Delta RMC101 User Manual
Startup Guide
RMC100 and RMCWin
Motion Controller Motion Software
for
RMC100 Startup Guide
Version 2.3
February 25, 2010
Copyright © 2010, Delta Computer Systems, Inc.
www.deltamotion.com
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RMC100 Startup Contents
Contents
Contents ............................................................................................. 3
Overview ............................................................................................. 5
Obtaining a Manual ........................................................................... 6
Getting Started ................................................................................... 7
PC Requirements ........................................................................................ 7
Installation .................................................................................................. 7
Starting RMCWin ...................................................................................... 7
Starting the RMC100 Controller ................................................................ 9
Tuning the System .................................................................................... 13
Saving Configuration Settings .................................................................. 13
Step-by-Step Example .............................................................................. 14
Communications ....................................................................................... 14
Features of the RMC100 .................................................................. 15
Control Options ........................................................................................ 15
Programming ............................................................................................ 18
Diagnostic Tools ...................................................................................... 19
RMC100 Modules ............................................................................. 23
Configuri ng an RMC100 .......................................................................... 23
Communications Choices ......................................................................... 24
Communications Compatibility with Common Host Systems ................. 26
Drive and Transducer Interface Choices .................................................. 29
Transducer Compatibility with Common Manufacturers ......................... 33
Appendix A: Wiring ......................................................................... 35
General Wiring Information. .................................................................... 35
RMC Drive Outputs ................................................................................. 35
Wiring the Analog Feedback Module ...................................................... 36
Wiring the MDT Feedback Module ......................................................... 37
Wiring the SSI Feedback Module ............................................................ 39
Wiring the QUAD Feedback Module ....................................................... 39
Wiring the St epper Mo dule ...................................................................... 42
Appendix B: Tuning ........................................................................ 45
General T uning Guidelines ...................................................................... 45
Tuning a Position Axis ............................................................................. 46
Tuning a Torque Motor ............................................................................ 48
Tuning a Position/Pressure System .......................................................... 50
Appendix C: An Example ................................................................ 59
Example Setup & Tuning of a Hydraulic System .................................... 59
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RMC100 Startup Overview
RMC100
Position Control
Velocity Control
Pressure Control
PLC or
Industrial PC
Machine Control
Sequencing
Fault Monitoring
HMI
Actuators
and
Feedback
Feedback:
MDT
SSI
Quadrature
Analog
Output:
±10 Volts
Step/Direction
Communication:
Ethernet
Modbus Plus
PROFIBUS-DP
DI/O
Serial
PC running
RMCWin
Setup and
Diagnostics
RS 232 Serial
Ethernet
Overview
The RMC100 series br i ngs the benefits of modular, high-performance motion
control to a wide range of industrial applications. Communicatio ns options—
ranging from high-speed field buses to discrete I/O and a four-line
display/keypad—make these compact, DIN rail mounted controllers an excellent
choice for large and small systems. The ability to “mix and match” position
feedback transducers, plus powerful control modes—including synchronized
moves, pos ition/pressure control, gearing, s plines, a nd teach mode—provide
optimum control for a wide range of applications.
RMCWin is a powerful setup, tuning and diagnostics software package provided
with the RMC100 motion controller.
Figure 1 shows a typical installation of an RMC100 controller and the RMCWin
software on a PC. The PC and RMCWin software are only required when setting
up and monitoring the RMC100, and are not required for normal machine operation.
Figure 1. Typical RMC100 and RMCWin installation.
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Obtaining a Manual RMC100 Startup Guide
Obtaining a Manual
The RMC100 motion controller manual is available in the following formats:
• Complete and up-to-date information is available in the online help in the
RMCWin software.
• A manual containing the same information as the online help is availab le
as a Portable Document Format (PDF) file from our web site at
www.deltamotion.com.
• If you need a hard-copy manual, contact Delta by telephone at
360-254-8688 or email at sales@deltamotion.com.
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RMC100 Startup Getting Started
Getting Started
This chapter describes the minimum hardware requirements, how to install and run
RMCWin, and how to set up a system with an RMC100 controller.
PC Requirements
Operating System Windows 98/ME/NT/2000/XP/Vista/7
Disk Space 20 Mbytes
Memory 8 Mbytes
Serial Port RS-232 or Ethernet connection required for
or Ethernet communication with RMC100.
