Event mode add complexity to the mode, and are necessary only for a small number of applications: •...
Page 285 RMC100 and RMCWin User Manual Programming the Event Step table is described in the RMCWin online help. The event step table will hold the majority of the controlling logic. Be sure to save your Event Step table both in the RMC Flash memory and on disk from RMCWin.
Page 286 This application requires two axes, and we will assume that the position feedback is given by magnetostrictive displacement transducers (MDT’s). Therefore, the appropriate module to use is the RMC100-M1-DI/O. The RMC controls based on the transducer or encoder counts received. However, counts rarely correspond to meaningful engineering units.
Page 287 RMC100 and RMCWin User Manual Simply by wiring the system, many of the controls are already handled: The E-stop button enables or halts the axes as wired into the Run/Stop (CPU input 0) input of the RMC. The Ready light works as specified because the Ready (CPU output 0) output on the RMC is on when the system is not halted by the Run/Stop.
Page 288 Digital I/O 5.1 3. Program the Input to Event Table The final step is to cause DI/O input 0 to trigger the event sequence shown. This is done with the following simple Input to Event table: This single table entry causes axis 0 to start the event sequence beginning with step 1 whenever DI/O input 0 has a rising edge.
Page 289 RMC100 and RMCWin User Manual This technical brief will compare the four discrete I/O interfaces of the RMC100 series product- line, describe implementing Parallel Position Mode, and finally provide a sample application using Parallel Position Mode. DI/O Communication Mode Comparison The following chart lists the advantages and disadvantages of each communication mode.
Page 290 Digital I/O 5.1 This document discusses only the connections between the Programmable Controller and the RMC. For details on the transducer and drive wiring, look up Wiring Notes in the RMCWin index. The following points describe the operation of Parallel Position mode: •...
Page 291 RMC100 and RMCWin User Manual Three or four axes: DI/O Input 17 Input Axis Four or more axes: DI/O Input 1 Input Input Axis • The user may select from RMCWin whether profiles 4-7 are used as open or closed loop commands.
Page 292 Digital I/O 5.1 Axis 3 In Axis 3 In Position Position Axis 0 Axis 4 In Stop on Position Error Axis 1 Axis 5 In Stop on Position Error Axis 2 Axis 6 In Stop on Position Error Axis 3 Axis 7 In Stop on Position...
Page 293 RMC100 and RMCWin User Manual box. • Click OK. • Click Update RMC. • The Update Module Configuration dialog box will be displayed to indicate the progress. If the module could not be reset automatically, you may be prompted to reset the module manually.
Page 294 Digital I/O 5.1 memory, the following steps are used to make the moves. 3. Configure the RMC Communication The steps required for this procedure are described in the Implementation section of this Technical Brief. You should not need to invert any inputs or outputs, nor should you need to allow open loop select.
Page 295 RMC—such as through a PLC or thumb-wheel switch. This technical brief will compare the discrete I/O interfaces of the RMC100 series product-line, describe implementing Parallel Event Mode, and finally provide a sample application using Parallel Event Mode.
Page 296 Digital I/O 5.1 (including Actual one axis per command Position, Actual Speed, cycle Drive, Error Bits, and other Status Bits) • • Input to Does not require a PLC Returns only a Halted • Event Mode Bit—indicating an error Multiple axes may be has occurred—and an In given commands from a Position Bit per axis...
Page 297 RMC100 and RMCWin User Manual Inputs 8-15 Axis 1 Event Step Input 16 Axis 0 Trigger Input 17 Axis 1 Trigger Outputs 0-7 Status Bits Sensor DI/O (required only if more than two axes are used): Inputs 0-7 Axis 2 Event Step...
Page 298 Digital I/O 5.1 Error Axis 1 Axis 5 In Stop on Position Error Axis 2 Axis 6 In Stop on Position Error Axis 3 Axis 7 In Stop on Position Error Using the RMCWin software, these outputs may be marked to be user-controlled instead of being used for the above default assignments.
Page 299 RMC100 and RMCWin User Manual the inputs to settle. You may need to change this more than once if you are not sure how long you should delay. If you don’t need the speed, it may be wise to be conservative and select 20ms.
Page 300 Digital I/O 5.1 Notice that the eight Event Step number bits are wired to hold the following values: When this binary number is converted to decimal, the selectable step numbers range is 16-25. The reason bit 4 is tied high is to avoid using event step 0, without which the range would be 0-15. Event step 0 is used—by convention—as a step which does nothing.
Page 301 RMC100 and RMCWin User Manual 4. Wire, Test, and Tune the System The system should be wired as described in the design above. Test the functionality of the final system, and finally tune the system as described in the RMCWin online help.
Page 302 Ethernet Module Firmware The RMC Ethernet Protocols are divided into two different firmware files. When updating the RMC100 Ethernet firmware, you must choose the file that contains the protocol you need. The files are called Protocol Group E and Protocol Group F: •...
Page 303 ISO-over-TCP for Siemens S7 controllers b. CAMP for Simatic 505 with CTI Ethernet New RMC100-ENET modules will be shipped with Protocol Group E. However, both groups are available for download from the Delta website, and both are supported. RMC ENET Supported Numbers of TCP and CIP Resources...
Page 304 SoftPLC Corporation's SoftPLC It is Delta's goal to support all major Ethernet devices. However, we need your feedback to determine which Ethernet devices are being used, so please call Delta Computer Systems, Inc. to discuss additional Ethernet device support. PC-Based Control and HMI Packets Any existing software package that supports reading from or writing to one of the above PLCs should be able to read from and write to the RMC.
Page 305 RMC100 and RMCWin User Manual • Using the SoftPLC with the RMC ENET 5.2.3 Using the RMC ENET with RMCWin RMCWin 2.0 and newer can communicate directly with the RMC ENET module over Ethernet. This requires RMC ENET firmware dated 20010523 or later.
Page 306 Ethernet 5.2 4. Under Communication Drivers, click TCP/IP Direct to RMC-ENET. 5. Under Settings, either ensure that Autobrowse Local Network is checked or click Refresh. You should see all RMCs on the network that your PC's Ethernet adapter is connected to. Notice that you will not see RMCs with RMC ENET firmware dated prior to 20010523, nor will you see TCP/IP-to-RS232 bridges even if they are connected to RMCs.
Page 307 RMC100 and RMCWin User Manual Selecting a Configuration Method The first decision to be made is the method you will use to configure the IP address of your device. Here are the three options selected in the TCP/IP tab of the Ethernet Options dialog box: •...
Page 308 Ethernet 5.2 Therefore, the enhanced features of DHCP over those of BOOTP are not useful. However, DHCP still supports the one-to-one mapping of MAC addresses to IP addresses provided by BOOTP. Therefore, DHCP is offered as an alternative only to allow you to purchase either a DHCP or BOOTP server if you choose to use such a protocol.
Page 309 RMC100 and RMCWin User Manual Care should be taken to use a high-quality switch that will support your temperature, noise, vibration, and other environmental requirements. It is also important to use a switch rather than a hub to avoid collisions, which reduce the determinism of the network. Both hubs and Category 3 or 5 (commonly called CAT3 or CAT5) cabling are readily available from network supply companies.
Page 310 BOOTP or DHCP protocols. All devices manufactured by Delta Computer Systems, Inc. begin with "00 50 A0". The Firmware tab of the Ethernet Options dialog has the following commands available: •...
Page 311 RMC100 and RMCWin User Manual • Refresh Pressing this button will read all counters from the module. This operation takes place immediately and only happens once each time the button is pressed. This button is not available if the Continuous Update checkbox is checked.
Page 312 Ethernet 5.2 • Total Directed Pkts Sent This is the count of packets the RMC sent to a specific MAC address. This is typically done by the RMC only in response to a request from another device. • Total Broadcast Pkts Sent This is the count of packets the RMC sent to the broadcast MAC address.
Page 313 5.2.4.5 RMC Ethernet Activity Log The Ethernet Activity Log displays the recent events that occurred in the RMC-ENET module. Notice that it does not include events that occurred in the main RMC100 CPU module. This window can be displayed using the following steps: 1.
Page 314 Ethernet 5.2 • Save Save all the current activity data to a file. • Help Display this topic in the online help. • Close Close the Ethernet Activity Log window. 5.2.5 Ethernet Informational Topics 5.2.5.1 Understanding IP Addressing IP Address A fundamental part of setting up a TCP/IP network is setting up IP addresses.
Page 315 5.2.5.2 RMC Ethernet Protocols Note: The RMC Ethernet protocols are divided into two different firmware files. When updating the RMC100 Ethernet firmware, you must choose the file that contains the protocol you need. For more details, see Downloading New Serial/Ethernet Firmware.
Page 316 Ethernet 5.2 This diagram shows the four conceptual layers of TCP/IP: application, transport, internet, and framing. A fifth layer—the hardware layer—is often added below these four layers, but is left out of this diagram because it is more of a specification of how the data is sent rather than another protocol header.
Page 317 EtherNet/IP This is an open application protocol, maintained by ODVA (http://www.odva.org). EtherNet/IP is used by Ethernet modules for several PLC's including Allen Bradley, Schneider Electric, and Omron. The RMC100 supports EtherNet/IP Messaging and EtherNet/IP cyclic I/O. • FINS This is an open application protocol developed and used by Omron Electronics Inc. This protocol is available over a number of media, including Ethernet and serial.
Page 318 Ethernet 5.2 • HEI (Host Engineering Inc) This is a proprietary protocol controlled by Host Engineering Inc (http://www.hosteng.com). This application protocol can be run on top of UDP/IP, IPX, and Ethernet II. The RMC can respond to HEI requests over UDP/IP and Ethernet II. •...
Page 319 RMC100 and RMCWin User Manual based controller called the SoftLogix 5, which can also communicate with the RMC. Note: Ethernet communication with the ControlLogix Ethernet (e.g. 1756-ENET and 1756- ENBT) modules requires RMC ENET firmware dated 20000420 or later. In addition to Allen-Bradley's controllers, SoftPLC Corporation manufactures a PC-based, PLC-5 compatible controller that can also communicate with the RMC.
Page 320 Ethernet 5.2 • Type: This parameter is always set to Peer-To-Peer for Ethernet communication channels. • Read/Write: This parameter should be set to Read to read registers from the RMC, and to Write to write registers to the RMC. • Target Device: This parameter has possible values of 500CPU, 485CIF, and PLC5.
Page 321 RMC100 and RMCWin User Manual • Control: This parameter points to a block of 51 N-file (integer) registers or two (2) MG-file (message) registers. Set this to an unused block of registers, and then use the Setup Screen option in the MSG ladder logic block to modify those register values: •...
Page 322 Ethernet 5.2 Source Tag (writes only): Enter the tag in the ControlLogix that you want to send to the RMC. In most cases, the tag should be either an array or structure composed entirely of INT data types. This is because both the RMC registers and the INT data type hold 16-bit binary numbers.
Page 323 RMC100 and RMCWin User Manual Read or Write Once This sample takes care to keep the MSG block energized until the MSG block starts, as indicated by the enable (EN) bit turning on. Once this happens, the application-controlled TriggerOnce coil is turned off.
Page 324 Ethernet 5.2 Allen-Bradley offers several Ethernet and serial solutions for its ControlLogix, SLC, PLC-5, and SoftLogix 5 controllers. In addition, SoftPLC emulates the PLC-5 and therefore also uses Allen- Bradley's Ethernet protocol. Over this protocol, the RMC's registers are broken into a number of integer files.
Page 325 RMC100 and RMCWin User Manual N7:60-69 Same as above but for axis 6 N7:70-79 Same as above but for axis 7 Command Registers: These registers can be read or written. Allen- Bradley Register Description and SoftPLC N7:80 Axis 0 Mode Word...
Page 326 Ethernet 5.2 N7:131 Axis 0 Extend Limit N7:132 Axis 0 Retract Limit N7:133 Axis 0 Proportional Gain N7:134 Axis 0 Integral Gain N7:135 Axis 0 Differential Gain N7:136 Axis 0 Extend Feed Forward N7:137 Axis 0 Retract Feed Forward N7:138 Axis 0 Extend Acceleration Feed Forward N7:139 Axis 0 Retract Acceleration Feed Forward...
Page 327 RMC100 and RMCWin User Manual 64-95 ( n - 64 ) x 8 96-127 ( n - 96 ) x 8 128-159 ( n - 128 ) x 8 160-191 ( n - 160 ) x 8 192-223 ( n - 192 ) x 8...
Page 328 Ethernet 5.2 Nf:r + 7 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written. Allen- Bradley Register Description and SoftPLC N17:0 Event Step for Axis 0 on Input 0 Rising Edge N17:1 Event Step for Axis 1 on Input 0 Rising Edge N17:2 Event Step for Axis 2 on Input 0 Rising Edge...
Page 329 RMC100 and RMCWin User Manual Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph. The values written to these registers tell the controller which extra plot information to obtain on the next plot.
Page 330 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this value indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 331 RMC100 and RMCWin User Manual Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 332 Ethernet 5.2 firmware, or 'SI' for Superimposed firmware. N18:103 Feature code. This register is mainly reserved for internal use but does have two bits that may be useful to some users: • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 ms.
Page 333 RMC100 and RMCWin User Manual Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline. This is a much more efficient alternative to using individual New Spline Point and Set Spline Interval/End Segment commands.
Page 334 Ethernet 5.2 between two devices using a request/response protocol. I/O is used to set up a specialized high- speed connection between two or more devices using the producer consumer model. Messaging through EtherNet/IP uses the standard Message (MSG) block, as described in Using Allen-Bradley Controllers with the RMC Ethernet Module.
Page 335 RMC100 and RMCWin User Manual Setting the RMC Module ID Automationdirect.com ships a setup program called NetEdit with the ECOM manual. It can also be downloaded from their supplier's site: http://www.hosteng.com. This program can be used to set the Module ID of any ECOM or RMC module.
Page 336 Ethernet 5.2 The first three instructions load three values onto the accumulator stack, and the RX or WX instruction takes these values off the accumulator stack and uses them for preparing the data to send over the network. Therefore, you have some flexibility as to how to put the values on the accumulator stack—for example, in the LD instructions you can use K to specify constants or V to specify a register holding the value to put on the stack.
Page 337 RMC100 and RMCWin User Manual DirectSOFT32, Options menu item, Global tab, and clearing the Display Aliases checkbox. Example 1 The user has an ECOM in slot 1 of the CPU base and an RMC with Module ID 5. The user wants to read all ten status words for each of the first two axes of the RMC and store those twenty words into V2000-V2023.
Page 338: Communication Types
Ethernet 5.2 5.2.6.2.2 RMC Register Map (Automationdirect.com) Tip: RMCWin's Address Tool provides an easy way to identify addresses in the RMC. Simply open the Address Tool and then move the cursor to any field in RMCWin that represents an RMC Register, and the Address Tool will display the address in the address format of your choice.
Page 339 RMC100 and RMCWin User Manual Axis 0 Drive Axis 0 Actual Speed Axis 0 Null Drive Axis 0 Event Step Axis 0 Link Value V12-V23 Same as above but for axis 1 V24-V35 Same as above but for axis 2...
Page 340 Ethernet 5.2 V134- Same as above but for axis 2 V141 V142- Same as above but for axis 3 V147 V150- Same as above but for axis 4 V155 V156- Same as above but for axis 5 V163 V164- Same as above but for axis 6 V171 V172- Same as above but for axis 7...
Page 341 RMC100 and RMCWin User Manual V1013 Axis 0 Retract Acceleration Feed Forward V1014 Axis 0 Dead Band Eliminator V1015 Axis 0 In Position Window V1016 Axis 0 Following Error V1017 Axis 0 Auto Stop V1020- Same as above but for axis 1...
Page 342 Ethernet 5.2 V2004 Step 0 Command Value V2005 Step 0 Command/Commanded Axes V2006 Step 0 Link Type/Link Next V2007 Step 0 Link Value V2000+n*10 Step n (0-255) Mode Word V2001+n*10 Step n (0-255) Acceleration V2002+n*10 Step n (0-255) Deceleration V2003+n*10 Step n (0-255) Speed V2004+n*10 Step n (0-255) Command Value...
Page 343 RMC100 and RMCWin User Manual V6170 + Event Step for Axes n (0-7) on Input 15 Rising Edge V6200 + Event Step for Axes n (0-7) on Input 0 Falling Edge V6370 + Event Step for Axes n (0-7) on Input 15...
Page 344 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 345 Last Parameter Error Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) Note: To use these registers, you must have RMC100 CPU control firmware dated 19990715 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 346 Firmware Date Registers: PLC Support: D2-250, D4-430, D4-440, and D4-450 (D2-240 excluded) Note: To use these registers, you must have RMC100 CPU control firmware dated 19990715 or later. These read-only registers hold information about the firmware versions in the RMC100 CPU module.
Page 347 Therefore, an active EtherNet/IP device or client is required to control the RMC or request data from the RMC. The RMC ENET supports both EtherNet/IP messaging and I/O. The RMC100 ENET statements of conformance and EDS files are available for download from the Delta website at www.deltamotion.com.
Page 348 Ethernet 5.2 Using EtherNet/IP Messaging with the RMC EtherNet/IP supports messaging in addition to I/O connections. Messaging can be used to read and write parameters, the Event Step table, splines, plots, status, and commands. In the ControlLogix, MSG (message) blocks are used to read and write data in the RMC using EtherNet/IP messaging.
Page 349 RSLogix 5000, see the Configuring an RMC EtherNet/IP I/O Connection for the ControlLogix topic. There are two EDS files currently available for RMC100 Ethernet module. Current versions are available for download from Delta’s website www.deltamotion.com. Each EDS file is packaged in a compressed (.zip) file with its corresponding icon.
Page 350 Ethernet 5.2 Connections with a Single RMC topic for details. When using the RMC’s EDS file in your EtherNet/IP configuration tool, you should be able to select the I/O connection type from a list. If you are using a Generic EDS File (as required by RSLogix 5000 prior to version 20.00), see the Using a Generic EDS File section below.
Page 351 RMC100 and RMCWin User Manual Output Connection Point Config Data Assembly Instance Connection Path 20 04 24 04 2C 20 04 24 04 02 2C 01 2C 20 2C 01 Transport Class Trigger Type Cyclic O->T Format 32-bit Run/Idle Heartbeat O->T...
Page 352 Ethernet 5.2 The T->O size does not include the 2-byte transport header. Unfortunately, which fields are required and how they are presented varies significantly from one tool to the next. For this reason, most EtherNet/IP configuration tools are moving toward supporting importing EDS files to reduce the complexity of setting up an I/O connection.
Page 353 RMC100 and RMCWin User Manual 5.2.6.3.3 Configuring an RMC EtherNet/IP I/O Connection for the ControlLogix Allen-Bradley's RSLogix 5000 software is used to set up an I/O connection between an RMC and a ControlLogix PLC. This topic describes how to set up this connection.
Page 354 Ethernet 5.2 5. Click the ETHERNET-MODULE type and click OK. The following dialog box will be displayed: Communications 5-101...
Page 355 RMC100 and RMCWin User Manual 6. Fill in the fields in this dialog box as follows: General: Name Type a valid module name for the RMC. Description Type a description. Comm Format Select one of the following formats: Data - INT Input and Output Data will be allocated.
Page 356 Ethernet 5.2 8. Type a Requested Packet Interval (RPI) between 5.0 and 3200.0 ms in steps of 1.0 ms. The RMC ignores fractions of a millisecond and cannot support an RPI below 5.0 ms. 9. Set the Inhibit Module and Major Fault On Controller if Connection Fails While in Run Mode check boxes as required by your application.
Page 357 RMC100 and RMCWin User Manual 5.2.6.3.4 Establishing Multiple I/O Connections with a Single RMC Each RMC can support I/O connections with up to four EtherNet/IP clients such as the ControlLogix 1756-L1. Each connection in an RMC must use the same RPI and Input Data size.
Page 358 Ethernet 5.2 Notice how the RMC produces one data frame that is consumed by all three clients using what is called a multicast. All three clients produce data frames consumed by the RMC, but only one has data for the RMC (CL1 in this example). The other two are heartbeat frames to time out old connections.
Page 359 RMC100 and RMCWin User Manual for details. Axis 0 Status. These ten registers correspond to the ten status registers displayed in RMCWin for an axis. Axis 1 Status. Same as for axis 0. Axis 2 Status. Same as for axis 0.
Page 360 Ethernet 5.2 Otherwise, when the Sync Out Register is changed, the commands would be re-issued. 3. Write all required command fields to the Output Data for all commands you want to issue. You can issue up to one command per axis. Leave the Command field set to 0 for each axis that you do not want to issue a command to.
Page 361 RMC100 and RMCWin User Manual • The controlling connection is broken due to a timeout. This will occur when the cable is disconnected, when excessive collisions cause the connection to timeout, or when the client is powered off or reset.
Page 362 Ethernet 5.2 The core of this ladder segment is reading the EntryStatus and FaultCode attributes from the RMC MODULE object using the GSV blocks. The MODULE objects are internal to the ControlLogix and represent external modules. In the Instance Name field of the GSV blocks, type the name you selected for the particular RMC module.
Page 363 RMC100 and RMCWin User Manual 5.2.6.3.7 EtherNet/IP Performance 5.2.6.3.7.1 EtherNet/IP Performance Overview The following factors affect the determinism and performance of an EtherNet/IP I/O connection: • Load on the RMC ENET The RMC ENET load is described in Evaluating the Load on the RMC ENET.
Page 364 Ethernet 5.2 Example: Suppose you will be establishing one I/O connection to an RMC, and the RPI will be 15.0 ms. Use the formula above to compute the RMC ENET load: Frames/Second (1 + connections) / RPI (1 + 1) / 0.015s This is only 27% of the RMC ENET bandwidth.
Page 365 RMC100 and RMCWin User Manual * The 1756-ENET has enough bandwidth for a single connection with an RPI as low as 3.0 ms, but the RMC does not support that low of an RPI. If the 1756-ENET is controlling other non-RMC I/O, the bandwidth required by these other connection will also need to be taken into consideration.
Page 366 Ethernet 5.2 This load is under the recommended 80% bandwidth (720 frames/second) of the 1756-ENET. Therefore, this network should work. 5.2.6.3.7.4 Evaluating the Load on the 1756-ENBT The 1756-ENBT has a total bandwidth of 5000 frames/second. If we reserve 10% of this bandwidth for non-I/O communications (RSLogix 5000, etc.), then we are left with 4500 frames/second.
Page 367 Full-duplex Ethernet occurs between exactly two devices (usually a switch and an end-device such as the 1756-ENBT) when both devices support full-duplex (the RMC100 does not support full-duplex Ethernet). Each device in a full-duplex segment can send and receive data at the same time, thereby doubling the bandwidth, and more importantly, eliminating collisions.
Page 368 Ethernet 5.2 9 or more 0.0% 0.0% 0.0% 0.0% 0.000005% The above statistics were captured on a network using a switch. Networks using a hub will experience higher rates of collisions for the same utilization because the probability of a collision increases with more devices.
Page 369 RMC100 and RMCWin User Manual RMC, and frames produced by the RMC. Each RMC will produce exactly one frame each RPI, but it will consume one frame per connection each RPI. The bandwidth requirement on each collision domain reached by a consumed or produced frame is 1/RPI.
Page 370 Ethernet 5.2 When the switch does support IGMP, then this collision domain will receive all frames consumed and produced by the RMC. Multicast packets sent by other RMCs are filtered out by the IGMP- capable switch. Example (IGMP not supported by switch): In the example above, there are four RMC/switch collision domains: one each for RMC1 to RMC4.
