Delta RMC151 Startup Manual
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Delta RMC151 Startup Manual

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Summary of Contents for Delta RMC151

  • Page 1 Where to Get Help deltamotion.com...
  • Page 2 RMC150 Startup Guide Where to Get Help Video Tutorials In RMCTools, on the Help menu, click Video Tutorials RMCTools Help In RMCTools, on the Help menu, click Help Topics Forum Visit forum.deltamotion.com Delta Technical Support Phone: +1-360-254-8688 Email: support@deltamotion.com deltamotion.com...
  • Page 3 Important Information Important Information WARNING: Using this product in a manner not specified by the manufacturer may impair the protection provided by the equipment. WARNING: Employ safety circuits or devices external to the motion controller to ensure the machine operates safely even in the event of a failure in any part of the controller.

  • Page 4: Table Of Contents

    Appendix B: Mounting Dimensions ....... 39 Appendix C: Agency Compliance ......... 40 Version 5.0, June 19, 2023 Copyright © 2023, Delta Computer Systems, Inc., also doing business as Delta Motion. Delta Motion is a U.S. registered trademark of Delta Computer Systems, Inc.

  • Page 5: Step 1: Mounting

    Step 1: Mounting Step 1: Mounting The RMC should be mounted upright on a vertical surface, such that the ventilation holes are on the top and bottom. Mounting Options Symmetrical DIN 3 Panel-mount See Appendix B: Mounting Dimensions for dimensions. Clearance The amount of clearance above and below depends on the maximum ambient temperature:...

  • Page 6: Step 2: Wiring

    RMC150 Startup Guide Step 2: Wiring Wire the power, actuators, and feedback devices to the RMC according to the instructions in Appendix A: Wiring on page 26. Note: Remove power from the RMC before connecting any wires. Wiring Topic Page General Wiring Information Power Control Output (Drive)

  • Page 7: Step 3: Install Rmctools

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

  • Page 8: Step 4: Connect Rmc To Pc

    RMC150 Startup Guide Step 4: Connect RMC to PC USB Cable Connect a standard A to B USB cable to the PC and the RMC150E USB port This type of USB cable is used for PC peripherals such as printers and is available at any store that sells electronics.

  • Page 9: Step 5: Start A New Project

    Step 5: Start a New Project Step 5: Start a New Project 1. Start RMCTools. 2. In the Startup dialog, select Create a New Project and click OK. 3. Enter the Project Name, then click Finish. 4. In the New Controller Wizard, select Automatically Detect the Controller Information,...
  • Page 10 RMC150 Startup Guide 5. RMC150E via USB: A. Click USB and click Next. B. When the RMC appears in the list, select it and click Next. RMC150E via Ethernet: A. Click Ethernet and click Next. B. Use the MAC address (on the RMC150E label) to identify the RMC in the list, then click the RMC.
  • Page 11 Step 5: Start a New Project 6. RMCTools will connect to the RMC and display it. Verify it is correct, then click Finish. 7. The toolbar now displays . This means RMCTools is communicating with the controller. Project Pane The project pane contains all the items in the project.
  • Page 12 RMC150 Startup Guide Set Up Universal I/O Channels If your RMC includes a Universal I/O module, you must first set up the high-speed channels before using them as part of an axis. 1. In the Project pane, expand the Modules folder and double-click the UI/O module.

  • Page 13: Step 6: Define The Axes

    Step 6: Define the Axes Step 6: Define the Axes To use a physical input or output, it must be assigned to an internal software axis. The RMC starts with default axis assignments which you will likely need to change. Note: It is important to define the axes at the start of the project.
  • Page 14 RMC150 Startup Guide View Axis Definitions 1. In the Project tree, expand the Axes folder and double-click Axis Definitions. 2. The Axis Definitions dialog opens: The list displays the software axes. To see the assigned hardware, click an axis in the list. The hardware assigned to that axis will be highlighted in the...

  • Page 15: Step 7: Test An Actuator

    Step 7: Test an Actuator Step 7: Test an Actuator You will now test an actuator such as a hydraulic valve or a motor. You will use the Direct Output command to send a voltage to the actuator. The actuator must already have been wired to the RMC. USE THE DIRECT OUTPUT COMMAND WITH CAUTION! IT DISABLES THE SAFETY FEATURES OF THE RMC! Fault Controller Button...
  • Page 16 RMC150 Startup Guide 5. In the Command Tool, in the axis the actuator is connected to, click button. 6. Browse to Motion Commands, then Open Loop. Choose the Direct Output command and click OK. 7. For the Direct Output command parameters, enter the following: Output: 0.1 •...
  • Page 17 Step 7: Test an Actuator 8. In the Command Tool, click Send. The axis should move, and the Control Output (in the Axis Status Registers) should be 0.100. 9. If the axis did not move, resend the command with a larger Output until the axis moves.