Installation
1. Obtain a copy of RMCWin either from the CD or diskettes included with the
RMC100 controller or by downloading it from our web site’s download page at
http://www.deltamotion.com/dloads/
.
Starting RMCWin
Getting Help
2. If installing from CD, insert the CD and run drive:\SETUP.EXE where drive is
the letter of the CD drive. Follo w the instructions for installation. It is also
possible to run RMCWin from the CD. Do this by running
drive:\rmcwin\rmcwin.exe.
3. If installing from the web site, run the self-extracting zip file and follow the
instructions.
4. If installing from diskette, insert disk 1 into drive a: and r un SETUP.EXE.
Follow the instructions for insta lla tion.
After installing RMCWin, start it b y clicking the Start menu, clicking Programs and
then RMCWin.
RMCWin inc ludes an extensive online help facility designed to p rovide infor mation
about all aspects of connecting, starting, and using RMCWin and the RMC100
controller. To access Help, click on the Help menu in the RMCWin display and
select Help Topics. To access context-sensitive Help, place the cursor on the
display feature where help is desired and press F1.
In the remaining discussion, references to online Help take one of two forms:
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Getting Started RMC100 Startup Guide
Status
Command
Toolbar
Status
Menu
Bar
Plot
Time
Parameter
Area
Index/views/selecti ng
The RMCWin Display
Area
1.
Index/stored commands/Editing the Stored Command Table.
This means to display the online Help, select the Index tab, type the words
stored command on the edit line, and select the topic Editing the Stored
Command Table.
2.
Contents/Using RMCWin/Setup Options/Selecting a Serial Po rt to Use.
This means to display the online Help, sele c t the Contents tab, display Using
RMCWin, select Setup Options, and select the topic Selecting a Serial Port to
Use.
Figure 2 shows the RMCW in main window.
Area
Bar
Figure 2. RMCWin Display.
Note: If RMCWin starts in Read mode (see the status bar), double click on Read to
change it to Write. RMCWin should be in Write mode during RMC100 controller
setup.
In the display, each feedback device has a column of associated data. For example,
Axis0 is one feedback device, while Axis1 is another. Numbers displayed in the
form 0xNNNN are hexadecimal numbers that represent individual bits.
Note: If the RMC100 has 6 or 8 axes the display may be difficult to read in the
default layout. Change to the half view layout (see the help topic listed at left), and
resize the window by dragging a corner with the mouse.
Status area —T hi s area shows important information about what is happening in
the RMC100 controller. It shows the actual position, the drive output, program step
number, actual speed, and the status word, which contains information about the
state of the controller and whether there are any faults.
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RMC100 Startup Getting Started
Index/stored
commands/Editing the Stored
Command Table
Contents/U s ing
RMCWin/Setup Options/Selecting
a Serial Port to Use
Contents/Communication
Types/RS-232/Wiring.
Index/specification/general/
power
Command area — The six registers in this area are used to send commands to the
RMC100 controller.
Parameter area — The sixteen registers in this area are the operational parameters.
This area contains information on scaling, tuning, and configuration for fault
detection.
Plot Time — Specifies plot duration, or length of data log, in seconds.
Toolbar — Tools in the toolbar include:
Opens a new board file.
Ope ns an existing board file .
Saves the current board file.
Sends parameters listed in the Parameter area of the display to the RMC100
controller and initializes the axis.
Halts a selected axis (ramps the axis to a stop).
Kills all axes (sets the drive outputs to 0 Volts).
Saves contro lle r information to non-volatile memor y.
Retrieves a plot of the selected axis from the RMC100 controller.
These buttons are pre-programmed commands that you can execute by clicking on
the appropriate number. Instead of entering values in the COMMAND area of the
display you can pre-program c ommands into each button, then by clicking a butt on
or pressing a shortcut key, quickly execute the pre-programmed command.
Status Bar — Indicates the state of the serial communications to the RMC100,
Read or Write mode, and CAPS LOCK.
Starting the RMC100 Controller
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1. Connect power to the RMC100 controller.
Note: The RMC100 controller requires 24 VDC at various current levels up to 750
mA, depending on the communication and transducer interface modules used.
2. Connect the PC to the RMC100 controller using one of the following two
methods.