Page 371 RMC100 and RMCWin User Manual In addition to these frames, the ControlLogix/switch collision domains also include frames produced by the ControlLogix and consumed by the RMCs. CLX1 produces frames for RMC1, RMC2, and RMC3. CLX2 produces frames for RMC1, RMC2, and RMC4. Therefore, the bandwidth for the CLX1/switch and CLX2/switch collision domains are as follows: CLX1 Frames/Second = 543 + 2 / 0.010s + 1 / 0.005s = 943...
Page 372 For further details, see Setting Up Large EtherNet/IP Networks. How not to Control Collisions Do NOT set the Ethernet switch port to the RMC100 to full-duplex. This is why: 1. A collision is defined on a half-duplex 10/100baseT Ethernet segment as happening when the Tx wire pair and Rx wire pair are active at the same time.
Page 373 RMC100 and RMCWin User Manual on 10/100baseT during a collision like there was on a truly shared media like Coax (10base2) Ethernet. 2. When a device says that it is Half Duplex, it is saying that its internal Ethernet controller cannot handle receiving data on the Rx pair at the same time it transmits on the Tx pair.
Page 374 Ethernet 5.2 Frames/Second (2 x connections) / RPI (2 x 40) / 0.005 s 16,000 This is well over the allowed 4500 frames/second on the 1756-ENBT. However, if the system can get by with a slower RPI, the bandwidth drops dramatically. For example, increasing the RPI from 5 to 20 ms reduces the bandwidth requirement as follows: Frames/Second (2 x connections) / RPI...
Page 375 RMC100 and RMCWin User Manual the load on all segments of the network, which will increase collisions on half-duplex segments and increase the possibility of overruns. By choosing switches that support IGMP (often called IGMP Snooping), you can reduce the load on your network components and thereby increase your determinism.
Page 376 Ethernet 5.2 5.2.6.4.2 RMC Register Map (Modbus/TCP and Modbus/RTU) Tip: RMCWin's Address Tool provides an easy way to identify addresses in the RMC. Simply open the Address Tool and then move the cursor to any field in RMCWin that represents an RMC Register, and the Address Tool will display the address in the address format of your choice.
Page 377 RMC100 and RMCWin User Manual Axis 0 Status Word Axis 0 Drive Axis 0 Actual Speed Axis 0 Null Drive Axis 0 Event Step Axis 0 Link Value 11-20 Same as above but for axis 1 21-30 Same as above but for axis 2...
Page 378 Ethernet 5.2 117-122 Same as above but for axis 6 123-128 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed. Modbus Register Description Address...
Page 379 RMC100 and RMCWin User Manual 225-240 Same as above but for axis 6 241-256 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written. Modbus Register Description Address Step 0 Mode Word...
Page 380 Ethernet 5.2 2307 Event Step for Axis 2 on Input 0 Rising Edge 2308 Event Step for Axis 3 on Input 0 Rising Edge 2309 Event Step for Axis 4 on Input 0 Rising Edge 2310 Event Step for Axis 5 on Input 0 Rising Edge 2311 Event Step for Axis 6 on Input 0 Rising Edge 2312...
Page 381 RMC100 and RMCWin User Manual Reading Plots from the Communication Module. Modbus Register Description Address 2625 Axis 0 plot type 2626 Axis 1 plot type 2627 Axis 2 plot type 2628 Axis 3 plot type 2629 Axis 4 plot type...
Page 382 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 383 Last parameter error on axis 7 Firmware Date Registers: Note: To use these registers through Ethernet, you must have RMC100 control firmware dated 19990715 or later and Ethernet program dated 19990702 or later. These read-only registers hold information about the firmware versions in the RMC100 CPU module.
Page 384 Ethernet 5.2 Reserved Registers: Reading these values will return zero, and writes are ignored. Modbus Register Description Address 2665- Unused 12288 Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline.
Page 385 RMC100 and RMCWin User Manual 59393- Plot data for axis 7 65536 5.2.6.5 Omron CS1 and CV PLCs 5.2.6.5.1 Using Omron PLCs with the RMC ENET Overview The CS1 and CV families of PLCs from Omron Electronics Inc. can be used to control the RMC over Ethernet.
Page 386 Ethernet 5.2 Extended Data Memory Banks, the only functionality that will be lost is reading up complete plot data. The CV500 PLC also cannot read data beyond D8191, however, the only feature that is lost by this limitation is access to the Spline Download Area. See RMC Register Map (Omron FINS) for details.
Page 387 RMC100 and RMCWin User Manual allow simultaneous For RMC communications, this communications in the PLC. value should be between 2 and Use a different number for each communication that may be requested simultaneously. Timeout: 0001 to FFFF (0.1 to 6553.5 seconds).
Page 388 Ethernet 5.2 Port Number: 00 to 07. No. of Retries: 00 to 0F (0 to 15). The Port Number is used to allow simultaneous For RMC communications, this communications in the PLC. value should be between 2 and Use a different number for each communication that may be requested simultaneously.
Page 389 RMC100 and RMCWin User Manual In this example, the RECV(098) instruction will be triggered each time the Communication Port 0 Enabled Flag (A202.00) is set. This flag will be set any time port 0 is not busy. Therefore, the PLC will read these registers from the RMC continuously as fast as it can.
Page 390 Ethernet 5.2 The Omron PLC must have one entry in its Local Network Table. This entry assigns Network Address 1 (the Ethernet network) to Module Address 0 (the ETN01 Ethernet Unit). The user wishes to continuously read the 80 status words starting at address D0 in the RMC and store them at D0 in the PLC.
Page 391 RMC100 and RMCWin User Manual 5.2.6.5.2 RMC Register Map (Omron FINS) Tip: RMCWin's Address Tool provides an easy way to identify addresses in the RMC. Simply open the Address Tool and then move the cursor to any field in RMCWin that represents an RMC Register, and the Address Tool will display the address in the address format of your choice.
Page 392 Ethernet 5.2 D00008 Axis 0 Event Step D00009 Axis 0 Link Value D00010- Same as above but for axis 1 D00019 D00020- Same as above but for axis 2 D00029 D00030- Same as above but for axis 3 D00039 D00040- Same as above but for axis 4 D00049 D00050-...
Page 393 RMC100 and RMCWin User Manual D00109 D00110- Same as above but for axis 5 D00115 D00116- Same as above but for axis 6 D00121 D00122- Same as above but for axis 7 D00127 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed.
Page 394 Ethernet 5.2 D00160- Same as above but for axis 2 D00175 D00176- Same as above but for axis 3 D00191 D00192- Same as above but for axis 4 D00207 D00208- Same as above but for axis 5 D00223 D00224- Same as above but for axis 6 D00239 D00240- Same as above but for axis 7...
Page 395 RMC100 and RMCWin User Manual D00263+n*8 Step n (0-255) Link Value Input to Event Table Registers: These registers can be read or written. Omron Address Register Description D02304 Event Step for Axis 0 on Input 0 Rising Edge D02305 Event Step for Axis 1 on Input 0 Rising Edge...
Page 396 Ethernet 5.2 Plot Type Registers: The plot type registers can be read or written. The values that are read indicate the extra plot information in the current graph. The values written to these registers tell the controller which extra plot information to obtain on the next plot. For these registers, the following values are used: •...
Page 397 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 398 Last parameter error on axis 7 Firmware Date Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later. These read-only registers hold information about the firmware versions in the RMC100 CPU module.
Page 399 RMC100 and RMCWin User Manual Reserved Registers: Reading these values will return zero, and writes are ignored. Omron Address Register Description D02664- Unused D12287 Spline Download Area: These registers are write only. Reading them will return zero. This area is used to download intervals and points in a spline.
Page 400 Ethernet 5.2 E6_00000- Plot data for axis 6 E6_06143 E7_00000- Plot data for axis 7 E7_06143 Note: Omron PLCs can only access as many Extended Data Memory banks as they have. Therefore, many Omron PLCs will only be able to access a limited number of the banks listed above, or may not be able to access the plot registers at all.
Page 401 4. In the spreadsheet at the bottom of the Node window, click an empty line. This ensures that you add a new node rather than edit an existing node. 5. Under Data Source, click the Direct Driver option. 6. In the Name text box, type the name you want to use for this node (for example, RMC100). 5-148...
Page 402 8. For the Station text box, type the IP address of the RMC. Alternatively, you can click the ellipse (¼) button to start RSWho and select the RMC100 node graphically. 9. In the Type drop-down list, click SLC 5 (Enhanced). Using RSWho in the above step will set this field automatically.
Page 403 RMC100 and RMCWin User Manual The RMC module has 64K (65536) 16-bit registers that can be read from or written to over Ethernet, Serial, Modbus Plus, and PROFIBUS-DP. Each register is assigned an address. However, under the different communication methods, different addressing schemes are used.
Page 404 Ethernet 5.2 N7:6 Axis 0 Actual Speed N7:7 Axis 0 Null Drive N7:8 Axis 0 Event Step N7:9 Axis 0 Link Value N7:10-19 Same as above but for axis 1 N7:20-29 Same as above but for axis 2 N7:30-39 Same as above but for axis 3 N7:40-49 Same as above but for axis 4 N7:50-59...
Page 405 RMC100 and RMCWin User Manual N7:122-127 Same as above but for axis 7 Parameter Registers: These registers can be read or written. Changes to these registers do not take effect until a Set Parameters (P) command is executed. Allen- Bradley...
Page 406 Ethernet 5.2 N7:240-255 Same as above but for axis 7 Event Step Table Registers: These registers can be read or written. When using the Allen-Bradley addressing scheme with these registers, you must keep in mind that the Event Step Table is split over eight register files (this is done because the SLC 5/05 only supports 256 words per file).
Page 407 RMC100 and RMCWin User Manual N9:7 Step 0 Link Value Nf:r + 0 Step n (0-255) Mode Word Nf:r + 1 Step n (0-255) Acceleration Nf:r + 2 Step n (0-255) Deceleration Nf:r + 3 Step n (0-255) Speed Nf:r + 4...
Page 408 Ethernet 5.2 Event Step for Axes n (0-7) on Input 15 N17:248 + n Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol. Allen- Bradley Register Description...
Page 409 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this value indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 410 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 411 RMC100 and RMCWin User Manual Allen-Bradley and SoftPLC Register Description N18:96 Boot firmware month (MSB) and day (LSB) N18:97 Boot firmware year N18:98 Loader firmware month (MSB) and day (LSB) N18:99 Loader firmware year N18:100 Control firmware month (MSB) and day...
Page 412 Ethernet 5.2 L19:5 32-bit Transducer Counts for axis 5 L19:6 32-bit Transducer Counts for axis 6 L19:7 32-bit Transducer Counts for axis 7 Reserved Registers: Reading these values will return zero, and writes are ignored. Allen- Bradley Register Description and SoftPLC N20:0- Unused N47:255...
Page 413 RMC100 and RMCWin User Manual N159:255 N160:0- Plot data for axis 4 N183:255 N184:0- Plot data for axis 5 N207:255 N208:0- Plot data for axis 6 N231:255 N232:0- Plot data for axis 7 N255:255 5.2.6.7 Siemens Simatic TI505 5.2.6.7.1 Using the Siemens Simatic TI505 with the RMC Ethernet Module The TI505 does not have built-in Ethernet TCP/IP support.
Page 414 Ethernet 5.2 • RMC Register Map (Modbus/TCP and Modbus/RTU) • RMC Register Map (Omron FINS) • RMC Register Map (Siemens S7) • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The Siemens TI505, when equipped with the CTI 2572 Ethernet TCP/IP module, can communicate with the RMC Ethernet module.
Page 415 RMC100 and RMCWin User Manual 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written. TI505 Register Description Address Axis 0 Mode Word Axis 0 Acceleration Axis 0 Deceleration Axis 0 Speed Axis 0 Command Value...
Page 416 Ethernet 5.2 Axis 0 Proportional Gain Axis 0 Integral Gain Axis 0 Differential Gain Axis 0 Extend Feed Forward Axis 0 Retract Feed Forward Axis 0 Extend Acceleration Feed Forward Axis 0 Retract Acceleration Feed Forward Axis 0 Dead Band Eliminator Axis 0 In Position Window Axis 0 Following Error Axis 0 Auto Stop...
Page 417 RMC100 and RMCWin User Manual Step 0 Link Type/Link Next Step 0 Link Value 257+n*8 Step n (0-255) Mode Word 258+n*8 Step n (0-255) Acceleration 259+n*8 Step n (0-255) Deceleration 260+n*8 Step n (0-255) Speed 261+n*8 Step n (0-255) Command Value...
Page 418 Ethernet 5.2 2553 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol. TI505 Register Description Address...
Page 419 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 420 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later and Ethernet firmware dated 19990702 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 421 RMC100 and RMCWin User Manual 2657 Boot firmware month (MSB) and day (LSB) 2658 Boot firmware year 2659 Loader firmware month (MSB) and day (LSB) 2660 Loader firmware year 2661 Control firmware month (MSB) and day (LSB) 2662 Control firmware year 2663 Control firmware Beta Code.
Page 422 Ethernet 5.2 Note: Reading plots is not a trivial task; for further details, see Reading Plots from the Communication Module. TI505 Register Description Address 16385- Plot data for axis 0 22528 22529- Plot data for axis 1 28672 28673- Plot data for axis 2 34816 34817- Plot data for axis 3...
Page 423 RMC100 and RMCWin User Manual • RMC Register Map (Modbus Plus) • RMC Register Map (PROFIBUS-DP Message Mode) The Siemens S7-300 and S7-400 families of PLCs, when equipped with the CP 343-1 TCP or CP 443-1 TCP modules, can communicate with the RMC Ethernet module. From the S7, the RMC registers are viewed as data block (DB) registers.
Page 424 Ethernet 5.2 S7 Address Register Description DB1.DBW160 Axis 0 Mode Word DB1.DBW162 Axis 0 Acceleration DB1.DBW164 Axis 0 Deceleration DB1.DBW166 Axis 0 Speed DB1.DBW168 Axis 0 Command Value DB1.DBW170 Axis 0 Command DB1.DBW172- Same as above but for axis 1 DB1.DBW184- Same as above but for axis 2 DB1.DBW196-...
Page 425 RMC100 and RMCWin User Manual DB2.DBW12 Axis 0 Integral Gain DB2.DBW14 Axis 0 Differential Gain DB2.DBW16 Axis 0 Extend Feed Forward DB2.DBW18 Axis 0 Retract Feed Forward DB2.DBW20 Axis 0 Extend Acceleration Feed Forward DB2.DBW22 Axis 0 Retract Acceleration Feed Forward DB2.DBW24...
Page 426 Ethernet 5.2 DB3.DBW10 Step 0 Command/Commanded Axes DB3.DBW12 Step 0 Link Type/Link Next DB3.DBW14 Step 0 Link Value DB3.DBW0+n*16 Step n (0-255) Mode Word DB3.DBW2+n*16 Step n (0-255) Acceleration DB3.DBW4+n*16 Step n (0-255) Deceleration DB3.DBW6+n*16 Step n (0-255) Speed DB3.DBW8+n*16 Step n (0-255) Command Value DB3.DBW10+n*16 Step n (0-255) Command/Commanded...
Page 427 RMC100 and RMCWin User Manual DB4.DBW496 + Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: This block of registers is only used by the Modbus Plus and PROFIBUS interfaces. Therefore, these registers are unused by this Ethernet protocol.
Page 428 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 429 RMC100 and RMCWin User Manual Last Parameter Error Registers: Note: To use these registers through Ethernet, you must have RMC100 CPU control firmware dated 19990715 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 430 Ethernet 5.2 bits that may be useful to some users: • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 ms. • If bit 0 (value 0x0001) is set, a sensor DI/O is present, otherwise there is no sensor DI/O.
Page 431 RMC100 and RMCWin User Manual communicate with the RMC. As with the Allen-Bradley PLC-5, the SoftPLC uses the MeSsaGe (MSG) block. This block takes a number of parameters, which are briefly described below. For a complete description of the parameters, refer to Allen-Bradley's Instruction Set Reference Manual.
Page 432 Gateway, which supports Modbus/TCP and therefore can also control an RMC over Ethernet. It is best to contact a Delta Computer Systems, Inc. sales engineer to discuss Ethernet devices that are not explicitly listed as compatible with the RMC. There may be subtle problems with using some devices with the RMC.
Page 433 RMC100 and RMCWin User Manual method is not limited to Windows or even PCs. This method is discussed in this topic. Choosing a TCP/IP Stack and API The PC or device to be programmed must have a TCP/IP Stack and Application Programming Interface (API).
Page 434 Modbus Plus 5.3 and Modbus/RTU). The addresses documented in RMC Register Map (PROFIBUS-DP Message Mode) happen to already have one subtracted, so you may prefer to use that register map even though it describes PROFIBUS-DP. • The RMC handles incoming packets on a first-in first-out (FIFO) basis, making it possible to send multiple requests and then wait for the replies.
Page 435 RMC100 and RMCWin User Manual Programming from a Modicon PLC When using a Modicon PLC as the master, the user uses a special function block called MSTR. For details on using this function block, see Using the MSTR Modicon Ladder Logic Block.
Page 436 Modbus Plus 5.3 When the master wishes to read from or write to a node it must take the following steps: 1. Wait for the token from the other nodes. 2. Send the request to the slave over the network to read or write data. 3.
Page 437 RMC100 and RMCWin User Manual • RMC Register Map (Omron FINS) • RMC Register Map (Siemens TI505) • RMC Register Map (Siemens S7) • RMC Register Map (PROFIBUS-DP Message Mode) To communicate with any Modbus Plus device, the RMC requires the Modbus Plus communication module.
Page 438 Modbus Plus 5.3 71-80 Same as above but for axis 7 Command Registers: These registers can be read or written. Modbus Address Register Description Axis 0 Mode Word Axis 0 Acceleration Axis 0 Deceleration Axis 0 Speed Axis 0 Command Value Axis 0 Command 87-92 Same as above but for axis 1...
Page 439 RMC100 and RMCWin User Manual Axis 0 Proportional Gain Axis 0 Integral Gain Axis 0 Differential Gain Axis 0 Extend Feed Forward Axis 0 Retract Feed Forward Axis 0 Extend Acceleration Feed Forward Axis 0 Retract Acceleration Feed Forward Axis 0 Dead Band Eliminator...
Page 440 Modbus Plus 5.3 Step 0 Link Type/Link Next Step 0 Link Value 257+n*8 Step n (0-255) Mode Word 258+n*8 Step n (0-255) Acceleration 259+n*8 Step n (0-255) Deceleration 260+n*8 Step n (0-255) Speed 261+n*8 Step n (0-255) Command Value 262+n*8 Step n (0-255) Command/Commanded Axes 263+n*8 Step n (0-255) Link Type/Link Next...
Page 441 RMC100 and RMCWin User Manual 2553 + n Event Step for Axes n (0-7) on Input 15 Falling Edge Status Map Registers: These registers can be read or written, although you should not manually change the values in this table. You should use the Status Map Editor to change this table and then download it to the RMC.
Page 442 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 443 Axis 7 plot time interval Last Parameter Error Registers: Note: To use these registers through Modbus Plus, you must have RMC100 CPU control firmware dated 19990819 or later. Each of these read-only registers holds the number of the last parameter error generated on an axis.
Page 444 Modbus Plus 5.3 module. The Boot and Loader firmware versions have no effect on the actual performance of the RMC and therefore can usually be ignored. Modbus Address Register Description 2657 Boot firmware month (MSB) and day (LSB) 2658 Boot firmware year 2659 Loader firmware month (MSB) and day (LSB) 2660...
Page 445 Unfortunately, only the SEND_REQ function allows a complete routing address, and is thus the only function that can be used to communicate with the RMC100 over Modbus Plus. Refer to the TSX Premium documentation for complete details on using the SEND_REQ function. The...
Page 446 Segment and type (depends on the type of the variable to be read or written; refer to TSX Premium documentation). control:3: Address of the first internal word to be read from the remote (RMC100) device. This is an offset from 400001.
Page 447 RMC100 and RMCWin User Manual 5.3.6 Modbus Plus Global Data 5.3.6.1 Using Modbus Plus Global Data Note: Global data should be used in all applications; it is not only for advanced users. You should first familiarize yourself with the standard method of reading and writing to a slave from a master, as described in Reading and Writing Modbus Plus Registers.
Page 448 Modbus Plus 5.3 differ between versions of Modsoft and Concept: 1. Reserve Config Extension Memory in the PLC: Peer Cop uses Config Extension memory. Refer to Modicon Modsoft Programmer User Manual for details on the exact procedure for allocating Config Extension memory and the method of calculating the memory requirements.
Page 449 RMC100 and RMCWin User Manual Axis 1 Status Word 2632 CPU Digital Inputs 0 and 1 in LSBs of low byte, Outputs 0 and 1 in LSBs of high byte. Next suppose that we want to copy the first eight global registers into PLC holding registers from 400401 through 400408.
Page 450 Modbus Plus 5.3 5.3.7 MSTR Modicon Ladder Logic Block 5.3.7.1 Using the MSTR Modicon Ladder Logic Block When using a Modicon PLC with the Modbus Plus or Modbus/TCP network, the MSTR (for MaSTeR) ladder logic function block must be used. Before reading this topic for use with Modbus Plus, you should understand Reading and Writing Modbus Plus Registers and Using Modbus Plus Global Data.
Page 451 RMC100 and RMCWin User Manual In the second method, you must not reset the condition that triggers the MSTR block until the block completes. Outputs There are three possible outputs: • Active: This output will be ON while an operation is in progress •...
Page 452 Modbus Plus 5.3 Read Global Data: Gets filled by the PLC with the number of registers of global data available from the slave Peer Cop Health: Gives the number of registers to read from the Peer Cop Health map. 5th-9th Routing 1-5: Read/Write Data: The uses of these fields depend on whether Modbus Plus or Modbus/TCP is being used.
Page 453 RMC100 and RMCWin User Manual Register Content Operation: 2 Error Status: This register is filled by the operation. See MSTR Block Error Codes for a complete list. Length: Indicates the number of registers to read. Operation-dependent Value: Indicates the address in the slave to read from.
Page 454 Modbus Plus 5.3 This network waits until the state is equal to 1 and then triggers the MSTR block using the control block below. When the MSTR read operation completes, the state is set to 0. Notice that the MSTR enable input is powered for the duration of the operation. Register Content 400100...
Page 455 RMC100 and RMCWin User Manual 400100 2 (decimal): Operation type: Read data 400101 0000 (hex): Error status: will be filled in by function 400102 64 (decimal): Length: there are 16 parameters on each of four axes 129 (decimal): Address in slave (RMC) memory:...
Page 456 Modbus Plus 5.3 MSTR block, do not add 40000 or 400000 to indicate holding registers. MSTR blocks expect the addresses to start at 1, rather than 40001 or 400001. 5th-9th Routing 1-5: The uses of these fields depend on whether Modbus Plus or Modbus/TCP is being used: Modbus Plus: For local addresses, Routing 1 gives the node address, and Routing 2 gives the data path...
Page 457 RMC100 and RMCWin User Manual registers on each axis 400113 81 (decimal): Address in slave (RMC) memory: This is the address of the first command register on the first axis 400114 3 (decimal): Routing 1 (Node address) 400115 2 (decimal): Routing 2 (Data path): This could...
Page 458 Modbus Plus 5.3 0300 (hex): The high byte holds the Quantum 400114 backplane slot ID (3). The low byte holds the Map Index, which should be set to zero when communicating with the RMC. 400115 192 (decimal): Routing 2: First byte of the IP address: 192.168.0.5 400116 168 (decimal): Routing 3: Second byte of the IP...
Page 459 RMC100 and RMCWin User Manual Routing 2-5: Unused. Set to zeros. 6th-9th Example Suppose that you wish to read four global data registers from each of the first four axes of the RMC located at node address 3. The commands to write are located in holding register 400400 through 400423.
