Delta RMC151 User Manual

RMC150 MOTION CONTROLLER

STARTUP
GUIDE

With wiring diagrams

Motion Control and More

RMC150 Startup Guide

Where to Get Help

Video Tutorials

In RMCTools, on the Help menu, click Video Tutorials.

RMCTools Help

In RMCTools, on the Help menu, click Help Topics.

Forum

forum.deltamotion.com

Delta Technical Support

Phone: [phone]

[e-mail]

Email:

deltamotion.com ii

Contents

Contents

Step 1: Mounting ............................................................. 2

Step 2: Wiring ................................................................. 3

Step 3: Install RMCTools ................................................ 4

Step 4: Connect RMC to PC ........................................... 5

Step 5: Start a New Project ............................................ 6

Step 6: Define the Axes ................................................ 10

Step 7: Test an Actuator ............................................... 12

Step 8: Connect Feedback Device ............................... 15

Step 9: Scale and Offset ............................................... 19

Step 10: Set the Output Polarity ................................... 20

Step 11: Tuning ............................................................ 21

Continuing the Motion Application ................................ 23

Diagnostic Tools ........................................................... 25

Appendix A: W iring ....................................................... 26

Appendix B: Mounting Dimensions ............................... 39

Appendix C: Agency Compliance ................................. 40

Version 2.03, June 28, 2013
Copyright © 2013, Delta Computer Systems, Inc.

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RMC150 Startup Guide

Ambient Temperature

Clearance

122 - 140°F (50 - 60°C)

3 in. (7.6 cm)

86 - 122°F (30 - 50°C)

2 in. (5.1 cm)

Less than 86°F (30°C)

1 in. (2.5 cm)

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:

Grounding

Make sure to properly ground the RMC. If mounted on a DIN rail, the
RMC will conduct to the DIN rail. The RMC shell is electrically
connected to its Case pins.

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Step 2: Wiring

Wiring Topic

Page

General Wiring Information

27

Power

28

Control Output (Drive)

28

Start/Stop and PWM Inputs (Magnetostrictive)

29

SSI Inputs

31

Voltage Transducer

33

Potentiometer

34

Current Transducer

34

Resolver Inputs

36

Discrete Outputs

37

Discrete Inputs

38

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.

Analog Inputs

Discrete

Inputs/Outputs

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RMC150 Startup Guide

PC Requirements for RMCTools

Operating System*

Windows® XP/Vista/7/8

Memory

Minimum OS requirement

Hard Disk Space

20MB of available hard disk space

Display

1024x768 resolution with 16-bit color or
better

Accessories

Mouse or pointing device

Step 3: Install RMCTools

From CD

1. Insert the CD and wait for the splash screen to appear.

2. Click Install RMCTools and follow the instructions. If the splash

screen does not automatically open, run the autorun.exe file.

Download

1. Go to http://www.deltamotion.com/dloads/

2. Choose the RMC70 or RMC150 category, then choose the

Software category.

3. Choose the RMCTools 32-bit or 64-bit version as required for your

computer.

4. Run the rmctoolsinstall32.exe or rmctoolsinstall64.exe file and

follow the instructions.

Start RMCTools

On the Windows Start menu, choose All Programs and then
RMCTools.

*Windows XP requires Service Pack 2 or newer. Versions 3.37.1 (June 2010) and older
support Windows 2000 and Windows XP without SP2.

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Step 4: Connect RMC to PC

Step 4: Connect RMC to PC

USB Cable

Connect a standard A to B USB cable to the
PC and to the RMC150E USB port .

This type of USB cable is used for PC
peripherals such as printers, and is available
at any store that sells electronics.

Or, use Ethernet Cable

Connect an Ethernet cable to the PC and the
RMC150E. The RMC150E supports both straight
through and crossover cables.

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RMC150 Startup Guide

Step 5: Start a New Project

1. Start RMCTools.

2. In the Startup dialog,

choose Create a New
Project and click OK.

3. Enter the Project Name,

then click Finish.

4. In the New Controller

Wizard, choose
Automatically Detect the
Controller Information,

then click Next.

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Step 5: Start a New Project

5. RMC150E via USB:

A. Click USB and click Next.

B. When the RMC appears in

the list, choose it and
click Next.

RMC150E via Ethernet:

A. Click Ethernet and click

Next.

B. Use the MAC

address (on the RMC150E
label) to identify the RMC
in the list, then click the
RMC.

C. If the RMC does not have

an IP address (0.0.0.0),
click Configure Device,
choose Use the following

IP address, set the IP
Address and Subnet Mask, then click OK.

D. Click Next.

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RMC150 Startup Guide

6. RMCTools will connect to the

RMC and display it.
Verify it is correct, then click
Finish.

7. The toolbar now displays . This means RMCTools is

communicating with the controller.

Project Pane

The project pane contains all
the items in the project. Use
the Project pane to navigate
through the entire project.

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Step 5: Start a New Project

Set Up Universal I/O Channels

If your RMC includes a Universal I/O module, you must first set up the
high-speed channels before using them as part of an axis.

1. In the Project pane, expand the Modules folder and double-click

the UI/O module.

2. On the Quad/SSI page, choose the desired Mode for each

channel. Typically, this will be Quadrature Input or SSI Axis Input.
For more details, refer to the UI/O module topic in the RMCTools
help.

Saving Settings

Throughout the startup procedure, make sure to save the
configuration changes you make or they may be lost!

1. Save RMCTools Project

On the File menu, click Save.

2. Update Flash

On the Controller menu, click Update Flash.

IF YOU DO NOT UPDATE FLASH, CHANGES TO THE

RMC WILL BE LOST WHEN POWER IS REMOVED!

3. Repeat Often

Make sure to save often to prevent loss of data.

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RMC150 Startup Guide

Control
Output

Position
Feedback

Dual-input Force Feedback

Valve

Hydraulic Cylinder

Analog

Position
Control

Output

Position
Feedback

Valve

Hydraulic Cylinder

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.

Major changes to axes later may result in lost axis parameters.

Example Axis Definitions

Position Control Axis

One Control Output, one position input.

Position-Force Control Axis (all part of a single axis)

One Control Output, one position input, dual-input force

Reference Axis

One position input.

Feedback

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Joystick

Step 6: Define the Axes

View Axis Definitions

1. In the Project tree, expand the

Axes folder and double-click
Axis Definitions.

2. The Axis Definitions dialog

opens:

The list displays the
software axes. To see
the assigned hardware,
click an axis in the list.
The hardware assigned
to that axis will be
highlighted in the
image.

Edit Axis Definitions

Use the Axis Definitions dialog to change the axis definitions:

• Click New to add an axis.

• Click Change to edit the selected axis.

• Click to remove an axis.

If you need to make significant changes to the axis definitions, first
delete all the axes, then create new ones.

For more details, click the Help button.

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RMC150 Startup Guide

Step 7: Test an Actuator

You will now test an actuator such as a hydraulic valve or a motor. You
will use the Direct Output command to send a voltage to the actuator.
The actuator must already have been wired to the RMC.

1. Check the machine and make sure that the axis may safely move

in both directions.

2. In the Project tree, double-click

Axis Tools.

3. In the Axis Status Registers, on

the Basic tab, look at the
Control Output.

It should be 0.

5. In the Command Tool, in the axis the actuator is connected to,

click the button.

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