• Connect a standard null-modem DB-9 RS-232 serial cable from the PC to
the RMC100 controller.
− If the serial port is configured correctly, the Offline me ssage in the
lower right corner of the RMCWin status bar will change to Online
and a pop-up message window will indicate that RMCWin can
communicate with the RMC100 controller.
− If the display indicates Offline and a n RMC100 controller is connected
and has power, try changing the serial port by double-clicking on
COM in the lower right corner of the RMCWin status bar. The
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Getting Started RMC100 Startup Guide
Index/wiring/topic for your
transducer type.
Index/configuration/MDT
Index/configuration/SSI
Contents/U s ing
RMCWin/Connecting to an
RMC/Communication
Drivers/TCP/IP Direct to RMC-
ENET Configuration
Options dialog box appears. From the Communication tab in the
Options dialog box, select the correct com port.
− If the display indicates Closed after starting RMCWi n, a nother
program may be using the serial port. Try closing other programs that
may be using the serial port.
• If the RMC100 is equipped with an Ethernet communications module and
the PC is equipped with a TCP/IP interface (such as an Ethernet adapter or
modem with TCP/IP installed), yo u may wish to connect the PC to the
RMC100 via Ethernet for noticeably faster communication. Plug an
Ethernet cable into the RMC100 Ethernet module. Use a regular patch
cable when using a hub or router and a crossover cable when connected
directly from the PC to the RMC.
− On the Tools menu, click Options, and then click the
Communication tab.
− Under Communic ation Driver, click TCP/IP Direct to RMC-ENET.
− Select the desired RMC. If the IP address of the RMC is all zeros, you
must configure the RMC100 Ethernet by clicking the Configure
button and entering the correct settings. See the help for more details.
− Click OK.
Connect and Verify a Feedback Device
This section describes wiring and testing connections to feedback devices, such as
MDTs (Magnetostrictive Displacement Transducers) and quadrature encoders.
See the Wiring section in this document for detailed wiring feedback module
diagrams. The online Help also provides wiring information. In all cases, shielded
twisted pair wiring must be used.
Note: Always turn off power to the RMC100 and the feedback device when
connecting wiring from the device to the RMC100 controller.
Decide which axis on the selected RMC100 you want to use and connect the wiring
from the feedback device to that axis according to the wiring diagrams in the Wiring
section of t his document. After connecting t he wiring, re-apply power to the
RMC100 and feedback device. When power is re-applied the RMC100 controller
should indicate that it is online in the RMCW in lower right status bar.
The RMC100 needs to be configured properly before it will communicate with
some types of transducers.
MDT: First, in the RMCWin Tools menu, select Module Config ura tion. Select the
slot for the axis you are configuring, and click on Slot Option. Select either
Standard or Short bla nking period. This setting is transducer de pendent, and
is available in the transducer datasheet. Next, double click on the CONFIG
parameter in the Parameter area to display the MDT Axis Configura tion
Word dialog box. Select the transducer type you are using. Click OK and
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then click t he
to initialize the RMC100
SSI: In the RMCWin Tools menu, select Module Configuration. Select the slo t for
the axis you are configuring, and click on Slot Option. Complete the
necessary information for your transducer type and your application.
RMC100 Startup Getting Started
Index/drive /Drive
Index/stepper/wiring
Index/confi guration/analog
transducer
Index/configuration/quadrature
Analog Transducers: Fir st, in the RMCWin Tools menu, s e le c t M odule
Configuration. Select the tab for the axis you are configuring, and click on
Slot Option. Select the option corresponding to the type of application you
have. Next, double click on the CONFIG parameter in the Parameter area to
display the Analog Axi s C onfigurat ion Word dialog box. Select the vol tage
Quadrature Encoders: Double click on the CONFIG parameter in the Parameter
In the Statu s area of the R MCWin disp l ay, the value of COUNTS should now
change. Move the axis manually and look for a corresponding change in the
displayed value of COUNTS, in the status area.
If COUNTS do not change, the most common problem is incorrect wiring. Refer to
the online Help topics.
Connect and Verify an Actuator
This section describes wiring and testing drive output connec t ions and test ing
actuator motion.
For most types of actuators, Drive outp ut wiring consists of a ±1 0V drive outp ut
and a common. For stepper motors a Step and a Direction signal are used.