Page 460 Modbus Plus 5.3 Word Status Index Node Type Global Input Specific Output Specific Input Control Block The nine control-block registers are assigned in a Peer Cop Health operation as shown: Register Content Operation: 9 Error Status: This register is filled by the operation.
Page 461 RMC100 and RMCWin User Manual The MSTR block indicates it will do an operation using the control block beginning at 400130, using the one register at 400200. When this block is finished, we look at the third least significant bit, which represents node 3. If this bit is cleared, then the RMC is disconnected.
Page 462 Modbus Plus 5.3 2006 Invalid slave device data area 2007 Invalid slave device network area 2008 Invalid slave device network routing 2009 Route equal to your own address 200A Attempting to obtain more global data registers than available 200B Conflict with Peer Cop (Read Global Data cannot be used if Peer Cop is used) 30xx Modbus slave exception response.
Page 463 Supported: Freeze mode, sync mode, automatic baud-rate detect, set slave address • Modularity: the RMC100 is a modular station that can have one module selected at a time. PROFIBUS-DP Front Panel The front panel of the PROFIBUS-DP communication module has both an LED and a 9-pin connector.
Page 464 The steps above set the station addresses as expected by the master; this step sets the station address that the RMC unit actually responds to. Both must be set to the same value for the same unit. The RMC100 can use any station address between 0 and 126; the address is saved in the Communications...
Page 465 Flash memory. The default station address is 126. There are two methods of changing this address: • RMCWin has the ability to change the RMC100 station address. Use the following steps: 1. Start RMCWin. 2. Establish a connection between RMCWin and the RMC. See Connecting RMCWin to an RMC for details.
Page 466 PROFIBUS-DP 5.4 n Axes and DI/O RMC with n RMC with n with Sync Axes and Axes and DI/O Sensor DI/O n Axes without Sync n Axes and DI/O without Sync The DELT1630.GSD file contains many configuration module entries. When adding an RMC to your PROFIBUS network in the step below, you will need to select exactly one of these configuration modules.
Page 467 RMC100 and RMCWin User Manual 2. Open your PROFIBUS-DP master configuration program. 3. If you are modifying an existing PROFIBUS-DP network, open your current configuration file. 4. If you are creating a new PROFIBUS-DP network, you must create a new network, add a master device to the network, and select the baud rate of the network.
Page 468 PROFIBUS-DP 5.4 The following steps have been tested with COM PROFIBUS versions 3.0 and 3.3: 1. Start COM PROFIBUS. 2. If you are modifying an existing PROFIBUS-DP network, open your current configuration file. 3. If you are creating a new PROFIBUS-DP network, you must create a new network and add a master device to the network.
Page 469 1.1 of the GSD file. Revision 1.2 or newer is required for using Message Mode, and Rev 1.3 is required for Compact Mode without Sync. To check the revision level, do the following: • In the GSD library tree, expand Slaves and Delta Computer Systems, Inc. and right-click on the 5-216...
Page 470 To update the GSD file do the following: • In the GSD library tree, expand Slaves and Delta Computer Systems, Inc. and right-click on the Delta RMC Family entry. On the shortcut menu, click Delete. Click Yes when asked. •...
Page 471 RMC100 and RMCWin User Manual 3. If you are creating a new PROFIBUS-DP network, you must create a new network and add a master device to the network. • On the File menu, click New. If you have multiple networks installed you will need to then select the network type: select PROFIBUS.
Page 472 Input registers and Output registers. The role of PROFIBUS- DP is to carry the commands given from the master through the Output registers to the RMC100, and to carry requested data from the RMC100 through the Input registers back to the master.
Page 473 Once all commands have been processed and the data in the Input Registers has been updated, the RMC100 copies the value from the Output Synchronization Register to the Input Synchronization Register. This should be used as a cue for the Master control program to process the data returned and/or issue the next commands.
Page 474 PROFIBUS-DP 5.4 Mode for details on using this register and the differences between these two sub-modes. The order of the input registers for an n-axis module with a Sensor DI/O running in Compact Mode with Sync is shown below. I represents the RMC’s input base address. If your module does not have a Sensor DI/O, drop the last two registers: Register Contents...
Page 475 1111) Compact Mode with Sync Example Suppose you have an RMC100-M1-PROFI and would like the Status and Actual Position for axis 0, and you would like the Status and Drive for axis 1. You would send commands with the following format:...
Page 476 Drive of axis 1 Compact Mode without Sync Example Suppose you have an RMC100-M1-PROFI and would like the Status and Actual Position for axis 0, and you would like the Status and Drive for axis 1. You would send commands with the...
Page 477 RMC100 and RMCWin User Manual If Compact Mode with Sync is used (versus Compact Mode without Sync), one additional 16-bit register to hold the Synchronization Output register. See Using the PROFIBUS-DP Compact Mode for details on using this register and the differences between these two sub-modes.
Page 478 PROFIBUS-DP 5.4 O + 2*n + Reserved by Sensor DI/O O + 2*n + Reserved by Sensor DI/O PROFIBUS-DP has a much larger set of commands than the normal ASCII commands that can be used in the Command field, although ASCII commands are still available. For a complete description of using the Command and Data out registers, refer to Command Words for PROFIBUS-DP Compact Mode.
Page 479 RMC100 and RMCWin User Manual bits that are toggled to indicate a request. The command block is described in further detail below. Note: Users of Compact Mode should be aware that commands issued over Message Mode are always handled. Specifically this means that if you send a command multiple times it will be processed every time it is received.
Page 480 PROFIBUS-DP 5.4 • Wait until the Read Request bit is equal to the Read Acknowledge bit. When they are equal, the RMC will have updated the Read Data area with the requested data. • Use the data in the Read Data area of the Response Block input registers. Make sure that you do not change the Read Request bit until you are done with the data in the Read Data area.
Page 481 RMC100 and RMCWin User Manual describes the addressing through the PROFIBUS-DP Message Mode. For details on addressing from other modules refer to the following topics: • RMC Register Map (Allen-Bradley) • RMC Register Map (Automation Direct) • RMC Register Map (Modbus/TCP) •...
Page 482 PROFIBUS-DP 5.4 40-49 Same as above but for axis 4 50-59 Same as above but for axis 5 60-69 Same as above but for axis 6 70-79 Same as above but for axis 7 Command Registers: These registers can be read or written. PROFIBUS Address Register Description...
Page 483 RMC100 and RMCWin User Manual Axis 0 Offset Axis 0 Extend Limit Axis 0 Retract Limit Axis 0 Proportional Gain Axis 0 Integral Gain Axis 0 Differential Gain Axis 0 Extend Feed Forward Axis 0 Retract Feed Forward Axis 0 Extend Acceleration Feed Forward...
Page 484 PROFIBUS-DP 5.4 Step 0 Speed Step 0 Command Value Step 0 Command/Commanded Axes Step 0 Link Type/Link Next Step 0 Link Value 256+n*8 Step n (0-255) Mode Word 257+n*8 Step n (0-255) Acceleration 258+n*8 Step n (0-255) Deceleration 259+n*8 Step n (0-255) Speed 260+n*8 Step n (0-255) Command Value 261+n*8...
Page 485 RMC100 and RMCWin User Manual Event Step for Axis 7 on Input 0 Rising 2311 Edge Event Step for Axes n (0-7) on Input 1 2312 + n Rising Edge 2424 + n Event Step for Axes n (0-7) on Input 15...
Page 486 PROFIBUS-DP 5.4 Address Register Description 2624 Axis 0 plot type 2625 Axis 1 plot type 2626 Axis 2 plot type 2627 Axis 3 plot type 2628 Axis 4 plot type 2629 Axis 5 plot type 2630 Axis 6 plot type 2631 Axis 7 plot type Digital (Discrete) I/O Registers:...
Page 487 The Plot Time interval is configurable on the RMC. This interval indicates the number of control loops between each sample in a plot. Therefore, if the control loop is 0.976ms (e.g. RMC100-M1), this indicates roughly the number of milliseconds between samples. If the control loop is 1.953ms (e.g.
Page 488 Note: To use these registers through PROFIBUS, you must have RMC CPU firmware dated 19990819 or later. These read-only registers hold information about the firmware versions in the RMC100 CPU module. The Boot and Loader firmware versions have no affect on the actual performance of the RMC and therefore can usually be ignored.
Page 489 RMC100 and RMCWin User Manual • If bit 1 (value 0x0002) is set, the control loop is 2 ms, otherwise the control loop is 1 • If bit 0 (value 0x0001) is set, a sensor DI/O is present, otherwise there is no sensor DI/O.
Page 490 Serial (RS-232/422/485) 5.5 28672- Plot data for axis 2 34815 34816- Plot data for axis 3 40959 40960- Plot data for axis 4 47103 47104- Plot data for axis 5 53247 53248- Plot data for axis 6 59391 59392- Plot data for axis 7 65535 5.5 Serial (RS-232/422/485) 5.5.1 RMC SERIAL Overview...
Page 491 RMC100 and RMCWin User Manual can be intimidating to users new to serial communications. Therefore, we recommend reading each of the following topics carefully before designing your serial network: • Configuring the RMC SERIAL • Line Drivers: RS-232/422/485 • Serial Network Topologies •...
Page 492 Serial (RS-232/422/485) 5.5 The following options are available in the Serial Module Options dialog box: • Protocol: Select the protocol supported by your master device. The Test Mode protocol is a special one used to test the communications. With this protocol, for each character the RMC receives, it will add one to it and respond with that character.
Page 493 RMC100 and RMCWin User Manual firmware, see Downloading New Serial/Ethernet Firmware. • Boot Version This field gives the version of the Boot firmware in the RMC SERIAL module. • Loader Version This field gives the version of the Loader firmware used for updating the main communication program.
Page 494 Serial (RS-232/422/485) 5.5 the RMC SERIAL offers three drivers: RS-232, RS-422/RS-485 (4-wire), and RS-485 (2-wire). Each of the above features is described below: • Duplex (Full or Half): Full-duplex means that each device on a serial network can send and receive at the same time, effectively doubling the bandwidth of the network.
Page 495 RMC100 and RMCWin User Manual Note: The above four-wire RS-422/485 diagram shows biasing internal to the RMC on the Tx wire pair. This is not available on RMC SERIAL hardware revision 1. Biasing will have to be provided externally or in the host.
Page 496 Serial (RS-232/422/485) 5.5 The RS-422 and RS-485 diagrams above show biasing and termination included. Termination and biasing can be left out of networks at the expense of maximum cable distance and noise immunity. See RS-422/485 Termination and Biasing for details. Multi-Drop Only RS-485 supports multi-drop.
Page 497 RMC100 and RMCWin User Manual The following four-wire RS-485 network diagram is also supported by the RMC and allows full-duplex communications to the host from the RMC. Most multi-drop protocols do not support full-duplex communications between devices and so the actual utility must be carefully weighed against the extra cost of the cabling required for implementation.
Page 498 Serial (RS-232/422/485) 5.5 Note: The above 4-wire multi-drop RS-485 network diagram shows internal termination and biasing on the RMC for the Tx wire pair. This is not available on RMC SERIAL hardware revision 1. Termination will have to be provided externally. Biasing will have to be provided externally or in the host.
Page 499 RMC100 and RMCWin User Manual in the RMC SERIAL configuration. The RMC RS-232 communications require only three conductors in the cable: RxD, TxD, and GND. A five-conductor cable must be used if the CTS and RTS signals are used. Delta recommends that a shielded cable be used to limit susceptibility to outside electrical interference.
Page 500 Serial (RS-232/422/485) 5.5 RS-485 (2-wire) Pin-out RS-485 (2-wire) Function Unused Unused Rx/Tx A (-) Rx/Tx B (+) Common Case Note: Some manufacturers use A and B labeling, while others use + and - labeling. If you need to interface to equipment that uses an alternate labeling scheme, keep in mind that A corresponds to - and B corresponds to +.
Page 501 RMC100 and RMCWin User Manual 115,200 3250 57,600 4000 38,400 1900 4000 19,200 3750 4000 9,600 4000 4000 4,800 4000 4000 2,400 4000 4000 5.5.2.7 RS-422/485 Termination and Biasing Termination and Biasing are concepts that only apply to differential wiring. As such, they only apply to RS-422 and RS-485 and not RS-232.
Page 502 Serial (RS-232/422/485) 5.5 As described above, hardware revision 1 differs in its biasing and termination. It has the following differences: • There is no biasing or termination on the Tx wire pair. • There is no capacitor in the Rx/Tx termination circuit. •...
Page 503 RMC100 and RMCWin User Manual • For RS-485 (4-wire, point-to-point or multi-drop), terminate the receivers of each end device in the chain, and the transmitter of the last slave (but not master). Termination is not required on all differential networks, but it does typically extend the maximum cable length.
Page 504 Serial (RS-232/422/485) 5.5 4,340 ns * Distance 0.66 ft / ns 2890 ft Since it requires three round trips for the signal transition to dampen and each round trip is twice the length of the cable, the total distance in feet is divided by six to get the final unterminated cable length: Length 2890 ft / 6...
Page 505 RMC100 and RMCWin User Manual 48kW || Resistance 48kW 118W Then, we calculate how much DC resistance the network has between power rails: Total 1150W + Resistance 118W + 1150W 2418W Next, we calculate how much current is flowing through this DC resistance:...
Page 506 Serial (RS-232/422/485) 5.5 • 03: Read Holding Registers • 06: Preset Single Register • 16 (10 Hex): Preset Multiple Registers • 23 (17 Hex): Read/Write 4X Registers Each of the above functions acts on 4X or Holding registers. The RMC has these 4X registers mapped as described in the following topic: •...
Page 507 RMC100 and RMCWin User Manual • SLC Protected Typed Write with 3 Address Fields (CMD=0x0F, FNC=0xAA) • SLC Protected Typed Read with 3 Address Fields (CMD=0x0F, FNC=0xA2) • Echo (CMD=0x06, FNC=0x00) • Diagnostic Status (CMD=0x06, FNC=0x03) Most of the above functions address memory in the remote device. The RMC has memory registers defined (N7:0-255 and N9:0-N255:255) as described in the following topic: •...
Page 508 Serial (RS-232/422/485) 5.5 • Communication Command: From this drop-down list, select PLC-5 Typed Read to read values from the RMC, or PLC-5 Typed Write to write values to the RMC. • Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to write to RMC registers from.
Page 509 RMC100 and RMCWin User Manual • This Controller: This section holds parameters for the SLC 5/05. • Communication Command: This parameter will be set to PLC5 Read, PLC5 Write, 500CPU Read, or 500CPU Write, depending on what was selected in the MSG block itself (as described above).
Page 510 Serial (RS-232/422/485) 5.5 500CPU Read, or 500CPU Write. The type of PLC selected is not important, but the Read or Write determines whether you will read registers from the RMC or write registers into the RMC. • Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to write to RMC registers from.
Page 511 RMC100 and RMCWin User Manual Read or Write Once This sample takes care to keep the MSG block energized until the MSG block starts, as indicated by the enable (EN) bit turning on. Once this happens, the application-controlled TriggerOnce coil is turned off.
Page 512 Serial (RS-232/422/485) 5.5 • Baud Rate: 19,200 • Data Bits: 8 bit • Parity: Even Mitsubishi PLC Settings: The Mitsubishi PLCs use D8120 to control its communication format. Assuming the maximum baud rate of 19,200 and even parity are used, then the following value must be used to communicate with an RMC: D8120 = H0097 In addition M8161 should be set as follows to select 16-bit data:...
Page 513 RMC100 and RMCWin User Manual RMC should have returned its response as shown above. The checksum in the response can then be checked using the CCD function again. The Mitsubishi-RMC Protocol defines the following three request/response packets. Each is composed of 16-bit fields, with each being sent low-byte first by the Mitsubishi. Send buffer locations will be referred to as Dxx00 to Dxx99, where xx are two digits, and receive buffer locations will be referred to as Dyy00 to Dyy99, where yy are two digits.
Page 514 Serial (RS-232/422/485) 5.5 Dxx02 Data. First data word to write. Dxx03 Data. Second data word to write. … Dxx01+N Data. Last data word to write. Dxx02+N Checksum. Set using the CCD instruction. Notice that Dxx03+N will also be modified by CCD with the parity, but this register should not be sent. Response (from RMC): Dyy00 Length.
Page 515 RMC100 and RMCWin User Manual To write commands for 8 axes or 48 words: To write 12 steps to the step table where each step is 8 words: If more than 12 steps need to be transferred then more RS blocks are required to transfer the remaining steps.
Page 516 Modules with firmware dating prior to this do not support this protocol. Introduction Use the Bidirectional protocol to communicate with the RMC100 from a Mitsubishi Q series PLC with a QJ71C24 serial communication module. For details on communicating with an FX series PLC, see the sing the Using the Mitsubishi No Protocol with the RMC SERIAL topic.
Page 517 Set the QJ71C24 intelligent function module switches for the desired serial settings. The serial settings on the Mitsubishi must match the settings on the RMC100. For details on the Mitsubishi serial settings, see section 4.5.2 of the Mitsubishi manual: Q Corresponding Serial Communication Module (User’s Manual).
Page 518 To read data, first use the BIDOUT instruction to request the data, then use the BIDIN instruction to read the data. The Head number of the data sent to the RMC100 is designated by (S2) in the BIDOUT instruction. The data must be according to the following format: Each box is a 16-bit word.
Page 519 Writing to the RMC100 The head number of the data sent to the RMC100 is designated by (S2) in the BIDOUT instruction. The data must be according to the following format: Each box is a 16-bit word.
Page 520 RMC CPU RS232 Port 5.6 Communicate with any RMC from a Custom Application The RMCLink component enables direct communication with any of Delta Computer System's RMC family of motion controllers from numerous programming languages and applications. Supporting serial RS-232 and Ethernet communications, RMCLink provides full functionality to read and write registers, read bits, and issue commands to all RMC family controllers.
Page 521 RS-232 Monitor port Note: The RMC100 is not supported by RMCTools and is not documented in this help file. It appears here only to fully explain RMCLink. Notice that RMCLink also is not a part of RMCTools, nor is fully documented in this help file. RMCLink contains its own very detailed help.
Page 522 5.6.3 RS232 Wiring Using the CPU 9-pin Serial Port The RMC100 CPU module has a DTE DB9 serial port labeled "RS-232 Monitor." Both RMCWin and the RMCLink ActiveX Control and .NET Assembly Component use this port. Communication over this port is always at 38400 baud with eight (8) data bits, no parity, and one (1) stop bit.
Page 523 RMC100 and RMCWin User Manual • Any other cable you have will work if you can verify that pins 2, 3, and 5 on the RMC-end of the cable are connected as shown in the above diagram. An Ohmmeter or continuity checker will work for verifying the cable connections.
Page 524 LCD420 display and firmware. The LCD420 is an accessory available for the RMC100 series motion controllers. The LCD420 is a hand-held or panel-mounted terminal with a 4-row, 20-column LCD display and a 20-key keypad.
Page 525 RMC100 and RMCWin User Manual 5.7.2 Using the LCD420 Terminal General When the RMC powers up, it displays the first screen. If the RMC has no screens programmed, the following message will be displayed: The screen is updated about 4 times per second. This allows updating fields continuously. This also allows hot-swapping LCD420 terminals, because when a display is plugged into the RMC it will be refreshed within 250 ms.
Page 526 LCD420 Terminal 5.7 selected will wrap around to the first editable field. Editing a Numerical Field First, select the screen and field you wish to edit as described above. Then type in the value you wish to use for that field and press ENTER. While editing, the cursor moves to the last character in the field.
Page 527 RMC100 and RMCWin User Manual Press the down arrow (↓) again: Next, enter the value of 4.8 in/s. Notice that the cursor moves to the end of the field during the edit. Press 4: Press 8: Notice that pressing ENTER at this point would enter a value of 0.048 in/s and not the desired 4.8 in/s, so you must pad the number of zeros.
Page 528 LCD420 Terminal 5.7 The following table summarizes the keys used for editing: Press Set the bit's value to OFF. Set the bit's value to ON. BKSP Cancel the edit. Cancel the edit. ENTER Accept the edit. The bit will be changed in the RMC. Example 2: Suppose the user has commands in an event step sequence that turn on and off discrete outputs that control pneumatic clamps.
Page 529 RMC100 and RMCWin User Manual 5.7.3 Programming the LCD420 Terminal The LCD420 terminal is programmed using RMCWin's LCD Screen Editor. This tool is fully documented in the Using RMCWin section of this help document. You can find that section through the following methods: •...
Page 530 Status Map 5.8 5.8 Status Map 5.8.1 Using the Status Map Editor Status Map Explained Under the RMC’s Modbus Plus and PROFIBUS-DP Message Mode interfaces, the RMC keeps 32 status registers readily accessible to network masters. For Modbus Plus, these registers are available through Modbus Plus Global Data.
Page 531 RMC100 and RMCWin User Manual For a list of the default global data register assignments, see Default Status Map Data. kadov_tag{ { }} Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan Metadata type="DesignerControl" startspan Metadata type="DesignerControl" endspan 5.8.2 Default Status Map Data The following table lists the default mappings held in the Status Map table.
Page 532 Communication Tasks 5.9 Address of axis 4 Command Position Address of axis 4 Target Position Address of axis 4 Actual Position Address of axis 4 Status Word Address of axis 5 Command Position Address of axis 5 Target Position Address of axis 5 Actual Position Address of axis 5 Status Word Address of axis 6 Command Position...
Page 533 RMC100 and RMCWin User Manual Information MB/TI505 PROFIBUS AB/SoftPLC Siemens S7 Address Address Address Address for Axis n Target 16385 + 16384 + N(64+24*n):0 DB(208+6*n).DBW0 Position† 6144*n 6144*n Actual 17409 + 17408 + N(68+24*n):0 DB(209+6*n).DBW0 Position† 6144*n 6144*n Status 18433 +...
Page 534 Communication Tasks 5.9 • Raw Transducer Counts: Extra Plot Data #1 gives the low 16-bits of the Raw Transducer Counts. Extra Plot Data #2 gives the high 16-bits of the same internal register. • Internal Speeds: Extra Plot Data #1 holds the Target Speed, and Extra Plot Data #2 holds the Actual Speed. Both are in position units per second.
Page 535 Download Area, each axis's spline is not done at the same time. Spline Download Area Details Note: The Spline Download Area requires RMC100 CPU control firmware dated 19991124 or later (or beta firmware dated 19990910B or later). The Spline Download Area over Ethernet also requires Ethernet firmware dated 19990831 or later.
Page 536 Note: The Static and Dynamic Spline Download Area formats apply to the entire table. Either the entire table is Static or it is dynamic. Examples: RMC100-M1-ENET This module has two spline-capable axes, because MDT axes are never auxiliary pressure or force channels.
Page 537 RMC100 and RMCWin User Manual Interval Table Format Axis 1 13314- 13313- N52:1- V12001- DB193.DBW2- Interval 14336 14335 N55:255 13777 2046 Table* Axis 0 Point 14337 14336 N56:0 V14000 DB200.DBW0 Count Axis 0 Point 14338- 14337- N56:1- V14001- DB200.DBW2- Table**...
Page 538 Communication Tasks 5.9 Table* 13824 13823 N53:255 12777 1022 Axis 3 13825 13824 N54:0 V13000 DB195.DBW0 Interval Table Format Axis 3 13826- 13825- N54:1- V13001- DB195.DBW2- Interval 14336 14335 N55:255 13777 1022 Table* Axis 0 Point 14337 14336 N56:0 V14000 DB200.DBW0 Count Axis 0 Point...
Page 539 RMC100 and RMCWin User Manual Axis 1 12545 12544 N49:0 V10400 DB193.DBW0 Interval Table Format Axis 1 12546- 12545- N49:1- V10401- DB193.DBW2- Interval 12800 12799 N49:255 10777 Table* Axis 2 12801 12800 N50:0 V11000 DB194.DBW0 Interval Table Format Axis 2...