  • Page 18: Step 8: Test Feedback Device

    RMC150 Startup Guide Step 8: Test Feedback Device Now that you have connected and tested an actuator, you will connect and verify a feedback device. The device must already have been wired to the RMC. Configure Feedback In Axis Tools, in the Axis Parameters pane, on the Setup tab, you will configure certain parameters depending on the type of input you are using.
  • Page 19 Step 8: Test Feedback Device Start/Stop or PWM (Magnetostrictive) Feedback 1. In the Axis Parameters, on the Setup tab, set the MDT Type register to the type of magnetostrictive transducer you have. This information is available from your transducer datasheet. 2.
  • Page 20 RMC150 Startup Guide Analog Feedback 1. In the Axis Parameters, on the Setup tab, set the Input Type to Voltage (±10V), Voltage (±5V), or Current (4-20mA). If the input is the primary input of the axis, the Input Type is under the Primary Control Setup section in the Axis Parameters.
  • Page 21 Step 8: Test Feedback Device Verify Feedback 1. In the Axis Status Registers pane, on the All tab, expand the Feedback section. For secondary inputs, expand the Pressure/Force/Accel Feedback section. 2. Depending on your feedback type, look at the Counts, Volts, or Current register.

  • Page 22: Step 9: Scale And Offset

    RMC150 Startup Guide Step 9: Scale and Offset The Scale and Offset parameters convert the Counts, Volts, or Current from the transducer into meaningful measurement units. First, determine the approximate positions at either end of travel. This will help you verify later that you performed the procedure correctly. To set the Scale and Offset: 1.

  • Page 23: Step 10: Set The Output Polarity

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

  • Page 24: Step 11: Tuning

    RMC150 Startup Guide Step 11: Tuning In order to control an axis in a closed-loop, it must first be tuned. You can use autotuning or manually tune the axis. Autotuning – Position Axes Only Autotuning can be used for most position control axes.
  • Page 25 Step 11: Tuning 5. When the wizard is complete, the Gain Calculator will open. Use the slider bar to choose gains. Begin by pulling the slider close to the bottom, then click Apply Gains. 6. Use the buttons you previously set up to move the axis back and forth.
  • Page 26 RMC150 Startup Guide Manual Tuning–Position, Pressure, or Force Axes You can manually tune systems for which autotuning does not work. For instructions: 4. On the Help menu, choose Help Topics. 5. On the Index tab, type tuning and double-click about. 6.

  • Page 27: Continuing The Motion Application

    Continuing the Motion Application Continuing the Motion Application After setting up and tuning the RMC, it is ready to perform motion and be integrated into the rest of your application. The RMC has numerous features to assist you. The major components are listed here to guide you when continuing your motion application.
  • Page 28 RMC150 Startup Guide Communications Most PLCs or other host controllers can communicate with the RMC, which includes reading status, writing values, and sending commands to the RMC. The RMC150E supports Ethernet and PROFIBUS-DP. See the Communications section of the RMCTools help for more detailed information.