Note: Always turn off power to the RMC100 and the actuator/amplifier when
connecting wiring from the actuator to the RMC100 controller.
Use the same axis number for the actuator as you did for the feedback device.
Connect the wiring from the actuator to that axis. Refer to the approp r ia te wiring
information in the online Help, or in the specification sheets. After connecting the
wiring, re-apply power to the RMC100, the feedback device, and the actuator.
or current range for your transducer. Click O K and then c lick the
to
initialize the RMC100.
area to display the Quadrature Axis Configuration Word dialog box. Select
the polarity of the Fa ult, Limits, Index (Z) and Home (H) inputs and t he
action of the Homes status bit depending on your application. Click OK and
then click t he
to initialize the RMC100.
Test Actuator Motion
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The axis is not currently initialized , but it reads counts and you may see a sl ight
movement when the drive output is connected. Test the drive output in either of
these ways:
1. Unplug the drive output from the system and check o utput voltages from the
RMC. Use the open loop (“O”) command described in the following section.
2. Connect the drive output from the RMC100 to the actuator and supply output
voltages to see if the actuator moves. This method is described in the follo wi ng
section.
Connecting drive output from the RMC100 to the actuator and supplying output
voltage is the quickest method of testing actuator motion and dir e c tion. If there is
no movement, remove the connector and verify that the actuator receives a voltage.
Note: Read this section completely before executing any commands on the RMC.
Note: Verify the Simulate bit is NOT set in the CONFIG word.
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Getting Started RMC100 Startup Guide
In the Command area of the RMCWin display, select the correct axis and enter the
following (see Figure 3):
MODE 0x0001
ACCEL 10
DECEL 10
SPEED 0
COMMAND VALUE 100
These values cause the output voltage to change to 100 mV at a rate of 10 mV/ms.
Figure 3. Initial values to verify drive.
Note: Be prepared to stop the system with the
button or ALT+K. Both issue a
Kill (K) command, which will set the drive output to 0 volts.
Send an open loop command by typing O and then ENTER in the Command field
or by pressing ALT+SHIFT+O. You should see t he value of DR IVE in the s t atus
area of the RMCWin display change to 100. You should be able to measure
roughly 100 mV with a voltmeter on the drive output connector.
Observe the COUNTS value in the RMCWin display Status Area, and note whether
the value is increasing or decreasing.
One of three things could have happened at this point:
1. The actuator moved and the COUNTS increased. In this case you are ready to
go to the next section and s et the SCALE.
2. The actuator moved and the COUNTS decreased. In this case you must use the
Reverse Drive Mode bit in the CONFIG parameter to reverse the direction.
Double click on the CONFIG parameter, check the Reverse Drive Mode option
in the dialog box (see Figure 4). Click OK, and then click the
to initialize
the RMC100.
Figure 4. Setting Reverse drive mode.
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RMC100 Startup Getting Started
Index/scale/scale and offset
calibration utility
Contents/Transducer Types/Your
Transducer Type/Scaling
Contents/Starting Up the
RMC/Setup Details/
Tuning a
Position Axis
Index/step-by-step startup.
Scroll to Step 10.
3. The actuator does not move. In this case check the output voltage, check that
the actuator is enabled, verify the Si mu la te bit is not set in the CONFIG word,
increase the voltage and repeat the process above.
Note: It is essential that the COUNTS increase when a positive output voltage is
specified with the “O” command. If this condition is not met, you will not be able
to control the axis in closed loop.
At this point the drive has moved in one directi on. Verif y that it moves in the
opposite direction with the fol lowing steps:
Setting the Scale
Tuning the System
1. Click
2. In the COMMAND area of the RMCWin display, select the drive axis and
enter a -100 for the COMMAND VALUE (-100 mV).
3. Send an open loop command by entering ALT+SHIFT+O.
You should see the value of DRIVE in the status area of the RMCWin display
change to -100 and the drive should move in the opposite direction.
It is important to specify the measurement units to be used. Setting the SC A LE
converts the informati on from the t ransducer into meaningful measurement units.
Most transducer types use this parameter with the Prescale Divisor bits in the
CONFIG parameter to convert from the change in transducer counts to a change in
the actual position. Refer to the online Help topics at left for more information.