Page 540 Communication Tasks 5.9 Table Format Axis 7 14082- 14081- N55:1- V13401- DB199.DBW2- Interval 14336 14335 N55:255 13777 Table* Axis 0 Point 14337 14336 N56:0 V14000 DB200.DBW0 Count Axis 0 Point 14338- 14337- N56:1- V14001- DB200.DBW2- Table** 14592 14591 N56:255 14377 Axis 1 Point 14593 14592...
Page 541 RMC100 and RMCWin User Manual ** The Point Table contains 255 points max. Dynamic Format The Interval Table contains 254 intervals max. The maximum number of points per axis is as follows: 1 - 2 spline capable axes: 1024 3 - 4 spline capable axes: 512...
Page 542 Communication Tasks 5.9 2 + MaxPts + 12291 + 12290 + Axis 1 Point #0 MaxPts + 4 MaxPts + 4 Axis 1 Point 12291+ 12290+ #(MaxPts - 1) (MaxPts+2) (MaxPts+2) (MaxPts+2) +(MaxPts-1) +(MaxPts-1) +(MaxPts-1) Axis 2 Interval 12291+ 12290+ (MaxPts+2)*2 (MaxPts+2)*2 (MaxPts+2)*2...
Page 543 RMC100 and RMCWin User Manual Point Table This table must be downloaded to last. When a number of points equal to the Point Count has been downloaded to this area, the spline segment is calculated and added to the given axis’s spline table.
Page 544 Communication Tasks 5.9 12291 Interval Table T2 (distance between P2 and P3) – 2 12292 Interval Table T3 (distance between P3 and P4) – 3 14336 Point Count 14337 Point Table – 14338 Point Table – 14339 Point Table – 14340 Point Table –...
Page 545 RMC100 and RMCWin User Manual more than one spline segment in the spline table, the new spline segment will be added to the end. If there are no spline segments in the spline table, the new spline segment will be added and made the next spline.
Page 546 Communication Tasks 5.9 Drive transfer percentage out of range Feed forward terms must have the same sign Resetting the position would cause a position overflow Resetting the position is not allowed in this state Axis must be initialized to use this command Cannot overflow command pressure Invalid MODE bits set for this command Storage of parameters to Flash failed...
Page 547 RMC100 and RMCWin User Manual Axis reached command position while regulating pressure No initialized pressure axis is assigned for monitoring pressure Attempt to enter pressure immediately failed Pressure Control went outside position limits "Event Step Edit" indices are invalid Too many spline points. Point not added.
Page 549: Transducer Interface Modules
RMC100 and RMCWin User Manual 6 Transducer Interface Modules 6.1 Analog 6.1.1 Analog Transducer Overview There are four analog modules available for the RMC. Each is listed below: Analog 16-bit with Pressure • Four analog inputs with 16-bit Analog/Digital Converters.
Page 550 Analog 6.1 The first step for setting up analog module is to assign roles to each analog channel. This is described in Analog Transducer Configuration, it is possible to change the modules between some or all of the following roles: •...
Page 551 RMC100 and RMCWin User Manual TIP: If you are using a 10V transducer output, but are only using values in the low 5V, it is recommended that you select a 5V setting to increase the resolution of the analog to digital conversion.
Page 552 Analog 6.1 Analog Input Ranges See the COUNTS topic for detailed information on the maximum and minimum limits of the various analog input ranges. See also: General Wiring Information Analog Transducer Overview Analog Transducer Configuration Using Analog Channels as Position Inputs Using Analog Channels as Velocity Inputs Using Analog Channels as Pressure Inputs Using Analog Channels as Differential Force Inputs...
Page 553 RMC100 and RMCWin User Manual 5. Click Update RMC. 6. The Update Module Configuration dialog box will be displayed to indicate the progress. If the RMC could not be reset automatically, you may be prompted to reset the RMC manually.
Page 554 This mode uses both channels in the pair. This mode is no longer supported. Note: At no time will the RMC100 allow more than eight axes. Any extra axes will be ignored. For example, suppose a system has one 2-axis MDT card and two 4-channel analog cards. If all eight channels are configured as single-ended analog axes, then this would total ten axes, which is not allowed.
Page 555 Status good. None of the above are true. Note: Prior to RMC100 CPU firmware dated 19991216, the Auto Stop parameter was not used in determining the LED states. Therefore, the only way to keep the LED from showing red was to clear the error.
Page 556 Analog 6.1 16-bit Module (-H) Inputs Inputs Four 16-bit differential Isolation 750VDC Overvoltage Protection Input Ranges +10V, ±10V, +5V, ±5V, and 4-20mA (each channel is independently configured using RMCWin) Input impedance Input filter slew rate 25V/ms Conversion Rate 122ms on 1ms loop modules; 244ms on 2ms loop modules (8 times oversampling) Offset drift with...
Page 557 RMC100 and RMCWin User Manual 6.1.6 Analog Transducer Scaling Defining the Valid 16-bit Pressure/Force/Position/Velocity Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit words for positions, pressures, forces, and speeds, these quantities must all fit within a range of 65,536 position units. Because the units used are user definable, this range does not limit most applications.
Page 558 Analog 6.1 Translating to Speed Units The Scale, Offset, and the Prescale Divisor bits of the Configuration word parameters are used to define velocity units as a function of transducer counts. The following formula summarizes the translation from transducer counts to Actual Speed units for velocity control or velocity reference axes: The Actual Speed calculation does not use the Offset parameter.
Page 559 RMC100 and RMCWin User Manual scale: Scale Divisor Effective Error from Scale 6324.70 6325 6325/1 = 0.005% 6325 12649 12649/2 = 0.003% 6324.5 25299 25299/4 = 0.0008% 6324.75 50598 Invalid scale Invalid Therefore, in this example, a Scale of 25299 and a Prescale Divisor of 4 should be used.
Page 560 Analog 6.1 Because only channels 0 and 2 have drive outputs associated with them on the analog modules with drive outputs, it is only these two channels that can be configured as Position Control; any channel may be configured as Position Reference. Use the following steps: 1.
Page 561 RMC100 and RMCWin User Manual 6.1.7.2 Using Analog Channels as Velocity Inputs Analog channels may be configured to be used as one of two velocity input types: • Velocity Control The input is used with the corresponding drive output (analog modules without drive outputs cannot be used for velocity control) for closed loop control.
Page 562 Analog 6.1 with drive outputs, it is only these two channels that can be configured as Velocity Control; any channel may be configured as Velocity Reference. Use the following steps: 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3.
Page 563 RMC100 and RMCWin User Manual Using Analog Channels as Differential Force Inputs 6.1.7.3 Using Analog Channels as Pressure Inputs Analog channels may be configured to be used as one of three pressure input types. All three modes require the Pressure Control firmware option: •...
Page 564 Analog 6.1 type. Step 3: Set the Scale A and Offset A Parameters for the Pressure Inputs Refer to the individual field sections for details on setting these parameters. Analog Input Ranges See the COUNTS topic for detailed information on the maximum and minimum limits of the various analog input ranges.
Page 565 RMC100 and RMCWin User Manual 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click an analog module. 3. Click Slot Options. 4. In the Analog Channel Assignment dialog box, click the tab of the channel pair (0-1 or 2-3) you wish to assign.
Page 566 Analog Channels as Velocity Inputs, and Configuring the Analog Transducer Type. The joystick feedback can be filtered to provide smooth motion. See the Reference Axis Filtering for details. This topic has not been completed. Please contact Delta Computer Systems, Inc. for details on this topic. See also:...
Page 567 (0xC0-0xCF) commands to move the command axis relative to the reference input. 6.1.8.3 Controlling Speed from a Tachometer Feedback In addition to controlling speed with position feedback, the RMC100 is able to control speed with a tachometer feedback. To do this, an analog module with drive outputs is required. For details on configuring the module for your control and transducer type, refer to Using Analog Channels as Velocity Inputs, and Configuring the Analog Transducer Type.
Page 568 Analog 6.1 The procedure for speed control with tachometer feedback is similar to speed control with position feedback. However, a tachometer with analog feedback will often have a small offset. When the tachometer is stopped, the feedback voltage may be slightly different than zero. This may cause the axis to rotate slowly when it has been commanded to stop in closed loop control.
Page 569 The transducer responds with a return signal. The return signal is high while the transducer is determining its’ position. The counters on the RMC100 MDT interface module are counting during the time that the return signal is high. The time that the return signal is high is proportional to the transducer position.
Page 570 MDT 6.2 Pulse Width Modulated Transducer The RMC must then convert the counts accumulated during the transducer interrogation to an ACTUAL POSITION in user-defined Position Units (usually 0.001 inch) for use in the PID control loop. See also: MDT Wiring MDT Configuration MDT LED Indicators MDT Specifications...
Page 571 RMC100 and RMCWin User Manual between the transducer and the RMC for the interrogation signal, and the '+Ret' and '-Ret' between the transducer and the RMC for the return signal. Connect the transducer DC ground to MDT Cmn. For a single-ended transducer with positive interrogation, connect the transducer '- interrogation in' wire to the ’r;MDT Cmn’...
Page 572 MDT 6.2 Some Temposonics I transducers from MTS have 200 Ohm termination resistors installed between their interrogation pins and common. If yours do not, it may be necessary to install them as close to the transducers as possible to reduce electrical noise in the system. RMC Drive Outputs Four-Pin Plug-in Terminal Block Function...
Page 573 RMC100 and RMCWin User Manual MDT Specifications 6.2.3 MDT Configuration The RMC supports a wide range of Magnetostrictive Displacement Transducers. To select the type of the transducer and polarity of the drive output, the following settings can be changed: •...
Page 574 MDT 6.2 1. On the Tools menu, click Module Configuration. 2. In the Slots list, click the MDT module you want to edit. 3. Click Slot options. The MDT Options dialog box will be displayed with a tab for each axis on that slot.
Page 575 See also: MDT Overview MDT Wiring MDT Configuration MDT Specifications 6.2.5 MDT Specifications For general specifications on the RMC, see RMC100 Specifications. See SSI Overview for details on using MDTs with SSI output. MDT Interface Axes Two per module Inputs...
Page 576 MDT 6.2 Drive Outputs Range ±10 V @ 5 mA (2 kW or greater load) (For current drive, use the VC2100 accessory: ±10 mA to ±200 mA in 10 mA steps) Tolerance At 10 V: +200 mV, -100 mV At 0 V: ±50 mV At -10 V: +100 mV, -200 mV Resolution 12 bits...
Page 577 RMC100 and RMCWin User Manual However, because the Offset is also used to convert transducer counts to position units, it cannot be set independently. Translating to and from Position Units The Scale, Offset, and the Prescale Divisor bits of the Configuration word parameters are used to define position units as a function of transducer counts.
Page 578 MDT 6.2 following table shows the possible Scales and Prescale Divisors you could use and the effective scale: Effective Error from Scale Divisor Scale 6324.70 6325 6325/1 = 0.005% 6325 12649 12649/2 = 0.003% 6324.5 25299 25299/4 = 0.0008% 6324.75 50598 Invalid scale Invalid...
Page 579 RMC100 and RMCWin User Manual inch. At the desired 0 position, the MDT produces 425 counts. We first calculate the exact Scale: With the exact Scale value, we must choose the Prescale Divisor and the rounded Scale value. The highest divisor value we can use is 1; multiplying the scale by 2, 4, or 8 would all overflow the Scale limits of ±32767.
Page 580 This module provides analog drive output, while the STEP interface module provides stepper drive output. Together, these modules allow the RMC100 series motion controllers to control a wide range of motors and linear actuators with quadrature encoder feedback. For details on the STEP module, see Quadrature with Stepper Output Overview.
Page 581 RMC100 and RMCWin User Manual • Status LED • Digital Noise Filters on All Inputs • All Discrete Inputs are Isolated • Use with Servo Drives in Velocity or Torque/Force Modes Quadrature Encoder Inputs The A and B signals from the encoder are decoded to generate a positive or negative count; the count is then used to monitor the axis position.
Page 582 Quadrature with Analog Output 6.3 See also: Quadrature Wiring Quadrature Configuration Quadrature LED Indicators Quadrature Specifications Quadrature Scaling Quadrature Homing 6.3.2 Quadrature Wiring Use shielded twisted pairs for all connections to inputs and outputs. Route the quadrature encoder wiring separate from other wiring. You must provide the power supplies needed by your quadrature encoders.
Page 583 RMC100 and RMCWin User Manual Encoder Wiring 5 Volt differential driver: NPN Open Collector (NOT RECOMMENDED): Note: Open collector encoders should only be used in lab environments with very little electrical noise and short wire runs. Noise immunity can be improved in the diagram above by adding a capacitor across each RMC encoder input: from +A to -A, from +B to -B, and from +Z to -Z.
Page 584 Quadrature with Analog Output 6.3 0.0047 1 MHz 0.010 500 kHz 0.022 200 kHz 0.047 100 kHz 0.10 50 kHz 0.22 20 kHz 0.47 10 kHz 5 kHz Input Wiring (Home and Limits) NPN Proximity sensors Normally Open recommended for Home Normally Closed recommended for Limits PNP Proximity sensors Normally Open recommended for Home...
Page 585 RMC100 and RMCWin User Manual From TTL output: From Open Collector Output: Enable Output Wiring To TTL input (high = enable): To active low Enable input: See also: General Wiring Information Quadrature Overview Quadrature/Analog Cable Quadrature Configuration Quadrature LED Indicators...
Page 586 Quadrature with Analog Output 6.3 6.3.3 Quadrature/Analog Cable A cable can be purchased that connects directly to an axis's DB-25 connector on the RMC QUAD module. The cable can be purchased in one of three lengths. It separates the wires into three groups: drive, encoder, and limits.
Page 587 RMC100 and RMCWin User Manual • Encoder Error only. This bit will go high if the encoder circuitry detects an error, which is defined as an invalid transition of the A and B lines. This usually occurs due to over-speed or noise conditions.
Page 588 Quadrature Configuration Quadrature Specifications Quadrature Scaling Quadrature Homing 6.3.6 Quadrature Specifications For general specifications on the RMC, see RMC100 Specifications. Encoder Axes Two per module Encoder Inputs RS422 differential receiver (can also be used as TTL) Quadrature A, B, and Index Z...
Page 589 RMC100 and RMCWin User Manual ESD Protection 15 kV Max. Encoder Frequency 4,000,000 quadrature counts/second Index (Z) Response Time 125 nanoseconds Inputs and Outputs Fault Inputs, Home 2.7 V @ 2.8 mA typical (3.2 V @ 3.5 mA max) Inputs, and Limit Inputs threshold, 26.4 V maximum input voltage, 500...
Page 590 Quadrature with Analog Output 6.3 6.3.7 Quadrature Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units. Because position units are user definable, this range does not limit most applications. See the section below on defining position units.
Page 591 RMC100 and RMCWin User Manual change in position units: The RMC ensures that no fractional position units are lost in this conversion. Determining the correct Scale and Prescale Divisor is a three-step process. First, the exact Scale value is calculated assuming a Prescale Divisor of 1. Next, the optimum Prescale Divisor is selected.
Page 592 Quadrature with Analog Output 6.3 6324.75 50598 Invalid scale Invalid Therefore, in this example, a Scale of 25299 and a Prescale Divisor of 4 should be used. Notice that this reduced the error in the scale factor. 3. Entering the Correct Scale Value Now that the Prescale Divisor has been calculated, you must multiply the exact Scale value you found in step one by this Prescale Divisor and round to the nearest integer.
Page 593 RMC100 and RMCWin User Manual be 800 x 15 or 12000 quadrature counts for each revolution of the shaft B. Notice that we could increase the position units to be 10,000ths of a revolution and still have more counts than position units, but we will assume that the user really doesn’t want to use this extra resolution.
Page 594 The STEP interface module is one of two RMC interface modules with an interface for quadrature encoder feedback. This module provides stepper drive output, while the QUAD interface module provides analog drive output. Together, these modules allow the RMC100 series motion controllers to control a wide range of motors and linear actuators with quadrature encoder feedback.
Page 595 RMC100 and RMCWin User Manual • Two Complete Axes per Module. Each includes the following: • Stepper Motor Interface:  1 MHz Maximum Output Frequency  Step Output  Direction Output  Drive Enable Output  Drive Fault Input •...
Page 596 Quadrature with Stepper Output 6.4 FAULT + and - is an input from the drive or some other source that can be set up to trigger the RMC to stop its target generator and stop generating step pulses. The user can select the active state of this input by the Fault Active State bit in the axis’s Config word;...
Page 597 RMC100 and RMCWin User Manual 6.4.2 Stepper Wiring Use shielded twisted pairs for all connections to inputs and outputs. Route the quadrature encoder wiring separate from other wiring. You must provide the power supplies needed by your quadrature encoders and drives, although the RMC can provide +5 VDC for the optoisolators on the drive module as shown in the Stepper Output Wiring section below.
Page 598 Quadrature with Stepper Output 6.4 Drive with common anode inputs: Drive with common cathode inputs: Input Wiring The wiring for all inputs is identical to the wiring for the quadrature interface module with analog outputs. See Quadrature Wiring for diagrams on these inputs. See also: Stepper Overview Stepper Configuration...
Page 599 RMC100 and RMCWin User Manual Stepper Compensation Homing 6.4.3 Stepper Configuration The RMC supports a wide range of quadrature encoders and homing configurations. The following settings should be set to match your system: • Active state of the Index (Z), Home (H), Fault, and Limit inputs. This is set in the Configuration word.
Page 600 Quadrature with Stepper Output 6.4 4. Click the Axis 0 tab. 5. Check the conditions that you want to have set this status bit. You can check one, both, or neither condition. 6. Click the Axis 1 tab. 7. Check the conditions that you want to have set this status bit. You can check one, both, or neither condition.
Page 601 Stepper Configuration Stepper Specifications Stepper Scaling Stepper Compensation Homing 6.4.5 Stepper Specifications For general specifications on the RMC, see RMC100 Specifications. Encoder Axes Two per module Encoder Inputs RS422 differential receiver Quadrature A, B, and Index Z ESD Protection 15 kV Max.
Page 602 Quadrature with Stepper Output 6.4 Direction Change Delays Hold time = 16 us Setup time = 112 us plus half step period See also: Stepper Overview Stepper Wiring Stepper Configuration Stepper LED Indicators Stepper Scaling Stepper Compensation Homing 6.4.6 Stepper Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic.
Page 603 RMC100 and RMCWin User Manual Each scale is defined as a ratio of two numbers. The user can enter both numbers in each of the ratios, although one number is shared by both ratios. Here is the definition of the two scales: The three values the user can enter are Steps/Rev, Pos Units/Rev, and Quad Cnts/Rev.
Page 604 Quadrature with Stepper Output 6.4 potential uses of these scale parameters. Example 1: The user has a 100-line encoder, a 1.8°-per-step (200 steps per revolution) motor, and a stepper drive configured to use half steps. The encoder is mounted on the same shaft as the stepper motor, so each will turn one revolution in the same amount of time.
Page 605 RMC100 and RMCWin User Manual Therefore, our parameters should be as follows: Parameter Value Steps/Rev Position Units/Rev Quad Counts/Rev 1024 Therefore, each quadrature count will affect the actual position by 360/1024 of a position unit. Each target position unit causes 720/360 of a step or 2 steps. Therefore, half of a position unit causes one step.
Page 606 See Quadrature Homing for details on this topic. If the scaling error still appears too large, contact a Delta Computer Systems Application Specialist to discuss your system. See Technical Support for details on contacting Delta.
Page 607 RMC100 and RMCWin User Manual gives a range of 6553.5 inches, and using inches gives a range of 65535 inches. However, this usually increases the scaling error. In indexing applications, the range limitation of 655.35 inches may become a problem in another way.
Page 608 Resolver 6.5 When the axis is stopped outside the In Position Window, compensation will be applied to try to move the it back inside the window. If the axis is not able to move back into the In Position Window in the time specified by the Compensation Timeout parameter, the Timeout bit will be set in the Status word.
Page 609 RMC100 and RMCWin User Manual Resolvers are rotary transformers with one primary winding and two secondary windings. The primary winding is generally on the rotor and the two secondary windings are on the stator. The secondary windings are arranged 90 degrees from each other such that when one is lined up with the rotor winding (full coupling) the other is at a right angle (no coupling).
Page 610 Resolver 6.5 This gives a value between -Scale and +Scale 4. The result is compared with the Coordinate Limit to determine if it is within the allowable range of Position Units. (See the Resolver Scaling topic for the definition of valid range). If it is outside the valid range then Scale x 2 is added or subtracted to bring it back within range.
Page 611 RMC100 and RMCWin User Manual Sine Input + Sine Input - Cosine Input + Cosine Input - Case Controller chassis ground (shield) Note: The RMC case must be mounted to a grounded panel or otherwise grounded to avoid Transducer Faults when operating at the 16-bit resolution setting.
Page 612 11 or 26 Volts. These resolvers will generally still work well at 2 Volts, but there is some potential loss of accuracy and the signal-to-noise ratio will be reduced. Contact Delta Computer Systems, Inc. to discuss options for your application. Axis0 and Axis1 tabs: Use these tabs to configure the Count Offset for each axis.
Page 613 Position Overflow Integrator Windup Following Error Continuous Green Status good. None of the above are true. See also: Resolver Overview Resolver Configuration Resolver Wiring Resolver Specifications Resolver Scaling 6.5.5 Resolver Specifications For general specifications on the RMC, see RMC100 Specifications. 6-64...
Page 614 Resolver 6.5 Resolver Interface Axes Two per module Reference Frequency 800 Hz to 5 kHz Reference Output 1.41 to 4.8 V RMS Voltage Reference Output 28 mA max Current Resolver 0.42 to 1.41 Transformation Ratio Resolution 14 or 16 bits Maximum Speed 3000 RPM at 14 bits and 600 RPM at 16 bits...
Page 615 RMC100 and RMCWin User Manual Resolver Wiring Resolver Specifications Resolver Scaling 6.5.6 Resolver Scaling Defining the Valid 16-bit Position Range For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units.
Page 616 SSI 6.6 Each revolution of the resolver generates 65536 counts. To calculate the Scale parameter, determine how many position units there are in one turn of the resolver. The sign of the Scale is positive if the counts and the position units increase and decrease together.
Page 617 • Direct connection to the RMC’s SSI interface module Each RMC100 SSI interface module has circuitry for two SSI transducers. Each axis can be configured independently for different types of SSI transducers. To read an SSI position, the RMC sends clock pulses to the transducer, and on each rising edge of the +Clock signal, the SSI transducer places one bit of the digital position on the +Data and Data signals.
Page 618 SSI 6.6 RMC SSI Input Six-Pin Plug-in Terminal Block Function SSI Axis + Clock SSI Axis - Clock SSI Axis Common SSI Axis + Data SSI Axis - Data Case SSI uses differential line driver (RS422) clock and data signals. Connect both the +Clock and Clock between the RMC and transducer for the clock signal, and both the +Data and Data between the RMC and transducer for the data signal.
Page 619 RMC100 and RMCWin User Manual Case When positive voltage is sent to an axis’s drive, the axis must extend. The extend direction is defined as the direction that causes the transducer to return increasing counts. CAUTION: If the outputs from the RMC are reversed, the axis will be uncontrollable when power is connected.
Page 620 Length must be one greater than the manufacturer's stated data length. If the most significant bit from the SSI feedback is set, the RMC100 will see the value as a negative number and will report a transducer overflow. The counts will go to zero.
Page 621 RMC100 and RMCWin User Manual The number of counts at the starting and ending positions are 300,000 and 400,000. However, because there will be no controlling taking place before 300,000 counts, we can immediately subtract 300,000 counts from the position and act as though the counts received are 0 through 100,000.