  • Page 29: Diagnostic Tools

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

  • Page 30: Appendix A: Wiring

    RMC150 Startup Guide Appendix A: Wiring This appendix describes how to wire the RMC. Use the table below to find the wiring diagram you need. For communications wiring, consult the RMCTools help. Note: Remove power from the RMC before connecting any wires. Wiring Topic Page General Wiring Information...
  • Page 31 Appendix A: Wiring General Wiring Information To minimize electrical interference: • Use twisted pairs for all wiring where possible. Use shielded cables for all wiring. • • Keep RMC wiring separate from AC mains or conductors carrying high currents, especially high frequency switching power such as conductors between servo drives and motors or amplifiers and proportional valves.
  • Page 32 RMC150 Startup Guide Wiring Power Voltage: +24Vdc (20.4 – 27.6Vdc) Current rating: Backplane Slots Max Current (mA) UL and CUL Requirements For UL and C-UL compliance, the power supply must be Class 2. Class 2 power supplies are limited to 100W output. No additional fusing is required if a class 2 power supply is used.
  • Page 33 Appendix A: Wiring SSI Transducer Wiring For Synchronous Serial Interface (SSI) transducers and encoders. If the SSI transducer is linear, make sure to choose the synchronized type. Input Connector Clock + Clk+ Clock - Clk- Data + Dat+ Data - Dat- DC Gnd Pwr+...
  • Page 34 RMC150 Startup Guide SSI Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all SSI wiring instructions on page 29. Balluff Micropulse BTL-5 with SSI output Styles: Z, W, K, P Input Connector Yellow + Clk Clk+ Pink - Clk...
  • Page 35 Appendix A: Wiring MDT Module Start/Stop or PWM Transducer Wiring For magnetostrictive transducers with Start/Stop or PWM outputs. 6-pin MDT Connector Interrogate + Int+ Interrogate - Int- DC Ground Return + Ret+ Return - Ret- Pwr+ Case +Pwr Power Supply Tip: See the next page for manufacturer-specific wiring diagrams.
  • Page 36 RMC150 Startup Guide MDT Manufacturer-Specific Wiring Labels and Colors These diagrams provide transducer manufacturer labels and colors. Follow all MDT wiring instructions on page 31. Balluff Micropulse BTL-5, digital RS-485 output Styles: Z, W, K, E, P, R, AT 6-pin MDT Connector Yellow Interrogate + Input...
  • Page 37 Appendix A: Wiring Analog Voltage Transducer Wiring Voltage Transducer, 4- or 5-Wire Input Connector + In +Analog Out Res or Jmpr -Analog Out - In Signal Common Pwr Common +Pwr To reduce electrical interference: Case • -In and Cmn must be connected, either internal to the transducer or externally as close as possible to the transducer.
  • Page 38 RMC150 Startup Guide Potentiometer with Exciter Pin Note: Use the Exciter pin to increase the measurement accuracy of the potentiometer. Not available on the UI/O module. Input Potentiometer Connector + In Wiper - In +10VDC Exciter Case To reduce electrical interference: •...
  • Page 39 Appendix A: Wiring Quadrature Encoder Wiring Pin-out table is available in the RMCTools help. Important! The A, B and Z signals accept 5V differential (RS-422) signals. Single- ended (TTL) are strongly discouraged. If absolutely necessary, see the RMCTools help for single-ended wiring. Universal I/O Module The Universal I/O encoder wiring is identical to the diagram shown above, with the exception of the pin order.
  • Page 40 The wiring diagram below is for resolvers that fall within the Resolver module’s signal specifications (800Hz to 5kHz and 1.41 to 4.8VRMS). The Ref In input is only used for reference signals outside of these specifications and requires contacting Delta for assistance. 8-pin Resolver Connector...
  • Page 41 Appendix A: Wiring Discrete Output Wiring The discrete outputs on the RMC150E, DI/O, and UI/O modules are solid-state relays. When off, they have high impedance, and when on, they have low impedance. RMC150E DI/O UI/O On Impedance 50Ω max, 25Ω typical Max Current 75mA 75mA...
  • Page 42 RMC150 Startup Guide Discrete Input Wiring To turn on a discrete input, apply a voltage of the correct level. The polarity is unimportant. RMC150E DI/O UI/O Signal Levels 12-24Vdc 5-24Vdc 12-24Vdc Max Current 3mA max 6mA at 5V 3mA max Draw 10mA at 24V DI/O and UI/O Module...

  • Page 43: Appendix B: Mounting Dimensions

    Appendix B: Mounting Dimensions Appendix B: Mounting Dimensions Backplane Slots Total Width 4.10 in. 5.10 in. 6.10 in. 7.10 in. (104.1 mm) (129.5 mm) (154.9 mm) (180.3 mm) Note: Allow space for the connectors on the front of the RMC. deltamotion.com...

  • Page 44: Appendix C: Agency Compliance

    RMC150 Startup Guide Appendix C: Agency Compliance UL and CUL For UL and CUL compliance: • Power supply must be Class 2. • All RMC inputs and outputs must be connected to Class 2 circuits only. Class I Div 2 Products marked “Class I Division 2, Group A, B, C, D”...
  • Page 45 Notes Notes deltamotion.com...
  • Page 46 RMC150 Startup Guide deltamotion.com...
  • Page 47 Notes deltamotion.com...
  • Page 48 RMC150 Startup Guide deltamotion.com...

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