Note: SCALE is a signed number. If you want your system’s position units to
increase when the COUNTS decrease, set the SCALE to a negative value.
Once the system is set up, it must be tuned in order to operate. Tuning gets the
system to move in a controlled manner, with minimal oscillation, overshoot, or lag
error. Tuning allows the system to a c hieve the best efficiency and stability.
or press ALT+K to turn drive voltage off.
Saving Configuration S e t ti ngs
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See the Tuning section in this document for instructions on how to tune your
system.
Make sure you save your configuration settings or they may be lost! There are three
ways to save configuration settings.
1. Save settings on the controller in FLASH. Certain types of configur ation
settings may only be set via RMCWin on the PC and stored in FLASH.
To save configuration infor matio n to FL A SH, c lick the
Update Flash (U) command.
2. Save settings o n disk on the P C .
3. Save settings o n the PLC. T he PLC can then send this i nformation to the
controller on startup.
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button or issue an
Getting Started RMC100 Startup Guide
Index/digital
I/O/communication
Index/step-by-step startup. Scroll to
Step 9.
After performing the startup, save your configuration settings. See the appropriate
online Help topic for more information.
Step-by-Step Example
Appendix D contains a step-by-step, illustrated example of setting up and tuni ng a
hydraulic cylinder. Read this to see the practical details of setup and to learn how to
use the plots to tune the axis. T his will help you to quickly set up and control a
hydraulic system!
Communications
After setting up and tuni ng your system, it is rea dy to be programmed and
integrated into the rest of your application. The RMC100 offers numerous
communication options for this purpose.
The purpose of communications is to issue commands and read back status
information. Available RMC100 communications modules include Modbus Plus,
PROFIBUS-DP, Serial, and Ethernet. A simple communications interface between
the RMC100 and the system controller or Programmable Controller (P/C) is also
provided by the Digital I/O module.
See the RMC Modules section of this document for a short overview of each, and
the communications section of the online Help for more detailed infor matio n.
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RMC100 Startup Features of the RMC100
Index/Open Loop/Open Loop
Features of the RMC100
The RMC100 contains a host of useful features that will enable you to precisely and
efficiently control any complex motion application. These features include
powerful control options, flexib le programming capabilities, effective diagnostic
tools, a diverse set of feedback options, and support for many popular
communication types.
Control Options
Trapezoidal Profile
Closed-loop motion moves made with the RMC100 have a trapezoidal speed
profile, a s s hown in the following figure.
The axis moves from position A to positio n B in the following manner:
• Accelerates from zero speed to speed S.
• Moves at a constant speed S.
• Decelerates to zero speed and ends at position B.
The RMC100 allows the user to independently specify the acceleration,
deceleration, and speed po rtions of the move. This flexibility is a powerful tool for
any motion control application.
Open Loop (Direct Drive Output)
Although the RMC100 is designed for precise closed-loop motion control, it does
have an ope n-loop mode. In open-loop mode, the user specifies the amount of drive,
and the RMC100 outputs that amount. The RMC100 automaticall y re ver ts to the
open-loop state after certain faults.
Open loop is useful for jogging the axis under manual control and determining
whether the system is working co r rectly after initial setup.
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Features of the RMC100 RMC100 Startup Guide
Index/Splines/S
pline Overview
Index/gearing/Gearing Axes
Index/s curves/S curves
scroll to bit 7
S Curves
For applications requiring smooth motion with more gradual starts and stops and
higher peak speeds, the RMC100 offers an "S-curve" option for the trapezoidal
motion profile. When this option is selected, the RMC100 calculate s an s -shaped
target as shown below.
Splines
Gearing
Some applications require that the motion controller move between a number of
given positions. The splines feature of the RMC100 greatly simplifi es such
applications. The user only needs to enter the desired points at certain intervals and
the RMC100 automatically calculates the intermediate positions while maintaining
smooth motion free from jerks or discontinuities.
The splines positions can be placed as a function of time, position units from an
axis, or counter ticks from a digital I/O input. This makes the splines feature a
powerful tool for applications such as curve sawing, animatronics, cyclical testing
and electronic camming among others.
Gearing is u s ed when one axis (the geared axis) must move i ncrementally and
proportionately to another axis (the gear master). The RMC100 easily performs this
so-called electronic gearing (as opposed to mechanical gearing) and allows the user
many options.