Page 622 SSI 6.6 3 = Gray Code decreasing (24 bits) 6 = Binary increasing (25 bits) 7 = Gray Code increasing (25 bits) 8 = Binary decreasing (25 bits) 9 = Gray Code decreasing (25 bits) Use the Binary/Gray Code and Data Length fields in the SSI Configuration dialog to match the code format of the BTL transducer.
Page 623 RMC100 and RMCWin User Manual 2 = 0.01 mm (10 µm) 3 = 0.05mm (50 µm) 4 = 0.1 mm (100 µm) 5 = 0.02 mm (20 µm) 6 = 0.002 mm (2 µm) This setting does not affect the SSI Configuration dialog, but must be taken into account when setting the Scale.
Page 624 See also: SSI Overview SSI Wiring SSI Configuration SSI Specifications 6.6.5 SSI Specifications For general specifications on the RMC, see RMC100 Specifications. Transducer Inputs Axes Two per module Inputs Two RS422 differential Clock outputs Two RS422 differential...
Page 625 RMC100 and RMCWin User Manual Clock frequency 220 kHz Cable type Twisted pair, shielded Cable length Transducer dependent (approx. 300-600 maximum ESD protection 15 kV Resolution Transducer dependent (up to 2 mm or approximately 0.00008" for MDTs) Count encoding Binary or Gray Code...
Page 626 SSI 6.6 For general scaling information, see the Scaling Overview topic. Because the RMC uses 16-bit positions, positions must all fit within a range of 65,536 position units. Because position units are user definable, this range does not limit most applications. See the section below on defining position units.
Page 627 RMC100 and RMCWin User Manual recommended that one of these utilities is used, but the underlying math is described below. Method 1: P0/P1 Calculation The simplest way is to physically measure the axis’s position at two points and read how many counts the RMC reports at each position.
Page 628 SSI 6.6 These calculations are done automatically using the SSI Scale/Offset Calibration Utility feature in RMCWin. Example 1 A system has an MDT with an SSI interface that has a resolution of 5 microns. The user wishes to have positions in thousandths of an inch. At the desired 0 position, the MDT produces 3221 counts.
Page 629: Support And Troubleshooting
7 Support and Troubleshooting 7.1 Warranty The RMC100 shall be free from defects in materials and workmanship under normal and proper use and service for a period of fifteen (15) months from the date of shipment by Delta Computer Systems, Inc. (Delta) or Delta's authorized distributor so long as the module was under warranty when shipped to the customer by the distributor.
Page 630 Troubleshooting 7.2 7.2.2 Error Handling The RMC reports errors to the Programmable Controller within one control loop of detection. Errors are reported by setting bits in the affected axis’s Status word and turning on the appropriate LEDS. The Programmable Controller is responsible for checking errors by reading the Status words.
Page 631 RMC100 and RMCWin User Manual Overdrive Error Position Overflow Parameter Error Integrator Windup Transducer counts field not indicating transducer location See ”Axis LEDS are red” above. Transducer counts field changes but output drive does not work See ”During a move, the drive comes to a halt for no apparent reason” above.
Page 632 Troubleshooting 7.2 It is nonlinear when the output is not directly proportional to the input. You may find two types of valve non-linearity: Overlapped valves - Oil does not start to flow through these valves until the spool has moved some distance.
Page 633 RMC100 and RMCWin User Manual oscillate around the set point as the RMC overshoots first in one direction, then the other. Hoses Long hoses between the valves and cylinder act as accumulators and make the system respond as if it has a spring in it (imagine trying to control the position of one end of a Slinky™ by moving the other end!).
Page 634 Troubleshooting 7.2 Your valve probably has overlap. Replace the valve with a linear one or try increasing the Dead Band Eliminator value. If the speeds show: Your valve is probably curvilinear. Replace the valve with a linear one or increase the proportional gain and tune the system for high-speed stability;...
Page 635 RMC100 and RMCWin User Manual Your valve may have slow response. Change to a faster valve or add Acceleration Feed Forward. With normal gain values, if the graph shows: Your pump and/or accumulator may be inadequate (you are running out of oil). Reduce speed, increase pump pressure, add accumulator volume, or get a bigger pump.
Page 636 Parameter Errors 7.4 problem. Send the module to: Delta Computer Systems, Inc. 1818 SE 17th St Battle Ground, WA 98604 Returns Contact Delta for details on returning items. An RMA number must be issued before an item is returned. 7.4 Parameter Errors 7.4.1 A valid segment has not been calculated...
Page 637 RMC100 and RMCWin User Manual For more details on controlling pressure, refer to Controlling Pressure or Force. 7.4.4 Attempt to go beyond extend limit This parameter error will occur whenever either a Go or Relative Move command requests that the axis moves to a position beyond the EXTEND LIMIT. The COMMAND POSITION will be set to the EXTEND LIMIT.
Page 638 Parameter Errors 7.4 7.4.8 Auto-Repeat Should Not be Used on Linear Axes with a Curve that Does Not Match Endpoints All of the following was true: • An Auto-Repeat curve was downloaded to an axis with an absolute transducer type such as MDT, SSI, or Analog, which cannot be offset.
Page 639 RMC100 and RMCWin User Manual 7.4.13 Cannot home an axis while synchronized Homing an axis changes the current position and would confuse a synchronized axis. For this reason, homing is not allowed while an axis is synchronized. 7.4.14 Cannot issue a ’r;Z’ or ’r;z’ command to a...
Page 640 Parameter Errors 7.4 7.4.18 Command pressure cannot be less than pressure set When using Pressure Set Mode, the Command Pressure—which is issued as the Command Value in a Set Pressure command—must always be greater than or equal to Pressure Set B. 7.4.19 Dead band eliminator out of range This parameter error indicates that the DEAD BAND ELIMINATOR parameter was set to a value greater than ±2000.
Page 641 RMC100 and RMCWin User Manual RETRACT FEED FORWARD parameters have opposite signs, this parameter error will be generated. 7.4.24 Fewer segments than were requested to be cleared existed This indicates that a Clear Spline Segments cleared all segments available, but there were fewer segments than the user requested to be cleared available to clear.
Page 642 7.4.30 Internal error while using the Spline Download Area This parameter error indicates that the RMC had an internal failure while download a spline. Contact Delta Computer Systems, Inc. technical support with details on your system if this error occurs.
Page 643 RMC100 and RMCWin User Manual commands are specific to only quadrature or only pressure/force control. 7.4.33 Invalid command value This parameter error is set when the command value exceeds the range for that command, as described in the table below. The command will be ignored, except Set Null Drive, which will be truncated to +/-2000.
Page 644 Parameter Errors 7.4 7.4.35 Invalid Interval Table Format in the Spline Download Area The Interval Table Format register in the Spline Download Area may either have a value of 0 or 1, as described in Downloading Splines to the RMC. You will also get this parameter error if you download the Spline Points without having set this register at all.
Page 645 RMC100 and RMCWin User Manual 7.4.39 Invalid Screen Number in the Display LCD Screen ($) Command The screen number indicated in the Command Value field of the Display LCD Screen ($) command was out of range. The valid screen numbers range from 0 to the highest screen number available.
Page 646 • There are no analog input modules installed in the RMC that have pressure control enabled. These are included in the RMC101-series products from Delta Computer Systems, Inc. • There are multiple axes trying to use the same analog axis. Each pressure axis can only be assigned to a single position axis.
Page 647 RMC100 and RMCWin User Manual 7.4.47 One or more synced axes are uninitialized This error indicates that at least one of the axes selected to participate in the synchronized move has not been initialized. The axis that is not initialized will be marked with the Parameter Error bit and will not have the Parameters Initialized bit set in the STATUS word.
Page 648 Parameter Errors 7.4 pressures. 7.4.53 Reached command position while regulating pressure This parameter error indicates that the axis was regulating pressure, but then reached the COMMAND POSITION specified on the move that was monitoring pressure. At this point, the axis does a hard stop. If you do not want the axis to reach the COMMAND POSITION, then you should artificially place the COMMAND POSITION where it cannot be reached.
Page 649 RMC100 and RMCWin User Manual 7.4.58 Resetting the position would cause a position overflow This error occurs when either a Set Position (Z) or Offset Position (z) command is issued and the Target or Command position is shifted below the minimum possible position or above the highest possible position.
Page 650 Flash. You can first try to re-issue the Update Flash (U) command in order to get your machine working, but you should also contact Delta Computer Systems, Inc. to discuss the failure. It may or may not be covered in the warranty.
Page 651 RMC100 and RMCWin User Manual or if the axis was accidentally left out of a new synchronized command. Either one of the following two steps should be taken: • If the axis no longer should be synchronized, then first explicitly unsynchronize the axis by giving it a Go or Relative Move without any sync bits set in the Mode word before giving a new synchronized command to the remaining synchronized axes.
Page 652 Parameter Errors 7.4 7.4.70 The Accel Field Must Be Zero in the Command Issued The Add (+), Subtract (-), and Function (,) commands all require that the Acceleration command field be 0. One of these commands was issued with a non-zero Acceleration value. This field is reserved for future use.
Page 653 RMC100 and RMCWin User Manual Reference command: The ACCELERATION parameter is the Acceleration Limit, and must be a valid value. If this error occurs, the value will be truncated. 7.4.74 The command deceleration is invalid This parameter error indicates that an invalid DECELERATION was given for a Set Bias Drive command.
Page 654 Parameter Errors 7.4 7.4.78 Requested sine-move speed too low Note: This parameter error has been eliminated in RMC100 CPU firmware dating 19991130 or later. In this newer firmware all speeds are allowed. This parameter error occurs when, for a Sine Move command, the time it would take to move at the requested maximum speed exceeds 65.535 seconds, resulting in an internal overflow.
Page 655 RMC100 and RMCWin User Manual 7.4.80 Too many spline points. Point not added This parameter error indicates that the maximum total number of spline points allowed has been reached. This limit is described in Spline Overview. The following is a list of ways around this problem: •...
Page 656 When this error occurs, the velocity will be truncated at 65536 position units per second. 7.4.85 Unknown Parameter Error Automatic parameter identification is a feature that has been added to the RMC in RMC100 CPU firmware dated 19971016 (year-month-day) and newer. If you have firmware older than this date and would like to use this feature, contact Delta Computer Systems, Inc.
Page 658: Appendix A: Command Reference
The I-PD Position Move command initiates a position move using the I-PD control algorithm. All other motion commands in the RMC100 use the PID control algorithm. The Acceleration and Deceleration fields are not used. The Speed field is the maximum velocity allowed during the move.
Page 659 Example: A tachometer is wired to an RMC100 analog input. The Transducer Counts field (the Counts field in the Status area of RMCWin) shows -150 when the tachometer is not rotating. This incorrect feedback will cause the axis to rotate after issuing a command for 0 velocity.
Page 660 Hexadecimal: 0x24 Command Value: LCD Screen Number (0-15) Note: This command is supported in RMC100 CPU firmware dated 20010522 or newer. This command will change which screen is currently displayed on the LCD Screen. As described in the LCD Screen Editor topics, there can be up to sixteen screens stored in a single RMC. This command allows the user to programmatically display a specific screen.
Page 661 RMC100 and RMCWin User Manual addresses. See Address Tool for details. This command uses the command fields as follows: Mode: The Mode field controls how the 16-bit source, destination, and constant values are sign- extended. Its bits are defined as follows: Bits 7-15 Reserved.
Page 662 Appendix A: Command Reference Suppose that Axis1 needs to go to a position that is 90% of Axis0's Actual Position. This can be done using two Event Steps. The first will calculate 90% of the Axis0 Actual Position and store it in the second step's Command Value.
Page 663 Hexadecimal: 0x2B Command Value: Destination Address (80-2303) Note: This command is supported in RMC100 CPU firmware dated 20010402 or newer. Note: This command should only be used in the Event Step table. It is usually not useful to issue this command directly from the PLC.
Page 664 Add command effectively adds one register to another. See also: Subtract Command, MulDiv Command A.1.6 Function Command Character: , Decimal: 44 Hexadecimal: 0x2C Command Value: Destination Step (0-255) Note: This command is supported in RMC100 CPU firmware dated 20010402 or newer.
Page 665 RMC100 and RMCWin User Manual This command performs any of a number of functions on the Actual Positions of any group of axes. The result of the function is stored in the Command Value of the Event Step specified by the Command Value.
Page 666 Hexadecimal: 0x2D Command Value: Destination Address (80-2303) Note: This command is supported in RMC100 CPU firmware dated 20010402 or newer. Note: This command should only be used in the Event Step table. It is usually not useful to issue this command directly from the PLC.
Page 667 Subtract effectively subtracts one register from another. See also: Add Command, MulDiv Command A.1.8 Poll Command Character: ? Decimal: 63 Hexadecimal: 0x3F Command Value: Extended Link Value Note: This command is supported in RMC100 CPU firmware dated 20010420 or newer. A-10...
Page 668 Appendix A: Command Reference Note: This command should only be used in the Event Step table. This command does nothing when issued directly from the PLC. The Poll (?) command modifies the operation of most link types (exceptions are listed below). This command can only be issued in the Event Step table and affects the link type on the same step as the Poll command.
Page 669 RMC100 and RMCWin User Manual These links types already define both true and false actions, and therefore should not be used with the Poll command. • Math Compares/Errors link types These links types already define both true and false actions, and therefore should not be used with the Poll command.
Page 670 Appendix A: Command Reference entire polling loop by one control loop (1 or 2 ms). Step 15 will be jumped to when an Overdrive Error occurs. It simply turns on discrete output 0, perhaps to indicate the overflow to the operator in the form of a red light. To summarize, the above sequence starts a move to position 4000, jumps to step 15 if an overdrive error occurs, jumps to step 14 if the axis gets in position, and loops through steps 11- Now, compare this method of implementing a polling loop with the one used in the next example,...
Page 671 RMC100 and RMCWin User Manual overdrive error occurs, and otherwise jumps to step 13 when the axis gets in position. Here is a summary of the advantages and disadvantages of doing a polled loop using this method versus the method shown in Example 1: •...
Page 672 Command Value: 0 = Disable AMP, 1 = Enable AMP Note: This command is only available in RMC100 CPU firmware dated 19991124 or later. This command is for Quadrature and Stepper axes only. It controls the Amp Enable output for the axis that receives this command.
Page 673 Decimal: 99 Hexadecimal: 0x63 Command Value: Unused Note: This command is supported in RMC100 CPU firmware dated 19980414 or later. This command can be used in two modes, controlled by the Monitor Pressure bit in the Mode field: Set Position (Monitor Pressure bit cleared) This command sets the Command Position to the current Actual Position, and places the axis into closed loop control (thereby exiting open loop or pressure control).
Page 674 Note: RMC100 CPU Firmware dating prior to 19980414 supports event sequences only on position axes. Issuing this command to a pressure or force axis will result in a parameter error.
Page 675 Note: In RMC100 CPU firmware dated prior to 19990625 (or beta firmware dated prior to 19980827B) the Geared Mode bit is ignored and therefore assumed to be cleared.
Page 676 Appendix A: Command Reference includes superimposed mode. The above description of this command is appended in the following ways: • The Geared Mode bit is used, despite the note about firmware versions. • The Superimposed Mode bit is used as follows: If set, the move may be superimposed on top of a Geared move, a Speed Control move, a Sine Move, or another Spline.
Page 677 RMC100 and RMCWin User Manual Speed Control with Velocity Loop (Rotational bit set): This command is identical to Speed Control with Position Loop except that closed loop control is performed on the speed, not the position. See Speed Control for details on this mode.
Page 678 Appendix A: Command Reference A.1.21 Set Integral Drive to Null Drive Command Character: i Decimal: 105 Hexadecimal: 0x69 Command Value: Unused This command sets the Integral Drive to the Null Drive value. This can be used to unwind the integrator. In most cases this is more desirable than using the Set Integral Drive command because this accounts for the valve being non-nulled.
Page 679 RMC100 and RMCWin User Manual Command Value: Drive Limit, in millivolts Note: This command is available only in RMC CPU firmware dated 20000331 or later. This command sets the drive limits for the axis receiving the command. The limits are set to plus or minus the Command Value in millivolts.
Page 680 Appendix A: Command Reference Changing this bit puts the axis into or pulls it out of Rotational mode, as described in Rotational Mode. Changing this bit while the axis is doing a Point-to-Point, Synchronized, Quick, or Speed Control move will have no effect, since Point-to-Point, Quick, and Synchronized moves are only defined in non-Rotational mode and Speed Control is only defined in Rotational mode.
Page 681 RMC100 and RMCWin User Manual Note: For pressure/force axes, this command will take effect on the analog module’s drive output, if one is available. Only 16-bit analog cards have drive outputs, therefore this command will have no affect on 12-bit analog cards. Also, because drive outputs are only assigned to input channels 0 and 2 on 16-bit cards, only analog or pressure axes using those input channels will be able to issue this command.
Page 682 If you desire to stop the axis at the same time, look at the Halt and Disable Drive Output commands. Note: RMC100 CPU firmware dating prior to 19980414 supports event sequences only on A-25...
Page 683 RMC100 and RMCWin User Manual position axes, issuing this command to a pressure or force axis will result in a parameter error. A.1.32 Reset Position Command Character: q Decimal: 113 Hexadecimal: 0x71 Command Value: New Position Command Value (Resolver): Not used This command is used to put a quadrature encoder axis into a known state.
Page 684 Appendix A: Command Reference middle of a move. For example, suppose the integral drive is saved while the move is taking place. If during the move, the axis gets stuck and the integrator winds up, then the integral drive can be restored after the cause of the stall is fixed to avoid an overshoot.
Page 685 RMC100 and RMCWin User Manual create unrealistic accelerations and are therefore not allowed. This error is indicated by the Parameter Error bit in the Status word: End Spline Segment (zero command value) When the command value is zero, this command will perform final calculations on the spline points in a segment.
Page 686 Appendix A: Command Reference End Spline Segment (zero command value) When the command value is zero, this command will perform final calculations on the spline points in a segment. After each segment is added, a ’r;T’ command with a command value of 0 must be sent.
Page 687 RMC100 and RMCWin User Manual power loss or reset. While a Flash update is in progress, the green CPU LED will flash. Removing power while the LED is still flashing will result in the parameters being lost. Note: The Update Flash command does not write the splines to Flash. For details on writing splines to Flash, see the Update Flash Segment command.
Page 688 Appendix A: Command Reference Hexadecimal: 0x76 Command Value: New Speed Value (Signed) This command sets the Speed of the axis to the Command Value, which is a value between - 32,768 and 32,767. In addition, the axis is given a Command Position of either the extend or retract limit depending on the sign of the Command Value.
Page 689 Command Value: Offset from the Spline that the Slave Must Move to Note: This command is only available in the special ’r;SI’ RMC100 CPU firmware (e.g. 20020624SI). ’r;SI’ firmware is available only on request, as it useful only for special applications.
Page 690 Appendix A: Command Reference The Spline Relative Sine Move (w) command parameters are defined as follows: Command Parameter Description Mode The superimposed and gear bits must be set. Acceleration Time/Distance Select: If the Speed parameter is zero, this parameter specifies the time for this move to complete. Deceleration Spline Position: Specifies the position of the leftmost point of the spline.
Page 691 RMC100 and RMCWin User Manual A.1.46 New Spline Point Command Character: X or x Decimal: 88 or 120 Hexadecimal: 0x58 or 0x78 Command Value: Requested Spline Position, Position units This command adds a point to the current spline segment. This segment cannot be followed (using the Follow Spline Segment command) until the End Spline Segment command has been issued to calculate the final curve.
Page 692 Appendix A: Command Reference This command is used to set the Target Position to any value. This command also changes the Command Position and Actual Position by the difference between the new target position and the old target position. When this command is issued to absolute positioned axes such as MDT, SSI (linear), and analog, the Offset parameter is adjusted in order to make the position match the requested position.
Page 693 RMC100 and RMCWin User Manual This command uses the Command Value to determine which outputs to reset. It uses the Command Value in the same manner as the Set Outputs command, except that it resets each output that corresponds to a bit set in the Command Value.
Page 694 ’r;1’ are turned off instead of on. See also: Reset Outputs A.1.52 Simulate Rising Edge Command Character: { Decimal: 123 Hexadecimal: 0x7B Command Value: Input to Simulate in Input-to-Event Table Note: This command is supported in RMC100 CPU firmware dated 19980331 or later. A-37...
Page 695 Hexadecimal: 0x7E Command Value: Change in Position, in position units. Note: This command is supported in RMC100 CPU firmware dated 19990625 or later (and beta firmware dated 19980827B or later). This command generates a simple move that follows a sine curve for a motion profile. It is intended to be the simple type of move, whether geared or not.
Page 696 Appendix A: Command Reference …the Graph Disable, Rotational, and Monitor Pressure bits may be set if desired. The Acceleration field is reserved. It should be set to zero. The Deceleration field is used as the requested time in milliseconds that the move may take to complete.
Page 697 Note: This command is supported in RMC100 CPU firmware dated 20060216 or newer. The RMC100 has 8 internal bits that can be used as semaphores. These bits can be set and reset using the Set and Reset Wait Bits command. These same internal bits can be tested with the Check Wait Bits link type.
Page 698 Appendix A: Command Reference The 16-bit Command Value is split into two bytes. The upper 8 bits specify which bits are to be cleared. For example, setting bits 8 and 10 of the Command Value would clear wait bits 0 and 2. Likewise the lower 8 bits specify the bits to be set.
Page 699 RMC100 and RMCWin User Manual Acceleration: Not Used. Stopping a Sine Move Continuous in Progress: The cycling can be stopped by issuing a Sine Move Continuous command with the count set to 1. When the actuator gets to the starting position the cycling will stop.
Page 700 Appendix A: Command Reference position will be truncated to the maximum or minimum position until the spline re-enters the limits. A.1.58 Map Output to Axis Position Character: None Decimal: 127 Hexadecimal: 0x7F Command Value: Axis and Position Select (see below) This command maps the drive output for this axis to an axis’s position.
Page 701 Hexadecimal: 0xC0-0xCF Command Value: Change in Position, in position units. Note: This command is supported in RMC100 CPU firmware dated 19980425 or later. This set of commands is used to move one axis based on the position of another axis. For example, suppose two axes are working together in a press application.
Page 702 Appendix A: Command Reference eight axes as the base for the move. The table below shows which command to use to select the desired base: Command Decimal Move Relative to… 0xC0 …Axis 0 Command Position 0xC1 …Axis 1 Command Position 0xC2 …Axis 2 Command Position...
Page 703 Hexadecimal: 0xD0-0xDF Command Value: Value of the Parameter Note: This command is supported in RMC100 CPU firmware dated 19980414 or later. Each of these commands sets one of the parameters. The following table can be used to determine which command sets which parameter. Reference axes parameters cannot be set on- the-fly.
Page 704 Appendix A: Command Reference Dead Band Compensation Window 0xDC Invalid command Eliminator 0xDD In Position Window In Position Window (2) Invalid command Following Error Following Error Window 0xDE Invalid command Window 0xDF Auto Stop Error Auto Stop Error Mask (2) Invalid command Mask 1.
Page 705 Note: RMC100 CPU Firmware dating prior to 19980414 supports event sequences only on position axes. Issuing this command to a pressure or force axis will result in a parameter error.
Page 706 Appendix A: Command Reference in mode 2. • Monitor Pressure Bit (bit 8): Clearing this bit while regulating pressure will drop the axis out of pressure regulation. Changing this bit at any other time will simply make the axis stop or resume monitoring the pressure for entering pressure control.
Page 707 RMC100 and RMCWin User Manual requested value. Acceleration is used when the drive output is moving away from 0 and deceleration is used when drive output is moving toward 0. The actual meaning of the values depends on the Acceleration/Deceleration mode bits in the Mode word. Notice that only modes 1,...