The RMC100 allows any axis to be geared to another axis or to a position input
encoder. Setup is simple since the master axis does not need to do anything to be
the master. Multiple axes may be geared to the same master.
The user specifies the gear ratio, which can be changed at any time. When issuing a
gearing command, the geared axis must change its speed to the speed dictated by
the user-specified gear ratio. This is called clutching. The RMC100 has 3 methods
of specifying clutching, which makes the task of synchronizing the a xis to the rest
of the system simple.
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RMC100 Startup Features of the RMC100
Index/pressure control/
Using
Analog Channels as Pressure
Inputs
Index/position-pressure
transition/Position-Pressure
Overview
Index/quick mode/quick mode
scroll to Bit 6.
Pressure or Differential Force
The RMC100 excels in pressure control applications. Control can be performed
with either s ingle-ended or double-ended pressure feedback. With double-ended
pressure feedback on a hydraulic systems, the differential force on the piston can be
calculated, allowing force to be controlled. The RMC100 firmware is specifically
designed to handle the characteristics of hydraulic pressure and force control.
Position/Pressure or Position/Differential force.
The RMC100 not only excels at pressure and force control, but is also designed to
smoothly transition from posit ion control to pressure control. This functionality
makes the RMC100 perfect for applications such as injection molding, powder
metal presses, hydroforming and many others.
Pressure Regulating Mode
Pressure or force is controlled in the RMC100 in the same manner as position. That
is, the pressure is made to go to the value to which it is commanded. The RMC100
corrects for any errors while the pressure is changing and when it has reached the
commanded pressure.
Pressure or Differential Force Limit
To fill the needs of pressure control applications requiring more than the sta nd a rd
pressure regulating mode, the RMC100 has a pressure control mode available with
special firmware: Pressure (or force) Limit. This type of pressure control allows the
user to set a maximum value of pressure which is not to be exceeded. The axis can
then be controlled for position. If the pressure approaches the user-defined
maximum pressure, the positio n is li mited so that the pressure does not surpass this
value.
This functionality is very useful in applications where movement is made while
required to remain under a certain pressure, such as molding, extrusion, gripping
and many others.
Quick Mode
A typical move in closed-loop control with the RMC100 is constrained to follow a
certain target path defined by the user. In some applications, the user does not care
about the target path during the initial p ortion of the move.
For these applications, the Quick Mode can be used. The RMC100 simply outputs
an open-loop drive defined by the user and does not enter closed loop control until
the axis approaches the commanded position. It then ramps the speed down and
reaches the commanded position.
This is usef ul for quickly reaching the commanded position because full drive can
be given to the axis initially. Nor mally, this might cause the axis to fault if it were in
full closed-loop control.
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Features of the RMC100 RMC100 Startup Guide
Index/analog
transducer/overview
Index/reference
command/Reference Command
Index/command/command
Index/event control/overview
Analog Reference
The RMC100 analog modules can be used as reference inputs. This is very useful
for applications requiring an external target generator or joystick. This externally
generated voltage or current signal can then be used to generate a position or
velocity target for another axis.
Filtered Reference
The RMC100 has very flexible and powerful reference capabilities, allowing any
input axis to be used as a reference axis. Thus, an MDT, SSI, quadrature or analog
signal can be used as a reference. In addition, the RMC100 has digital filtering
capabilities that can be applied to any reference axis to reduce noise.
Programming
Commands
The RMC100 has a simple and consistent, yet versatile command structure. In
addition to the command itself, there a r e 5 command fields that may contain
information for each command. These fields are:
Event Control
• Mode
• Acceleration
• Deceleration
• Speed
• Command Value
For example, the Go ("G") command uses the Mode to determine what type of
move to make, the Acceleration and Deceleration fields determine the accelerations,
and the Speed determines the speed of the move.
Other commands use these same fields, altho ugh they may not have anything to do
with accelerations or speeds. Every command that is issued, regardless of the
method, must also have all the fields set correctly.
The Event Control feature allows a sequence of commands to be executed without
intervention from the Progra mmable Co ntroller (P/C). This lets the module respond
to events within the cont rol-loop time (1ms or 2ms) rather than the scan rate of the
P/C. It also reduces the controller programming required.