Page 708 If you desire to stop the axis at the same time, look at the Halt and Disable Drive Output commands. Note: RMC100 CPU firmware dating prior to 19980414 supports event sequences only on position axes, issuing this command to a pressure or force axis will result in a parameter error.
Page 709 RMC100 and RMCWin User Manual seconds into the ramp, this command is issued with a Command Value of 4000. Therefore, because one fourth of the original Ramp Time was remaining, one fourth of the new Ramp Time (one fourth of 4000 milliseconds or 1000 milliseconds) will remain. So, the rest of the ramp will take a full second.
Page 710 Hexadecimal: 0xD0-0xDF Command Value: Value of the Parameter Note: This command is supported in RMC100 CPU firmware dated 19980414 or later. Each of these commands sets one of the parameters. The following table can be used to determine which command sets which parameter. Reference axes parameters cannot be set on- the-fly.
Page 711 RMC100 and RMCWin User Manual 0xD8 Extend Feed Fwd. Steps/Rev (2) Extend Feed Fwd 0xD9 Retract Feed Fwd. Pos. Units/Rev (2) Retract Feed Fwd 0xDA Extend Acc. Feed Quad Counts/Rev (2) Integrator Preload ( Fwd. 0xDB Retract Acc. Feed Max. Steps/ms (2) Filter Time Constan Fwd.
Page 712 Appendix A: Command Reference 1111|11 Bit#5432|1098|7654|3210 ------------------- 0AAA|RRRR|0000|0000 No command 0AAA|RRRR|0000|CCCC Open Loop Using Profile 0AAA|RRRR|0001|CCCC Set Parameter 0AAA|RRRR|0010|CCCC Set Profile 0AAA|RRRR|0011|XXXX Reserved 0AAA|RRRR|01CC|CCCC ASCII Commands 0AAA|RRRR|1000|CCCC Go/Set Pressure Using Profile 0AAA|0000|1001|CCCC Get Parameter 0AAA|0000|1010|CCCC Get Profile 0AAA|RRRR|1011|XXXX Reserved 0AAA|RRRR|1100|XXXX Reserved 0AAA|RRRR|1101|CCCC Set Parameter On-the-fly 0AAA|RRRR|1110|00CC Event Step Edit 0000|0000|1111|0000 Diagnostics...
Page 713 RMC100 and RMCWin User Manual * Commands to invalid axes are ignored. C (Command Index) Bits: These bits are used by the selected command. Refer to the command you wish to use for information on bits marked with C in the chart above.
Page 714 Appendix A: Command Reference Position/Auto Stop Errors† Reserved Reserved * These are 16-bit values. At the time this data is requested, the full 16-bit value is stored in the RMC, and is thus latched. The low byte (bits 0-7) is returned on digital outputs 0-7 after the command word is acknowledged, and the high byte (bits 8-15) is returned on the same outputs after the command value is acknowledged.
Page 715 RMC100 and RMCWin User Manual After the command value is acknowledged, the Auto Stop Error bits are returned on the following digital outputs: Output Represents… Axis 0 Auto Stop Error Axis 1 Auto Stop Error Axis 2* Auto Stop Error...
Page 716 Appendix A: Command Reference The following table lists all commands that can be issued over the RMC’s PROFIBUS-DP Compact Mode: 1111|11 Bit#5432|1098|7654|3210 ------------------- 0000|RRRR|0000|0000 No command 0000|RRRR|0000|CCCC Open Loop Using Profile 0000|RRRR|0001|CCCC Set Parameter 0000|RRRR|0010|CCCC Set Profile 0000|RRRR|0011|XXXX Reserved 0000|RRRR|01CC|CCCC ASCII Commands 0000|RRRR|1000|CCCC Go/Set Pressure Using Profile 0000|0000|1001|CCCC Get Parameter 0000|0000|1010|CCCC Get Profile...
Page 717 Target Position* Actual Position* Transducer Counts* Status* Drive* Actual Speed* Null Drive* Step* Link Value* Reserved Reserved X (Don’t Care) Bits: These bits are ignored. See also: Input Register Overview Output Register Overview Communicating with the RMC100 using PROFIBUS-DP A-60...
Page 718 A Used only by Communication Digital I/O; 0 for PROFIBUS-DP These commands allow the controller to tell the RMC100 to change the output drive to a specified value with respect to null. The drive output will change at a rate specified by the select pre-stored profile.
Page 719 RMC100 and RMCWin User Manual ------------------- HEX |SAR |CMND|INDX VALUE ------------------- 0X00 0AAA|XXXX|0000|0000 NO COMMAND 0X01 0AAA|XXXX|0000|0001 OPEN LOOP USING PROFILE 1 0X02 0AAA|XXXX|0000|0010 OPEN LOOP USING PROFILE 2 0X03 0AAA|XXXX|0000|0011 OPEN LOOP USING PROFILE 3 0X04 0AAA|XXXX|0000|0100 OPEN LOOP USING PROFILE 4...
Page 720 Appendix A: Command Reference Issue an Open Loop using Profile 11 O+3 0000|XXXX|0000|1011 (0X0B) command 4000 (0FA0) Requested Drive Example for Digital I/O: Suppose you would like axis 0 to go into open loop at 2000mV of drive using profile 10. You would send the command in the following format: Send on Command Strobe going high: 0000|XXXX|0000|1010 (0X0A) Issue an Open Loop using Profile 10 command...
Page 721 The command data represents the new parameter value. Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to set the Extend Limit for both axes. You would send commands with the following format:...
Page 722 Appendix A: Command Reference 0000|XXXX|0001|0011 (0X13) Set axis 0 Extend Limit Receive after Acknowledge: (XX) Low byte of requested data XXXX|XXXX Send on Command Strobe going high: 0101|1101|1100|0000 (5DC0) New Extend Limit value Receive after Acknowledge: (XX) High byte of requested data XXXX|XXXX A.3.7 Set Profile Commands Format: 0AAA RRRR 0010 NNNN...
Page 723 Notice that for each command, four different profile numbers are listed. The actual profile affected is determined by the axis issuing the command. The following chart shows which commands affect which profiles when issued on a particular axis. Notice that an RMC100-M1-PROFI can only set the first eight (8) profiles:...
Page 724 Appendix A: Command Reference Looking at the chart above, we can see that we issue Set Profile commands to axis 0 to set profile 2 and we use axis 1 Set Profile commands to set profile 7. Therefore, we can do both at the same time.
Page 725 RMC100 and RMCWin User Manual (Set 0X2Ah profile 2 DECEL) (Value profile 2 DECEL) (Set 0X2Eh profile 7 DECEL) (Value profile 2 DECEL) Fourth scan: (Set 0X2Bh profile 2 SPEED) (Value 12000 profile 2 SPEED) (Set 0X2Fh profile 7 SPEED)
Page 726 Appendix A: Command Reference SPEED 12000 Looking at the chart above, we can see that Set Profile commands must be to axis 1 to set profile 7. Therefore, we send the following commands: First Command: Send on Command Strobe going high: 0001|XXXX|0010|1000 (1X28) Set profile 7 Mode Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data...
Page 727 RMC100 and RMCWin User Manual XXXX|XXXX (XX) High byte of requested data Fourth Command: Send on Command Strobe going high: 0001|XXXX|0010|1011 (1X2B) Set profile 7 Speed Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data Send on Command Strobe going high:...
Page 728 Appendix A: Command Reference position axis, it issues a Go (G) command to the axis after copying the selected profile to the Mode, Accel, DECEL and Speed fields. When issued to a pressure axis, it issues a Set Pressure (^) command to the axis after copying the selected profile to the Mode, Pressure Set A, Pressure Set B, and Ramp Time fields.
Page 729 Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to move axis 0 to 5000 position units using profile 2 and axis 1 to 10000 position units using profile 5. You would send commands...
Page 730 The data returned where the Status Area Request data would be returned is the requested parameter. Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to get the Scale from both axes. You would send commands with the following format: CMND INDX (HEX)
Page 731 RMC100 and RMCWin User Manual O+3 0000|0000|1001|0001 (0091) Requests Scale for axis 1 +4 XXXX|XXXX|XXXX|XXXX (XXXX) Ignored After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match. At this time, the input registers would...
Page 732 Notice that for each command, four different profile numbers are listed. The actual profile read is determined by the axis issuing the command. The following chart shows which profile is affected by a given command on a given axis. Notice that an RMC100-M1-PROFI can only get the first eight (8) profiles:...
Page 733 RMC100 and RMCWin User Manual The data returned where the Status Area Request data would be returned is the requested profile field. Example for PROFIBUS-DP in Compact Mode with Sync: We wish to get profiles 2 and 7 into the RMC. Looking at the chart above, we can see that we issue Get Profile commands to axis 0 to get profile 2 and we use axis 1 Get Profile commands to get profile 7.
Page 734 Appendix A: Command Reference (Axis 1 XXXXh STATUS) (Profile 7 0001h MODE) We can now send the second set of requests: (Get 00A9h profile 2 ACCEL) XXXXh (Unused) (Get 00ADh profile 7 ACCEL) XXXXh (Unused) Third scan: After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match.
Page 735 RMC100 and RMCWin User Manual Fourth scan: After the Synchronization Output register is incremented, the RMC will process the commands and update the Synchronization Input register to match. At this time, the input registers would hold the following values: (Axis 0...
Page 736 Appendix A: Command Reference Profile commands to axis 1 to get profile 7. Suppose that the RMC had the following values for profile 7: PROFILE MODE 0x0001 ACCEL DECEL SPEED 12000 The following steps would be taken to read profile 7: First Command: Send on Command Strobe going high: 0001|0000|1010|1000 (10A8) Get Profile 7 Mode...
Page 737 RMC100 and RMCWin User Manual 0001|0000|1010|1010 (10AA) Get Profile 7 Decel Receive after Acknowledge: (46) Low byte of Decel 0100|0110 Send on Command Strobe going high: XXXX|XXXX|XXXX|XXXX (XXXX) Unused Receive after Acknowledge: (00) High byte of Decel 0000|0000 Fourth Command:...
Page 738 Example for PROFIBUS-DP in Compact Mode with Sync: Suppose you have an RMC100-M1-PROFI, and you would like to set the Proportional Gain for both axes. You would send commands with the following format: CMND INDX (HEX)
Page 739 RMC100 and RMCWin User Manual 150 (0096) New Proportional Gain value O+3 0000|XXXX|1101|0101 (0XD5) Sets axis 1 Proportional Gain 175 (00AF) New Proportional Gain value Example for Digital I/O: Suppose you would like to set the Extend Limit for axis 1. You would send commands with the...
Page 740 Appendix A: Command Reference 0XE2 0AAA|XXXX|1110|0010 Parameter to Modify (0 to 7) 0XE3 0AAA|XXXX|1110|0011 Value to be Used For command types 0XE0 and 0XE1, the command data represents a step number. For command type 0XE2, the command data represents the field that will be modified by 0XE3. Use the following table to select a field: 0XE2 DATA...
Page 741 RMC100 and RMCWin User Manual (Set End Second Step 0XE1h scan: Number) (End Step Number of (Set Third 0XE2h Parameter scan: to Modify) (Select Link Value) (Set Fourth 0XE3h Actual scan: Value) (Link Value itself) Example for Digital I/O: If you have a step table that is 100 steps long and you want to change the time delay link value in each step, it would take 100 scans by using the Event Step Transfer commands.
Page 742 Appendix A: Command Reference XXXX|XXXX (XX) High byte of requested data Second scan: Send on Command Strobe going high: 0000|XXXX|1110|0001 (0XE1) Set End Step Number Receive after Acknowledge: XXXX|XXXX (XX) Low byte of requested data Send on Command Strobe going high: 0000|0000|0110|0011 (0063) End Step Number of 99 Receive after Acknowledge: XXXX|XXXX (XX) High byte of requested data...
Page 743 RMC100 and RMCWin User Manual A.3.14 Command/Commanded Axes In order to fit a single Event Step into eight words, the Command and Commanded Axes fields share a single word. The Commanded Axes field is stored in the most significant byte. If all eight bits are zero, the axis running the event sequence executes the command.
Page 744 Appendix A: Command Reference Example A DelayMS (D) Link Type needs to be used, which will link next to step 10. Since the hexadecimal value for the DelayMS (D) link type is 0x44 (01000100 binary) and the hexadecimal value for the link next value of 10 is 0x0A (00001010 binary), then the bit map for the Link Type/Next field would be as follows: Next convert this binary field to hexadecimal (0x0A44) or decimal (2628), and use it as the Command Value in either a Event Step Edit or Event Step Transfer command.
Page 745 Note: These commands are available only through RMC PROFIBUS modules using Compact Mode and require RMC100 CPU firmware dated 19980811 or newer. RMC DI/O modules cannot download graphs. Modbus Plus, Ethernet, and PROFIBUS in Message Mode can read the plots registers directly.
Page 746 Appendix A: Command Reference reading a full graph can be quite slow. For higher performance, consider using the RMC PROFIBUS in Message Mode instead of Compact Mode. See Using the PROFIBUS-DP Message Mode for details. Following is a list of the Graph Selection Index values. These values are stored in bits 10-15 of the command word.
Page 747 RMC100 and RMCWin User Manual 0x6000-0x63FF Axis 2 Option Data A 0x6400-0x67FF Axis 2 Option Data B 0x6800- Axis 3 Target 0x6BFF Position/Pressure 0x6C00- Axis 3 Actual 0x6FFF Position/Pressure 0x7000-0x73FF Axis 3 Status Bits 0x7400-0x77FF Axis 3 Drive Output 0x7800-...
Page 748 Appendix A: Command Reference 0xB3FF Position/Pressure 0xB400- Axis 6 Actual 0xB7FF Position/Pressure 0xB800- Axis 6 Status Bits 0xBBFF 0xBC00- Axis 6 Drive Output 0xBFFF 0xC000- Axis 6 Option Data A 0xC3FF 0xC400- Axis 6 Option Data B 0xC7FF 0xC800- Axis 7 Target 0xCBFF Position/Pressure 0xCC00-...
Page 749 RMC100 and RMCWin User Manual Raw Transducer Counter. Option Data A: Low 16 bits of the transducer counter. Option Data B: Transducer-type dependent; either upper bits and/or status bits. Internal Speeds. Option Data A: The Target Speed computed internally in position units per second.
Page 750 Appendix A: Command Reference 6. The Axis 0 Data In Registers (I+2, I+4, I+6, I+8) will hold Axis 0’s Target Position values from the graph. Store these values in your graph array. 7. Add four to each of the Axis 0 Command Registers (O+1, O+3, O+5, O+7) to request the next four time periods.
Page 751 RMC100 and RMCWin User Manual fields. The command data value will be copied into the corresponding step field: Command Data Register Register E000 Step 0 MODE E001 Step 0 ACCELERATION E002 Step 0 DECELERATION E003 Step 0 SPEED E004 Step 0 COMMAND VALUE...
Page 752 Appendix A: Command Reference E804 Step 0 COMMAND VALUE E805 Step 0 COMMAND/COMMANDED AXES E806 Step 0 LINK TYPE/NEXT E807 Step 0 LINK VALUE E808 Step 1 MODE E809 Step 1 ACCELERATION EFFD Step 255 COMMAND/COMMANDED AXES EFFE Step 255 LINK TYPE/NEXT EFFF Step 255 LINK VALUE A-95...
Page 754: Appendix B: Command Field Reference
Appendix B: Command Field Reference Appendix B: Command Field Reference B.1 Position Command Fields B.1.1 MODE (Non-Pressure/Force) Default: 0x0000 The individual bits of the Mode word determine the way the RMC responds to control commands and parameters. Bit 0 is the LSB and bit 15 is the MSB. Note: It is highly recommended that the Pop-up Editors in RMCWin be used for editing this and other hexadecimal fields.
Page 755 Follow Spline (f) Bit 13 - Gear Mode Bit Note: This feature is only available in RMC100 CPU firmware dated 19990625 or newer (and beta firmware dating 19980827B or newer). This bit makes the move act in Gearing mode. When this bit is set, the Gear Type (bit 14) and Gear Master Select (bits 4-6) bits are also used.
Page 756 Appendix B: Command Field Reference Bit 9 - Rotational Bit This bit needs to be set for most applications where the axis will be rotating multiple times. Setting this bit causes the following: 1. The Extend and Retract Limits do not limit the motion. Instead they are used to control the wrap of the position: when the position exceeds the extend limit, the difference between the two limits is subtracted from the position, and likewise when the position exceeds the retract limit, the difference is added to the position.
Page 757 RMC100 and RMCWin User Manual • Go (G) • Move Relative (J) • Sine Move (~) • Follow Spline (f) • Follow Spline Relative Bit 6 - Quick Mode (When Gear Mode bit is not set) When this bit is set, a move will ramp the drive up in Open Loop Mode to the value specified (in millivolts) in the Speed field and maintain it there until it reaches the deceleration point.
Page 758 Appendix B: Command Field Reference • Halt Bits 2-3 - Integrator Mode Select These two bits define four integrator modes: Bit # Mode 0 - Integrator always active - Default Mode 1 - Integrator active only during deceleration and in position Mode 2 - Integrator active only during in position Mode 3 - Integrator never active Why Bother?
Page 759 RMC100 and RMCWin User Manual B.1.2 Mode (Non-Pressure/Force) Bit Map The axis Mode word contains 16 bits of information. The hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns. B.1.3 Acceleration Default: 1000...
Page 760 Appendix B: Command Field Reference Range: 0 to 65535 This parameter defines the acceleration ramp rate used by the axis for a move. It has four meanings depending on the Acceleration and Deceleration Mode bits in the Mode word. In Mode 0, this parameter is interpreted as an acceleration rate and is expressed in Position Units/sec/sec.
Page 761 RMC100 and RMCWin User Manual In Mode 3, it defines the time (in milliseconds) it will take to ramp to the specified Speed. B.1.4 Deceleration Default: 1000 Range: 0 to 65535 This parameter is the same as Acceleration except it specifies the deceleration ramp length or deceleration rate.
Page 762 Appendix B: Command Field Reference ',' (Function) Destination Step 0 to 255 '?' (Poll) Extended Link Value Depends on usage '@' (Arm Home Input) Home position Valid 16-bit Position 'A' (Change Accel) Acceleration value 0 to 65,535 ’r;a’ (Amp Enable/Disable) Enable/Disable 0=disable, 1=enable ’r;B’...
Page 763 RMC100 and RMCWin User Manual ’r;{ ’r; (Simulate rising edge) Input to simulate 0 to 15 ’r;}’ (Simulate falling edge) Input to simulate 0 to 15 ’r;~’ (Sine move) Relative position -32,768 to 32,767 ’r;|’ (Set Pressure Set A) Pressure Any Valid Pressure ’r;\’...
Page 764 Appendix B: Command Field Reference Arm Home Input 0x40 Change Acceleration 0x41 Amp Enable/Disable 0x61 Clear Spline Segments 0x43 Set Position/Pressure 0x63 Change Deceleration 0x44 Start Events 0x45 Set Feed Forward 0x46 Follow Spline Segment 0x66 G or 71 or 0x47 0x67 Halt...
Page 765 RMC100 and RMCWin User Manual Reset Position 0x71 Restore Null Drive 0x52 Restore Integral Drive 0x72 Save Null Drive 0x53 Save Integral Drive 0x73 Set Spline Interval 0x54 Teach Step 0x74 Update Flash 0x55 Update Flash Segment 0x75 Command Set Speed (Unsigned)
Page 766 Appendix B: Command Field Reference 0xDF This chart shows commands that can be issued to pressure axes: Description ASCII Decimal Set Pressure Set A 0x7C Set Bias Drive 0x42 Start Events 0x45 Set Mode 0x4D Open Loop 0x4F Set Parameters 0x50 Quit Events 0x51...
Page 767 RMC100 and RMCWin User Manual Bit 4 - Ramp Time Type This bit affects the value used for the Ramp Time when the axis begins regulating pressure. If this bit is not set, then the Ramp Time field is used. This is always the case when ramping between pressures rather than entering pressure.
Page 768 Appendix B: Command Field Reference B.2.3 Pressure Set A Default: 0 Range: Valid Pressure Units Pressure Set A is used by Pressure Set Mode as the pressure above which the axis will begin regulating pressure. When a command is issued to the position axis with the Pressure Mode bit set, then the pressure is monitored.
Page 769 RMC100 and RMCWin User Manual Pressure Set A, the axis begins regulating pressure. There are two ways to set the this field: • Issue a Set Pressure (^) command, and the second command parameter will be the new value for Pressure Set A.
Page 770 Appendix B: Command Field Reference • The second type of ramp occurs when the axis enters pressure mode. In this case the pressure is generally not at rest at the beginning. Therefore, for s-curve ramps, only the deceleration half of the ramp is used and to ramp to a halt at the Command Pressure will take one half the number of milliseconds given in the Ramp Time field.
Page 771 RMC100 and RMCWin User Manual 'A' (Change Accel) Acceleration value 0 to 65,535 ’r;a’ (Amp Enable/Disable) Enable/Disable 0=disable, 1=enable ’r;B’ (Set Bias Drive) Millivolts of Drive -10000 to 10000 'D' (Change DECEL) Deceleration value 0 to 65,535 'E' (Start Events)
Page 772 Appendix B: Command Field Reference ’r;|’ (Set Pressure Set A) Pressure Any Valid Pressure ’r;\’ (Set Ramp Time) Milliseconds 0 to 65535 ’r;^’ (Set Pressure) Pressure Any Valid Pressure ’r;_’ (Set Pressure Set B) Pressure Any Valid Pressure 0x7F (Map Output to Axis Position) Position to Map Output 0-2, 10-12, …, 70-72 0xD0,0xD5-0xDF (Set Parameter On-...
Page 773 RMC100 and RMCWin User Manual Clear Spline Segments 0x43 Set Position/Pressure 0x63 Change Deceleration 0x44 Start Events 0x45 Set Feed Forward 0x46 Follow Spline Segment 0x66 G or 71 or 0x47 0x67 Halt H or 72 or 0x48 0x68 Set Integral Drive...
Page 774 Appendix B: Command Field Reference Save Null Drive 0x53 Save Integral Drive 0x73 Set Spline Interval 0x54 Teach Step 0x74 Update Flash 0x55 Update Flash Segment 0x75 Command Set Speed (Unsigned) 0x56 Set Speed (Signed) 0x76 Reference 0x57 New Spline Point X or x 88 or 0x58...
Page 775 RMC100 and RMCWin User Manual Description ASCII Decimal Set Pressure Set A 0x7C Set Bias Drive 0x42 Start Events 0x45 Set Mode 0x4D Open Loop 0x4F Set Parameters 0x50 Quit Events 0x51 Set Pressure Ramp Time 0x5C Set Pressure 0x5E...
Page 776: Appendix C: Parameter Field Reference
Appendix C: Parameter Field Reference Appendix C: Parameter Field Reference C.1 MDT, SSI, Analog, Resolver Position Parameters C.1.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Page 777 RMC100 and RMCWin User Manual assigned. The second auxiliary pressure/force axis is assigned. The third auxiliary pressure/force axis is assigned. The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control.
Page 778 Appendix C: Parameter Field Reference the move. The drive will not go negative if the motion controller overshoots the target. This is useful for some injection and blow-molding applications. When the axis is stopped, you must go into open loop mode. Warning: This bit must be set properly when the Set Parameters command is issued.
Page 779 RMC100 and RMCWin User Manual and Retract Feed Forward . C.1.2 Configuration Word Bit Map The axis Configuration word contains 16 bits of information. The hexadecimal table below provides an easy way to convert hexadecimal numbers to bit patterns.