Event Control consists of a series of Steps that are linked together in sequences.
The Steps consist of a command area containing the instruction to be executed and a
link area that specifies the next Step number and its trigger. There are a total of 256
Steps that can be shared by all axes.
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The Event Control has many functions that allow powerful progra mmi ng of
complex motion applications. Some are listed here:
• Wait for inputs or states
RMC100 Startup Features of the RMC100
Index/plots/
using
• Compare functions
• Math capabilities
• Trigger an event sequence from a digital input
• Conditional branching
Master Control (PLC or PC)
The RMC100 may be controlled from a PLC, a PC or other programmable
controller. The RMC100 provides a full range of communication options between
the RMC and the programmable controller. This enables the user to choose
between broadband control of the RMC for complex applications or limited control
for simpler applications.
The RMCWin on-line help contains highl y d e ta ile d information for controlling the
RMC with each method o f communication. The www.deltamotion.com
also contains many demonstration PLC programs.
This complete programming ability allows complex motions to easily be performed
by the RMC100.
web site
Diagnostic Tools
Plots
The RMC100 contains diagnostic tools for monitoring and troubleshooting every
aspect of any motion it performs. A description of each follows.
The plotting utility in the RMC100 is very powerful. Each move automatica lly
initiates a plot, in addition to the user being able to start a plot at any time. Each plot
contains the following useful information from an axis:
• Actual Position
• Target Position
• Drive
• Status Word
• Actual Speed
• Target Speed
• 2 user-selected pieces of data
The plotting utility is essential for tuning an axis. The user can view exactly wha t
happens at a resolution of down to 1 msec. The plotting utility also calculate s the
Sum Error
2
, a quantitative measure of how close the actual trajectory follows the
target trajectory.
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The plot data can also be viewed in numerical spreadsheet form.
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Features of the RMC100 RMC100 Startup Guide
Index/status/Using the Status
Bits Window
Index/ i/o Bit Monitor /Using
the I/O Bit Monitor
Index/ parameter error:list/
parameter erro r:list
Index/stat us word/statu s wor d
Index/command log/
Command
Log
Command Log
When debugging problems with a system that is using the RMC, it is of ten difficult
to determine whether the problem is caused by an action of the RMC or the
Programmable Controller (P/C). To help with this problem, the Command Log is
available. The Command Log holds the last 256 commands received through the
communication module; commands sent by RMCWin or the event step table are not
displayed. Therefore, the Command Log can be used to determine which
commands were actually received by the RMC.
Status Words
The Status Words are values showing the state of certain axis properties. These
status words are updated constantly and can be viewed from RMCWin or read from
the RMCWin by a PLC or PC. The status words provide a complete picture of what
is happening in the RMC100. The status words are:
Command Position
Target Position
Actual Position
Transduce r Counts
Axis Status Word
Status Bits and Status Bits Window
The Status register is a collection of 16 bits to provide a summary of the state of the
axis. Eight bits are generally used for error bits. Each of the error bits latch on
when the error is detected.
The Status register is displayed in RMCWin as a 16-bit hexadecimal number. To
make it easier to view each bit, RMCWin provides the Status Bits Window, which
labels each bit independently. These bits are very useful for showing the state of the
axis.
These bits can also be captured and viewed in the plots.
I/O Bit Monitor
The RMC100 provides a visual to ol, called the I/O Bit Monitor, for keeping track of
all the digital inputs and digital outp uts. This tool constantly updates the sta te of
each input for the viewer to see. This simplifies design and verification o f digital
I/O.
Drive
Actual Speed
Null Drive
Step
Link Value
Parameter Error List
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Problems related to user-issued commands cause the Parameter Error bit to be set.
There are dozens of specific problems that can lead to this bit being set. These
problems can identified by using the Parameter Error Lis t Window. T his window
lists the most recent parameter er rors along with a short description.
RMC100 Startup Features of the RMC100
Index/ stored commands/
using
Stored Commands
Stored Commands are u s eful when se t ting up and tuning an a xis. Setup and tuning
require repetitively moving the axis. Stored Commands allow the user to enter the
desired mo ves, and issue them with a simple key combination (e.g. CTRL-2) or by
the click of a button in RMCWin. Thi s s peeds up an otherwise monotonous and
time-consuming task.
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