Page 780 Appendix C: Parameter Field Reference C.1.3 Configuration Bits - MDT Specific Transducer Type - Bits 12-15 Transducer Type Start/Stop (S-S) Pulse-width Modulated (PWM) Setting any of these four bits to non-zero (as described below in the Recirculation Count section) will result in the transducer being treated as pulse-width modulated. Recirculation Count - Bits 12-15 If the transducer is pulse-width modulated (PWM or gated), these bits select number of recirculations.
Page 781 RMC100 and RMCWin User Manual to 65535 minus the "extra" counts. To correct for this effect the module calculates the "extra" counts based on the number of transducer recirculations and subtracts them from the transducer count. If the value of these bits and the transducer recirculations agree, the transducer count will be slightly positive when the transducer is at its minimum position.
Page 782 Prescale Divisor bits in the Configuration Word. For details, refer to the discussion on scaling for your transducer type. Note: In RMC100 CPU firmware prior to 19991216, Scale could not be 0 or -32768 for MDT, SSI, and analog transducers.
Page 783 RMC100 and RMCWin User Manual C.1.8 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with quadrature or stepper feedback. Quadrature and stepper axes use the Coordinate Limit parameter in place of the Offset parameter.
Page 784 Appendix C: Parameter Field Reference and Retract Limits must be issued followed by a ’r;P’ command before the axis will move, unless different limits have been saved in the Flash. C.1.10 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value.
Page 785 RMC100 and RMCWin User Manual Think about this: Internally, the motion controller must compare the error between the Target and Actual Positions with error limits to keep values from overflowing. The error limit is the error at which full drive (10 volts) will occur.
Page 786 Appendix C: Parameter Field Reference First, this is a gain multiplied by the current rate of change in the position error. The differential drive, in millivolts is computed as follows: where: Differential Gain in mV/[pos-units/ms] position error this control loop in position units position error last control loop in position units LoopTime = RMC Control Loop Time in ms (1 or 2)
Page 787 RMC100 and RMCWin User Manual TIP: After the axis has made a complete move without oscillations or overdrive errors, use the 'F' command to automatically set the Feed Forward value. Feed Forward is an open loop compensation that is proportional to the Target Speed of the axis.
Page 788 Appendix C: Parameter Field Reference gains. C.1.15 Retract Feed Forward Default: 100 Range: 0 to 65535 Same as Extend Feed Forward, except that it is used when retracting. Note: Retracting is the direction that returns decreasing Transducer Counts. C.1.16 Extend Acceleration Feed Forward Default: 0 Range: 0 to 65535 The Extend Acceleration Feed Forward causes the controller to give extra drive while...
Page 789 (depending on the direction of travel) so the drive output is outside the dead band. Note: In RMC100 CPU firmware prior to 20030916, the Dead Band Eliminator always used the immediate algorithm. If a value outside the valid range is entered, the parameter error bit will be set, and the value will be set to zero.
Page 790 Appendix C: Parameter Field Reference If an axis Command Position is 10,000 and the In Position parameter is 30, the In Position bit will be set when the axis is stopped and its Actual Position is between 9,971 and 10,029. The bit will be cleared whenever the Actual Position is outside the range.
Page 791 RMC100 and RMCWin User Manual The fault will be reflected in its corresponding status bit in the Status word, but no further action will be taken. For some transducer types, this option may not be available for the following faults: No Transducer, Transducer Overflow, and Transducer Noise.
Page 792 Appendix C: Parameter Field Reference Status Only Soft Stop Hard Stop Disable Drive If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault. Similarly, if you select Disable Drive for a fault on an axis that does not have an Amp Enable output, the axis will use the Hard Stop action for the fault.
Page 793 RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes. C-18...
Page 794 Appendix C: Parameter Field Reference C.2 Quadrature with Analog Output Parameters C.2.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Page 795 RMC100 and RMCWin User Manual The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details.
Page 796 Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
Page 797 RMC100 and RMCWin User Manual C.2.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word.
Page 798 Appendix C: Parameter Field Reference Bit 15 Active Input State No current applied Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached. The Extend Limit status bit will be set when the Extend (CW) Limit Input is active, and the Retract Limit status bit will be set when the Retract (CCW) Limit Input is active: Bit 14...
Page 799 Prescale Divisor bits in the Configuration Word. For details, refer to the discussion on scaling for your transducer type. Note: In RMC100 CPU firmware prior to 19991216, Scale could not be 0 or -32768 for MDT, SSI, and analog transducers.
Page 800 Appendix C: Parameter Field Reference • Scaling Stepper Axes • Scaling Resolver Axes What if it is displayed under RMCWin incorrectly? The Coordinate Limit parameter may be displayed incorrectly on the RMCWin main screen in some circumstances. The numbers are not necessarily incorrect (the module still functions correctly), but they may not look right.
Page 801 RMC100 and RMCWin User Manual C.2.8 Proportional Gain Default: 1 Range: 0 to 65535 The Proportional Gain controls how much drive is generated proportional to the Position Error. The Position Error is defined as the Target Position minus the Actual Position. The units on the Proportional Gain is millivolts per 10 units of Position Error.
Page 802 Appendix C: Parameter Field Reference that you set the Integral Gain to a value of at least 50. Integral Gain is defined as: Integral Gain = millivolts per 10240 counts of accumulated Position Error Integral Drive is defined as: Integral Drive = Integral Gain x Accumulated Counts / 10240 Note: The actual drive output may be reduced based on the values of the Extend Feed Forward and Retract Feed Forward .
Page 803 RMC100 and RMCWin User Manual where: Differential Gain in mV/[pos-units/s] TarVel = target velocity in pos-units/s ActVel = actual velocity in pos-units/s Note: The actual drive output may be reduced based on the values of the Extend Feed Forward and Retract Feed Forward.
Page 804 Appendix C: Parameter Field Reference above and solving for the Feed Forward term gives the follow relationship: Feed Forward <= (10,000 * 1,000) / Target speed That is, the larger the Speed the smaller the maximum Feed Forward value. For example, at 30 in/sec Speed, the maximum Feed Forward is: Max Feed Forward = (10,000 * 1,000)/30,000 = 10,000/30 = 333 If you set Speed to 30,000 and enter a Feed Forward value larger than 333, the value will be reduced to 333.
Page 805 (depending on the direction of travel) so the drive output is outside the dead band. Note: In RMC100 CPU firmware prior to 20030916, the Dead Band Eliminator always used the immediate algorithm. If a value outside the valid range is entered, the parameter error bit will be set, and the value will be set to zero.
Page 806 1. In RMCWin, on the Tools menu, click Module Configuration. 2. In the Slots list, click the CPU. 3. Click Slot Options. The RMC100/101 CPU Options dialog box will be displayed. 4. Click the Deadband tab. 5. Select an algorithm.
Page 807 RMC100 and RMCWin User Manual which error bits cause which levels of stop, or whether an error will cause a stop at all. The default setting of all the AutoStops is Hard Stop, as described below. During startup and tuning, you will typically need to set some AutoStops to Status Only to keep halts from interfering with the tuning.
Page 808 Appendix C: Parameter Field Reference fault type and click OK. Changes to this parameter do not take effect until you issue a Set Parameters (P) command. Manual Parameter Entry This parameter can also be edited manually, but this is discouraged since it is much easier to use the popup editor.
Page 809 RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes. C-34...
Page 810 Appendix C: Parameter Field Reference C.3 Quadrature with Stepper Output Parameters C.3.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Page 811 RMC100 and RMCWin User Manual The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details.
Page 812 Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
Page 813 RMC100 and RMCWin User Manual C.3.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word.
Page 814 Appendix C: Parameter Field Reference Bit 15 Active Input State No current applied Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached. The Extend Limit status bit will be set when the Extend (CW) Limit Input is active, and the Retract Limit status bit will be set when the Retract (CCW) Limit Input is active: Bit 14...
Page 815 RMC100 and RMCWin User Manual Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For details on using this bit, see Homing a Quadrature Axis. C.3.4 Coord. Limit...
Page 816 Appendix C: Parameter Field Reference C.3.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.) A Command Value below this value will be set to the Retract Limit and will cause the parameter error bit in the Status word to be set.
Page 817 RMC100 and RMCWin User Manual C.3.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is used with the Pos Units/Rev parameter to determine the scaling between position units and steps output by the RMC. These steps can be interpreted by the stepper drive as either a full step or microstep.
Page 818 Appendix C: Parameter Field Reference Degrees Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thousandths of a rev. 10000 For a full discussion, including examples, on scaling with stepper modules, see Stepper Scaling. C.3.11 Quad Cnts/Rev Default: 1 Range: -32768 to 32767...
Page 819 RMC100 and RMCWin User Manual Range: 1 to 1024 steps per millisecond This parameter is available only on stepper axes. It is used to ensure that the stepper is never driven beyond a given rate. If the axis is requested to give more steps per millisecond than allowed by this parameter, the Overdrive error bit will be set in the Status word.
Page 820 Appendix C: Parameter Field Reference Range: 0 to 65535 The Following Error determines how large the difference between the Target Position and Actual Position can get before the Following Error bit is set in the Status word. C.3.16 Auto Stop Default: 0x1FE0 (Soft Stops enabled, Hard Stops enabled for Transducer Errors) Click here for the Auto Stop Bit Map The Auto Stop parameter controls the action taken on the rising edge of any of the axis' error bits...
Page 821 RMC100 and RMCWin User Manual and Encoder Error/Fault Input. This is done because the position feedback is not dependable and closed loop control cannot be maintained. • Hard Stop If the axis is in closed loop, the fault will trigger the drive output to go immediately to 0 mV on analog outputs and no steps for stepper outputs, and the axis will be placed in open loop mode.
Page 822 Appendix C: Parameter Field Reference C.3.17 Auto Stop Bit Map The table below provides an easy method to convert bit patterns to hexadecimal numbers. If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes.
Page 823 RMC100 and RMCWin User Manual C.4 SSI with Stepper Output Parameters C.4.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Page 824 Appendix C: Parameter Field Reference The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details. Note: Two position axes cannot be assigned to the same pressure axis.
Page 825 RMC100 and RMCWin User Manual This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
Page 826 Appendix C: Parameter Field Reference C.4.3 Configuration Bits - Quadrature/Stepper Specific For quadrature axes, these bits are used to select the active states of four inputs and to define the use of the Home Input status bit in the Status word. Fault Input Active State - Bit 15 This bit determines the active state of the Fault Input.
Page 827 RMC100 and RMCWin User Manual Bit 15 Active Input State No current applied Current Applied Limit Inputs Active State - Bit 14 Determines the active state of the Extend (CW) and Retract (CCW) Limit Inputs. The active state of these inputs indicates that a limit has been reached. The Extend Limit status bit will be set...
Page 828 Appendix C: Parameter Field Reference Level of H Input The Home Input status bit is set when the Home (H) input is active. It is not latched. For details on using this bit, see Homing a Quadrature Axis. C.4.4 Coord. Limit Default: 0 Range: -65536 to 65535 (Quadrature), -65536 to 0 (Stepper) This parameter is available only on stepper, resolver, and quadrature axes.
Page 829 RMC100 and RMCWin User Manual C.4.6 Retract Limit Default: Current position on power-up Range: Valid 16-bit Position The Retract Limit specifies the minimum value the motion controller will allow as a position Command Value. (When the Scale is negative, this is the maximum value.) A Command Value below this value will be set to the Retract Limit and will cause the parameter error bit in the Status word to be set.
Page 830 Appendix C: Parameter Field Reference C.4.9 Steps/Rev Default: 1 Range: 1 to 65535 This parameter is available on stepper axes only. It is used with the Pos Units/Rev parameter to determine the scaling between position units and steps output by the RMC. These steps can be interpreted by the stepper drive as either a full step or microstep.
Page 831 RMC100 and RMCWin User Manual Degrees Tenths of a degree 3600 Hundredths of a degree 36000 Thousandths of a rev. 1000 Ten-thousandths of a rev. 10000 For a full discussion, including examples, on scaling with stepper modules, see Stepper Scaling.
Page 832 Appendix C: Parameter Field Reference C.4.12 Max Steps/MSec Default: 1024 Range: 1 to 1024 steps per millisecond This parameter is available only on stepper axes. It is used to ensure that the stepper is never driven beyond a given rate. If the axis is requested to give more steps per millisecond than allowed by this parameter, the Overdrive error bit will be set in the Status word.
Page 833 RMC100 and RMCWin User Manual C.4.15 Following Error Default: 250 Range: 0 to 65535 The Following Error determines how large the difference between the Target Position and Actual Position can get before the Following Error bit is set in the Status word.
Page 834 Appendix C: Parameter Field Reference down to zero using the current Deceleration value. If the axis is in Open Loop, the drive will not be affected. If there is an event sequence on the axis, it will stop executing. The Halt status bit will also be set in the Status word.
Page 835 RMC100 and RMCWin User Manual If you select Status Only for a fault that cannot use that action, then the axis will use a Soft Stop action for that fault. Similarly, if you select Disable Drive for a fault on an axis that does not have an Amp Enable output, the axis will use the Hard Stop action for the fault.
Page 836 Appendix C: Parameter Field Reference executed and the Amp Enable output will be opened on QUAD and STEP axes. C.5 Pressure/Force Parameters C.5.1 Configuration Word (Pressure) Default: 0x0000 Six bits of this 16-bit word control the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB.
Page 837 RMC100 and RMCWin User Manual Note: This bit is only available on pressure-only and force-only control axes and not on auxiliary pressure and force axes. You can still use absolute mode with auxiliary pressure and force axes, but the Absolute Mode bit of the position axis is used.
Page 838 Appendix C: Parameter Field Reference C.5.3 Configuration Bits - Analog Specific Analog Input Type - Bits 12-14 Use the following table to select the appropriate input range: Analog Input Type C-63...
Page 839 Note: In RMC100 CPU firmware prior to 19991216, these scales could not be set to 0 or -32768. Scale is defined as 32768 times the Prescale Divisor times the number of pressure units for...
Page 840 Appendix C: Parameter Field Reference 1. Transducer Compensation: The Scale parameter compensates for differences in analog transducers. Each transducer will indicate a different current or voltage level for the same pressure. Usually, only a small change from the default value is necessary to compensate the transducer.
Page 841 RMC100 and RMCWin User Manual C.5.6 Pressure/Force Scale and Offset Calculation Examples Example 1 Suppose a pressure transducer gives an output from 0 to 10 volts. This range is represented by Counts A from 0 to 32500. Also suppose that the range of pressures which will be used are from 0 psi to 2000 psi, and 0 psi gave a reading of 12 counts and 2000 psi gave a reading of 32522 counts.
Page 842 Appendix C: Parameter Field Reference Example 2 Suppose a pressure transducer gives an output from 4 to 20mA. This range is represented by Counts from 6500 to 32500. Also suppose that the range of pressures which will be used are from 0 to 10 bars, and 0.0 bars read 6487 counts and 10.0 bars read 32662 counts.
Page 843 RMC100 and RMCWin User Manual Force on A Side = Pressure x Cross Section of Cylinder Force on A Side at 20mA = 7500 psi x ( p x 3 inches x 3 inches ) Force on A Side at 20mA = 212,057.5 pounds...
Page 844 Appendix C: Parameter Field Reference Note: Use positive Feed Forward and Gain values if the pressure increases in the extend direction, and negative values if the pressure increases in the retract direction. The Proportional Gain controls how much drive is generated proportional to the Pressure Error. The Pressure Error is defined as the Target Pressure minus the Actual Pressure.
Page 845 RMC100 and RMCWin User Manual Integral Gain = 0.1 mV per 1024 counts of accumulated Pressure Error Integral Drive is defined as: Integral Drive = Integral Gain x Accumulated Counts Why Bother? Integral Gain should be used to compensate for the fact that loads may vary, valves are non- linear and the axis may have trouble getting to the Command Pressure without Integral Gain.
Page 846 Appendix C: Parameter Field Reference changing. This value is expressed in terms of millivolts per 1,000 Pressure Units per second. Extend Feed Forward drive is added to the output only when the axis is extending. The drive output provided by the Extend Feed Forward is determined as follows: To set the Feed Forward parameters, try ramping the pressure with very small gains.
Page 847 RMC100 and RMCWin User Manual C.5.13 Filter Time Constant (Pressure/Force) Default: 0 (disabled) Range: 1 to 65,535 milliseconds, or 0 to disable Note: This parameter was introduced in RMC CPU firmware dated 20020429 or later. This parameter is reserved in earlier firmware.
Page 848 Appendix C: Parameter Field Reference C.5.15 At Pressure Default: 50 Range: 0 to 65535 At Pressure specifies the size of a window around the Command Pressure. When the Actual Pressure gets within this window, the At Pressure bit is set (but not latched) in the Status word. The window around the Command Pressure and the Actual Pressure must be less than the At Pressure value.
Page 849 RMC100 and RMCWin User Manual Encoder Error/Fault Encoder Error/Fault No Transducer Extend Limit Extend Limit Transducer Noise Retract Limit Retract Limit Transducer Overflow Overdrive Overdrive Overdrive Parameter Error Parameter Error Parameter Error Home Input Home Input Pos./Press. Overflow Integrator Windup...
Page 850 Appendix C: Parameter Field Reference Fault 4 - Bit Fault 4 - Bit H Fault 3 - Bit Fault 3 - Bit H Fault 2 - Bit Fault 2 - Bit H Fault 1 - Bit Fault 1 - Bit H Fault 0 - Bit Fault 0 - Bit H For each fault, the two bits in the Auto Stop parameter define the action as follows:...
Page 851 RMC100 and RMCWin User Manual If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes. C-76...
Page 852 Appendix C: Parameter Field Reference C.6 Analog Reference Parameters C.6.1 Configuration Word Default: 0x0000 This 16-bit word controls the configuration of the module. Bit 0 is the LSB; bit 15 is the MSB. Click here for the Config Word Bit Map Bits 7, 12-15 - Transducer Type bits These bits are used differently depending on the transducer type used.
Page 853 RMC100 and RMCWin User Manual The fourth auxiliary pressure/force axis is assigned. It is necessary to assign a pressure axis to a position axis in order to switch between position and pressure control. Refer to Using an Analog Channel as a Pressure Axis for details.
Page 854 Appendix C: Parameter Field Reference This bit affects what happens when the module loses contact with the Programmable Controller. When this bit is set, the module will finish any move it has started, otherwise it will halt immediately upon detecting loss of contact with the PLC. This is useful for finishing a move that must complete to prevent machine downtime (for example, a partial shot in an injection-molding machine).
Page 855 RMC100 and RMCWin User Manual C.6.3 Configuration Bits - Analog Specific Analog Input Type - Bits 12-14 Use the following table to select the appropriate input range: Analog Input Type C-80...
Page 856 Prescale Divisor bits in the Configuration Word. For details, refer to the discussion on scaling for your transducer type. Note: In RMC100 CPU firmware prior to 19991216, Scale could not be 0 or -32768 for MDT, SSI, and analog transducers.
Page 857 RMC100 and RMCWin User Manual C.6.5 Offset Default: 0 Range: -65536 to 65535 This parameter is available on all axis types except those with quadrature or stepper feedback. Quadrature and stepper axes use the Coordinate Limit parameter in place of the Offset parameter.
Page 858 Default: 65,535 Range: 0 to 65,535 position units per second Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter is available on analog Position and Velocity Reference axes and configures the position filter. For reference axes, the Actual Position status field reflects the actual reading from the transducer, and the Target Position reflects the filtered position, after applying the Filter Time Constant, Deadband, Velocity Limit, and Acceleration Limit parameters.
Page 859 Default: 65,535 Range: 0 to 65,535 (position units per second per millisecond) Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter is available on analog Position and Velocity Reference axes and configures the position filter. For reference axes, the Actual Position status field reflects the actual reading from the transducer, and the Target Position reflects the filtered position, after applying the Filter Time Constant, Deadband, Velocity Limit, and Acceleration Limit parameters.
Page 860 Appendix C: Parameter Field Reference By lowering the Acceleration Limit parameter, the Target Position changes to the following: Notice that the Target Position was smoothed at the start of the step jump by limiting the acceleration of the Target Position. The Acceleration Limit is ignored if the position filter is disabled through the Filter Time Constant parameter.
Page 861 RMC100 and RMCWin User Manual Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter allows filtering the position on an analog position or velocity reference axis. By default the filter is disabled. If this parameter is set to a non-zero value, then the position feedback is filtered using an Infinite Impulse Response (IIR) filter with a time constant set to this parameter's value in milliseconds.
Page 862 Default: 0 Range: 0 to 65,535 position units Note: This parameter is available in RMC100 CPU firmware dated 20020222 or later. This parameter is used to eliminate jitter in an analog reference input. It can be used in conjunction with the filter parameters (Filter Time Constant, Velocity Limit, and Acceleration Limit) to control the consistency of the analog reference.
Page 863 RMC100 and RMCWin User Manual Range: 0 to 65535 This parameter specifies the size of a window around the Command Position. When the Actual Position gets within this window, the In Position bit is set in the Status word. Notice that the In Position bit is not latched and therefore could go off again if the axis moves back outside the In Position window.
Page 864 Appendix C: Parameter Field Reference Home Input Home Input Pos./Press. Overflow Integrator Windup Compensation Integrator Windup Timeout Following Error Following Error Following Error The available actions for each fault are listed below: • Status Only The fault will be reflected in its corresponding status bit in the Status word, but no further action will be taken.
Page 865 RMC100 and RMCWin User Manual Fault 1 - Bit Fault 1 - Bit H Fault 0 - Bit Fault 0 - Bit H For each fault, the two bits in the Auto Stop parameter define the action as follows: Description...
Page 866 Appendix C: Parameter Field Reference If both Soft Stop and Hard Stop bits are set for a particular error condition, a Hard Stop will be executed and the Amp Enable output will be opened on QUAD and STEP axes. C-91...
Page 868: Appendix D: Status Field Reference
Appendix D: Status Field Reference Appendix D: Status Field Reference D.1 Valid 16-Bit Positions The positions used by the RMC are stored in a 16-bit number. This limits the range of positions to 65536 positions. However, by using the Scale and Offset parameters, the user can shift where this 65,536-position range is located.
Page 869 RMC100 and RMCWin User Manual Offset: 40,000 Position Range: -25,535 to 40,000 Discussion: Because Scale is negative, the positions range from Offset - 65,535 to Offset. Example 5: Scale: -31,541 Offset: -10,000 Position Range: -65,536 to -10,000 Discussion: Because Scale is negative, the positions range from Offset - 65,535 to Offset.
Page 870 Appendix D: Status Field Reference During a move the path of the Target Position toward the Command Position will be the perfect profile for the Actual Position to follow. Note: When an axis is stopped, the Target Position should be the same as the Command Position unless an error or HALT has occurred (see Status).
Page 871 RMC100 and RMCWin User Manual Counts will read 0 when the MDT does not return counts. The actual distance from the end of the rod to the magnet is found by multiplying the counts by the gradient value of the MDT. Therefore, to...
Page 872 Appendix D: Status Field Reference Quadrature For quadrature devices, the counts increase by one each time an A or B quadrature input toggles such that the phase of A leads B. The counts decrease by one each time an A or B quadrature input toggles such that phase of B leads A.
Page 873 RMC100 and RMCWin User Manual -10 to 10V Pressure, Force, Velocity Position Input Counts Input Counts >10.08V 32,767* >10.09V 65,535* 10.00V 32,500 10.00V 65,250 0.00V 0.00V 32,750 -10.00V -32,500 -10.00V <-10.08V <32,768** <-10.08V 0 to 5V Pressure, Force, Velocity Position...
Page 874 Appendix D: Status Field Reference 4.00mA 6500 4.00mA 13,100 <3.60mA <5850** <3.60mA 11,800** * Counts in this range will cause the Transducer Overflow bit to be set in the Status Word, as described above. ** Counts in this range will cause the No Transducer bit to be set in the Status Word, as described above.
Page 875 RMC100 and RMCWin User Manual on the input and axis types as described in the Transducer Counts topic. For resolvers, this occurs when the module is not able to determine a valid position. Possible reasons include the RMC case not properly grounded, or actual accelerations or speeds are too high.
Page 876 Appendix D: Status Field Reference The RMC can be configured to automatically stop on the rising edge of this bit by using the Auto Stop parameter. Bit 14 (QUAD or STEP) - Extend/Clockwise Limit Switch This bit is set when the axis is moving in the extend or clockwise direction and the Extend/Clockwise Limit Switch is activated.
Page 877 RMC100 and RMCWin User Manual Notice that this bit is not latched. That is, it is automatically cleared when the limit switch goes inactive, or the axis changes direction. The Limit Switch bit in the Config parameter determines the active state of the limit switch. If the limit switch is not used either hardwire it to the inactive state or use the Limit Switch bit to make the limit switch always inactive.
Page 878 Appendix D: Status Field Reference To display this list, select Parameter Error List from the Window menu. For RMC CPU firmware versions dated 19971016 or later, this list should include brief descriptions of the last twenty parameter errors to occur on the motion controller. To receive help on a particular error, in the error list, click on the error, and then click Help on Error.
Page 879 RMC100 and RMCWin User Manual 2. The Actual Position is homed because both the Home and Index (Z) inputs had been active, but one drops to inactive (the Z in this case). The Home Input status bit is set to indicate the axis has homed.
Page 880 Appendix D: Status Field Reference integrator limit. • The axis' feed forward values are not tuned correctly. The feed forward values should be adjusted to reduce following errors. • The axis is obstructed from moving. • The drive or hydraulic power is not on and the axis is still in closed loop mode. Bit 9 (STEP) - Compensation Timeout This bit is set on stepper axes when the Compensation Timeout is enabled and the axis cannot get in position within the time specified by the Compensation Timeout parameter.
Page 881 RMC100 and RMCWin User Manual registered and the Acknowledge bit is toggled, as described in Using the PROFIBUS-DP Compact Mode. Notice that commands received from RMCWin, the Step Table, the RMCLink ActiveX Control and .NET Assembly Component, or from discrete inputs do not affect the Acknowledge bit.
Page 882 Appendix D: Status Field Reference The target is ramping down in closed loop. Geared Moves Geared moves are issued using the Go (G and g) command with the Gear mode bit set. The state bits are defined as follows to reflect the state of the gear ratio: Bit # Description The gear ratio is at the requested gear ratio, which is zero (gears...
Page 883 RMC100 and RMCWin User Manual The sine move is complete. The sine move is currently accelerating. The sine move is currently decelerating. Sine Move Continuous Continuous sine moves are started using the Sine Move Continuous (0x30) command. In this state,...
Page 884 Appendix D: Status Field Reference State (Bit bit B You may also want to monitor the Stopped bit (bit 1) to ensure that the Actual Position has stopped moving, or the In Position bit (bit 0) to ensure that the Actual Position is sufficiently close to the Command Position.
Page 885 RMC100 and RMCWin User Manual drive is automatically set to Null Drive and the Integrator stops updating. This is done so a Halt command can be given to the axes when the hydraulic system is turned off or the valves are disconnected so the module no longer can control the position.
Page 886 Appendix D: Status Field Reference * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set. D.2.7 Status Word Bit Map (Quadrature) The axis Status word contains 16 bits of information about the status of the axis.
Page 887 RMC100 and RMCWin User Manual * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set.
Page 888 Appendix D: Status Field Reference using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in steps of 5 mV. The internal drive calculations are done to 14-bit resolution. This additional resolution is used to dither the least significant bit of the output, giving additional resolution.
Page 889 Target Position while at rest. Ideally this number should be zero if the valve is perfectly nulled. In RMC100 CPU firmware versions earlier than 19980414, this field is automatically updated toward the Integral Drive when the Actual Position is exactly equal to the Command Position and the speed is zero.
Page 890 Appendix D: Status Field Reference For DelayMS (D) and DelayTicks (d) link types, this field displays the number of delay units left (in either counter ticks or milliseconds). D.3 Pressure/Force Status Fields D.3.1 Command Pressure/Force This field holds the requested pressure or force. It is set to the Command Value of the Set Pressure command.
Page 891 RMC100 and RMCWin User Manual use any of the first eight error bits to trigger a STOP on the axis using the Auto Stop parameter. To display the expanded Status bit window, see Using the Status Bits Window, or click here for the Axis Status Bit Map.
Page 892 Appendix D: Status Field Reference a Hard Stop, depending on the setting of Auto Stop bits 3 and 11. This bit will stay on until a new command is given to the axis. Bit 10 - Pressure Overflow This bit indicates that the pressure read from the transducer does not fit within a 16-bit number. For single-ended analog axes, an overflow is not possible because the counts never exceed 16- bits.
Page 893 RMC100 and RMCWin User Manual Increasing Pressure Constant Pressure Decreasing Pressure Bit 1 - Regulating Pressure Bit This bit is set when a pressure axis is actively controlling pressure. You may use this bit to determine when the axis has crossed into pressure mode out of position mode. This bit is not latched, and will clear as soon as the axis leaves pressure mode.
Page 894 Appendix D: Status Field Reference * Can cause a Soft or Hard Stop if the corresponding bits are set in the Auto Stop field. ** Will cause either a Soft or Hard Stop depending how Auto Stop bits 5, 6, and 7 are set. D.3.6 DRIVE This field displays the drive output in millivolts.
Page 895 RMC100 and RMCWin User Manual using a 12-bit (4000-step) digital-to-analog converter (DAC), which will generate a ±10,000 mV output in steps of 5 mV. The internal drive calculations are done to 14-bit resolution. This additional resolution is used to dither the least significant bit of the output, giving additional resolution.
Page 896: Appendix E: Event Step Link Reference
Appendix E: Event Step Link Reference Appendix E: Event Step Link Reference E.1 Link Types and Link Values Link Type and Link Value specify the condition that causes the motion controller to execute the next step in a sequence. These fields may be edited manually; however in most cases it is easier to use the Link Type and Link Value dialog box.
Page 897 RMC100 and RMCWin User Manual Delay Wait for either a number of milliseconds or a number of counts on the edge or quadrature counter (if available). Error Check Wait for any of one or more errors on one or more axes.
Page 898 Appendix E: Event Step Link Reference Link Type Description Position/Pressure Wait for the position on an axis to be above or below a specified value. Speed Wait for the speed on an axis to be above or below a specified value. Status Bits Wait for one or more status bits on an axis to be on or off.
Page 899 Range: 0 to 65,535 Note: This link type is available only in RMC100 CPU firmware version 20010123 and later. This link type is used to synchronize execution of the step table with changes made externally from the PLC or other controlling system (called master below). This link type pauses the step- sequence execution until the master indicates it is ready by changing the Link Value or Extended Link Value.
Page 900 Appendix E: Event Step Link Reference from the master. When this value is changed, the link type copies it into the Extended Link Value, so a new value must be written to the Link Value each time. Note: The Extended Link Value is also used by the Skew Detection (<) link type. Care must be taken to ensure that these link types are not used on the same axis.
Page 901 RMC100 and RMCWin User Manual • Steps 11 and 12 are executed normally. • When step 10 is reached, the event sequence pauses again, waiting for the PLC to re-trigger the sequence. Using with the Link Type and Link Value Dialog Box 1.
Page 902 Range: All Values Note: This link type is available only in RMC100 CPU firmware version 20000905 and later. This link type is used to monitor one or more axes for errors. Typically, this monitoring is done with a separate event sequence from the main event sequences. For example, axis 0 runs an event sequence that moves axes 0 and 1.
Page 903 RMC100 and RMCWin User Manual Decel Speed 1000 7500 Command 4000 8000 Value Command Commanded Default Default Axes Link Type AxesInPos AxesInPos DelayMS ErrorCheck Delay Link Value 0x0003 0x0003 0xFF03 Link Next Normally, axes 0 and 1 will make two moves together, then delay for a quarter second, and then repeat the process.
Page 904 Range: Depends on Configuration Note: This feature is available only in RMC100 CPU firmware version 19990625 and later. These link types wait for a combination of level events on discrete inputs. These link types are limited to 16 inputs if all the events are of one polarity or to 8 inputs if both ON and OFF input levels are used.
Page 905 RMC100 and RMCWin User Manual • If a Sensor DI/O is present, Sensor DI/O inputs 0-15 (or 0-7) are used. • If no Sensor DI/O is present, but a Communication DI/O is present, Communication DI/O inputs 0-15 (or 0-7) are used.
Page 906 Range: Depends on Configuration Note: The input level portion of these link types is available only in RMC100 CPU firmware version 19990625 and later. Note: The Rising (I) and Falling Edge (i) link types should not be used with the Poll (?) command.
Page 907 RMC100 and RMCWin User Manual and Level Low (o) link types when polling. These link types wait for an event on a single discrete input. This event can be an edge (rising or falling) or level (high or low). This link type may use all inputs unless the a Communication DI/O is installed, in which case the CPU inputs may not be used.
Page 908 Range: Reserved – must be 0 Note: This feature is available only in RMC100 CPU firmware version 19990625 and later. Note: This link type cannot be used with the Poll (?) command. This link type is unique in that both the Link Value and Link Next fields are ignored. When this link type is encountered two discrete inputs are used to determine which event step is jumped to.
Page 909 RMC100 and RMCWin User Manual Current Event Step + Note: If the next Event Step would be greater than 255, then the event step will wrap around to step 0. For example, if the current event step is 254 and inputs 17 and 16 are 1 and 0 respectively, then "Current Event Step + 3"...
Page 910 Range: 0 to 65,535 Note: This feature is available only in RMC100 CPU firmware version 19980811 and later. Note: This link type cannot be used with the Poll (?) command. The LoopStart (#) and LoopEnd (-) link types are used together to create loops in the Event Step table.
Page 911 RMC100 and RMCWin User Manual Link Value 1000 1000 Link Next Using with the Link Type and Link Value Dialog Box 1. Under Link Type Category, select System-wide (Basic, non-axis). 2. Under Link Type, select Loop. 3. Under Link Condition, select Start a Loop or End a Loop.
Page 912 Appendix E: Event Step Link Reference (+), Subtract (-), and MulDiv ('). These link types evaluate the results of the last math command that was issued on the axis running the event sequence. Therefore, these link types can be used any time after the math command is issued (including on the same step) up until another math command is issued on that axis.
Page 913 Any combination of bits 0-7. Bits 8-15 are reserved. Note: This feature is available only in RMC100 CPU firmware version 19990625 and later. This link type waits for all selected axes to be either in position (for position axes) or at pressure (for pressure axes) before going to the next step.
Page 914 Any combination of bits 0-7. Bits 8-15 are reserved. Note: The Skew on Actual Position link type is available only in RMC100 CPU firmware version 20000504 and later. The Skew on Following Error link type is available only in RMC100 CPU firmware version 20030916 and later.
Page 915 RMC100 and RMCWin User Manual axis must be just as far ahead or behind its respective Target Position. This allows the target positions to be different on each axis. This type of skew is useful if the axes cannot be configured to have the same position units for the same positions, or if they are offset.
Page 916 0 to start timer, or 1 to 65,535 milliseconds Note: This feature is supported in RMC100 CPU firmware dated 20010420 or later. These link types are used to start a timer and to wait for the timer to reach a preset. The DelayMS (D) link type offers similar functionality.
Page 917 RMC100 and RMCWin User Manual Examples 2 and 3 below. • The Timer (T and t) link types allow multiple times to be checked since the beginning of a process. That is, the timer can be started at the beginning of a cycle. Then, later in the process, two or more Timer (T) link types can be used with different values to trigger events at different times since the beginning of the cycle.
Page 918 Appendix E: Event Step Link Reference Command Commanded Default Default Default Default Axes Link Type TimerSt/Exp BitsON BitsON TimerSt/Exp Link Value 0x0001 0x0001 10000 Link Next Step 10 starts the timer and links immediately to step 11. Step 11 starts a move to the first position and waits for the axis to get in position using the BitsON (B) link type, at which time control moves to step 12.
Page 919 RMC100 and RMCWin User Manual Step 13 immediately links back to step 11 to restart the polling loop. Notice that this extra step does take one control loop to process and therefore increases the time taken to process the entire polling loop by one control loop (1 or 2 ms).
Page 920 Appendix E: Event Step Link Reference • The disadvantage of this method is that many users will find it confusing to have to reverse the sense of the last condition in the polling loop. That is, the user has to use the Timer Not Expired (t) link type instead of the more intuitive Timer Expired (T) link type.
Page 921 RMC100 and RMCWin User Manual • If you want to take the link when the timer has not yet reached its preset, select Link if the Timer is Not Expired. This is only useful when used with the Poll (?) command.
Page 922 Appendix E: Event Step Link Reference E.5 Current Axis Link Types E.5.1 Link Type - Current Axis Absolute Limit Switch Link TarPos (L, hex 0x4C, dec 76) - Target Position Type: ActPos (l, hex 0x6C, dec 108) - Actual Position Link Limit Position Value:...
Page 923 RMC100 and RMCWin User Manual Value: Range: 0 to 65,535 position units This family of link types waits for the position of the current axis to reach a distance from the start or end of a move. There are four separate link types in this family to cover comparing against the start or end of the move using either the Target or Actual Position.
Page 924 Appendix E: Event Step Link Reference Link Position Relative To Type Used Target Start of Move Position Actual Start of Move Position Target End of Move Position Actual End of Move Position 2. Enter the Limit Position Window in the Link Value. E.5.3 Link Type - Current Axis Pressure Link ActPrs (P, hex 0x50, dec 80) - Actual Pressure...
Page 925 RMC100 and RMCWin User Manual 1. Select the Link Type: Use 'P' to compare with the Actual Pressure, 'p' to compare with the Target Pressure. 2. Enter the Limit Pressure in the Link Value. E.5.4 Link Type - Current Axis Speed...
Page 926 Appendix E: Event Step Link Reference 1. Under Link Type Category, select Current Axis (Basic). 2. Under Link Type, select Status Bits. 3. Under Link Condition, click the appropriate option for whether you wish to wait for one or more bits to be ON or OFF.
Page 927 RMC100 and RMCWin User Manual 6. Under Link Condition, enter the Limit position in the Threshold box. Using without the Link Type and Link Value Dialog Box 1. Calculate the Link Type: This involves converting the following bit fields into a hexadecimal byte. It is highly recommended that the Link Type and Link Value dialog box be used instead of doing this manually.
Page 928 Appendix E: Event Step Link Reference 3. Under Link Type, select Speed. 4. Under Link Condition, select whether you wish to use Target or Actual Speed for the comparison. 5. Under Link Condition, select whether you wish to wait until the speed is above or equal, or below or equal the Limit speed.
Page 929 RMC100 and RMCWin User Manual 4. Under Link Condition, click the appropriate option for whether you wish to wait for one or more bits to be ON or OFF. 5. Under Link Condition, check the boxes next to the Status bits that you wish to monitor with this link type.
Page 930: Appendix F: Rmc100 Specifications
Appendix F: RMC100 Specifications Appendix F: RMC100 Specifications F.1 RMC100 Specifications Motion Control Control loop time 1 or 2 ms depending on module configuration Maximum speed 65,535 user-defined position units per second RS232 Port Interface with Delta’s Requires a PC running Windows RMCWin software and 98/NT/2000/Me/XP/Vista/7.
Page 931 RMC100 and RMCWin User Manual 8 axes (6 slots) Typical 585 mA @ 24 VDC, max 750 DC-DC converter 500 VAC, 700 VDC, input to controller isolation Mechanical Dimensions - 2 axes (3 4.12 x 5.95 x 4.75 in slots) (10.5 x 15.0 x 12.1 cm) (WxHxD)
Page 932 Appendix F: RMC100 Specifications CE Tests Performed See also General Wiring Information. Radiated Emissions EN55022 Class A Conducted Emissions EN55022 Class A Electrostatic Discharge EN61000-4-2 ±4 kV contact EN50082-1 ±8 kV air Radiated Immunity EN61000-4-3 3 V/m EN50082-1 ENV50204 Electrical Fast...
Page 933 RMC100 and RMCWin User Manual • Stepper Specifications • SSI Specifications Digital I/O See Digital I/O Specifications Communication Modules See the appropriate section(s): • PROFIBUS-DP Module • SERIAL Module • Ethernet Module • Modbus Plus Module F.2 General Wiring Information For CE compliance and to minimize electrical interference: •...
Page 934: Appendix G: Glossary
Appendix G: Glossary Appendix G: Glossary G.1 Glossary Clockwise Rotating in the direction of increasing encoder or transducer counts. Closed Loop Mode Sometimes called Servo mode. In this mode the difference between the Target and Actual position/pressure is the error that the PID routine uses to compute a corrective drive that minimizes the error.
Page 935 RMC100 and RMCWin User Manual Magnetostrictive Displacement Transducer. A device that senses position by sending an electron pulse down a wave guide. A twist is imparted on the wave guide as the pulse reaches the magnetic field of a magnet. The twist takes time to be sensed at the transducer head. It is this time is proportional to the distance between the transducer head and the magnet.
Page 936 Appendix G: Glossary The PID LOOP is: DO FOREVER WAIT FOR NEXT TIME PERIOD READ ACTUAL FROM POSITION OR PRESSURE SENSOR E0 = TARGET - ACTUAL U0p = Kp * E0 U0i = U1i + Ki * E0 U0d = ( E0 - E1 ) * Kd U0 = U0p + U0i + U0d E1 = E0 CALCULATE NEXT TARGET POSITION...
Page 938: Appendix H: Ascii Table
Appendix H: ASCII Table Appendix H: ASCII Table H.1 ASCII Table ASCII ASCII Space " & < >...
Page 940: Index
Index Index 0Cx Commands ........... A-44 0Dx Commands ........A-46, A-53 - Command............. A-9 10BaseT ............5-62 ' Command ............. A-3 802.3 ............. 5-62 - Link Type............ E-15 A Command ..........A-14 ! Command ............. A-1 A Link Type ..........E-18 absolute mode ..
Page 941 RMC100 and RMCWin User Manual always on top .......... 3-132 digital MDT ..........6-20 bookmarks ..........3-130 SSI ........... 6-67, 6-70 event step table editor ......3-131 Basic Link Type ..........E-1 overview ..........3-129 Bias Drive ............. A-47 pasting addresses ........3-131 Bidirectional Protocol ........
Page 942 Index Command Map Output to Axis Position ..... A-43 Acceleration ..........B-6 Max ............. A-7 Command ............B-6 Mid .............. A-7 Command Min .............. A-7 Deceleration ..........B-8 Move Relative to An Axis ......A-44 Command ............B-8 MulDiv ............A-3 Command Multiply ............
Page 943 RMC100 and RMCWin User Manual 42, A-43, A-44, A-46, A-47, A-48, A-49, A-50, counter-clockwise .......... G-1 A-51, A-52, A-53, A-58, B-10, B-19 counters ............5-6 comments ............. 3-54 DI/O quadrature .......... 5-6 step table ..........3-54 edge ............5-6 CommTrig Link Type ........E-4 Counts ............
Page 944 Index enforcing limits ........3-120 spreadsheet options ........ 3-101 Enhanced curves ........3-117 spreadsheet tab ........3-101 erasing a curve ........3-114 spreadsheet view3-86, 3-101, 3-102, 3-103, 3- exact positioning ........3-123 104, 3-105, 3-106 expanding points ........3-129 Standard curves ........3-117 exporting ..........
Page 945 RMC100 and RMCWin User Manual discrete I/O ........5-7, 5-8, 5-9 DirectLogic DL205/405 ......5-81 Divide command ..........A-3 DL205/405 ........5-81, 5-85 divide-by bits ..C-1, C-19, C-35, C-48, C-77 firmware ............. 5-56 Divide-by bits ..........C-61 Host Engineering ........5-81 DL205/405 ...........
Page 946 Firmware ... 3-25, 3-132, 3-133, 5-56, 5-239 GTS Link Type ..........E-16 Ethernet ......... 3-133, 5-56 GTU Link Type ..........E-16 RMC100 ........3-25, 3-132 serial ..........3-133, 5-239 H Command ..........A-20 FLASH ......... 4-2, A-29, A-30 half view ............3-21 Follow Spline Relative ........
Page 947 RMC100 and RMCWin User Manual Hilscher GmbH ........... 5-217 Integrator Windup Limit ........ C-61 SyCon ............. 5-217 Intergrator Windup bit ........D-7 Hints ............... 7-0 internal speeds ..........3-44 Programming ..........7-0 inverting inputs and outputs ......5-11 Home ............A-14 IP 5-62 Home Input bit ..........
Page 948 Index moving screens ........3-72 ErrorsMult ........... E-7 online ............3-67 Time Delay ..........E-6 opening a file ..........3-67 Link Type options ............3-70 Inputs Overtype mode ......... 3-74 Multiple (Level only) ........ E-9 overview ........... 3-58 Link Type OVR ............
Page 949 RMC100 and RMCWin User Manual Link Type Link Type LTP ............E-16 ActRelStart ..........E-27 Link Type Link Type LEU ............E-16 ActRelCom ..........E-27 Link Type Link Type ............. E-27 LES ............E-16 Link Type Link Type TarPrs ............E-29 LEP ............
Page 950 Index Link Types ............E-1 Bidirectional Protocol ......5-263 Link Value Status Word ........ D-22 No Protocol ..........5-258 Load Parameters Command ......3-35 Modbus Plus . 5-181, 5-182, 5-183, 5-194, 5-197, Log ............... 5-60 5-199, 5-202, 5-205, 5-206, 5-208, 5-277, 5- Communication .........
Page 951 RMC100 and RMCWin User Manual compensation window ....C-44, C-57 O Command ........A-23, A-49 configuration word ... C-1, C-19, C-35, C-48, C- O Link Type ..........E-11 Offline ............3-10 Configuration Word ........C-61 Offset .......... C-8, C-65, C-82 coordinate limit .....
Page 952 Index Plot Time area ..........3-4 memory map ........... 5-227 plot to curve ..........3-112 message mode ........5-225 plots ....3-43, 3-44, 3-45, 3-46, 3-47, A-88 overview ..........5-210 detail window ..........3-45 register map ..........5-227 downloading over PROFIBUS ....A-88 profile select bits ...........
Page 953 RMC100 and RMCWin User Manual RS232 port ............ 3-14 filtering ..4-10, A-31, C-83, C-84, C-85, C-87 selecting .......... 3-13, 3-14 Reference command ........A-31 RS-422 ............5-237 reference deadband ........C-87 SERIAL module ........5-237 register map . 5-70, 5-85, 5-123, 5-138, 5-149, 5- RS-485 ............
Page 954 Index RS-232 ........5-240, 5-245 Skew Detection ..........E-19 RS-422 ......5-240, 5-246, 5-248 Skew Link Type ..........E-19 RS-485 ......5-240, 5-246, 5-248 SLC 5/05 ............5-65 termination ..........5-248 slew limit ............C-83 topologies ..........5-241 slot options ............ 3-25 wiring ........
Page 955 RMC100 and RMCWin User Manual A-54, A-58, D-7, D-18, D-19, D-23 T Link Type ..........E-21 status area............3-4 Table Editor Basics ........3-49 status area request ..5-220, 5-223, A-54, A-58 tachometers ..........6-18 status bar..........3-5, 3-66 Target Generator ........... G-1 LCD Screen Editor ........
Page 956 Index MDT ............6-20 full horizontal ..........3-21 quadrature ..........6-31 full vertical ..........3-21 Resolver ........... 6-59 half ............. 3-21 SSI ............6-67 selecting ............ 3-21 stepper ............6-45 voltage inputs ..........6-1 Transitioning from Position to Pressure/Force . 2- 12, 4-30, 4-32, 4-37 W command ........