Delta RMC200 Startup Manual

RMC200 MOTION CONTROLLER

STARTUP
GUIDE

With wiring diagrams

Connect. Control. Optimize.

Where to Get Help

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

Important Information

Important Information

Before using the RMC200 motion controller, read this Startup
Guide and relevant manuals carefully.

Installing, putting into service, using, and maintaining the RMC200
must be carried out by suitably trained personnel.

Relevant documentation:

• RMCTools User Manual: provides information on using the

RMC200 motion controller. This information is also provided
in the RMCTools software help topics.

• RMC200 Datasheet: includes full specifications of the

modules.

Maintenance: The RMC200 contains no user-serviceable parts. The
RMC200 should be repaired only by personnel authorized by Delta.

Notices used in this document:

WARNING: Identifies information about circumstances that

can lead to personal injury or death, property damage, or
economic loss.

IMPORTANT: Identifies information that is important for
successfully applying the product.

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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.

WARNING: If deemed necessary by a risk assessment, employ
an emergency stop system to avert harm or to reduce existing
hazards to persons, machinery, or work in progress.

WARNING: Use proper lock-out procedures when working on
the machine to prevent injury or machine damage.

WARNING: On hydraulic systems, use blocking valves or other
suitable methods to prevent the hydraulic system from moving
unexpectedly when working on the machine.

WARNING: Use fuses to limit any fault currents that could
cause smoke or fire due to a fault in the RMC or external
device.

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Contents

Contents

Step 1: Mount the Base .................................................. 2

Step 2: Mount the Modules ............................................. 4

Step 3: Wiring ................................................................. 5

Step 4: Install RMCTools ................................................ 6

Step 5: Connect RMC to PC ........................................... 7

Step 6: Start a New Project ............................................ 8

Step 7: Define the Axes ................................................ 13

Step 8: Test each Actuator ........................................... 15

Step 9: Test each Feedback Device............................. 19

Step 10: Scale and Offset ............................................. 23

Step 11: Set the Output Polarity ................................... 24

Step 12: Tuning ............................................................ 25

Continuing the Motion Application ................................ 28

Diagnostic Tools ........................................................... 31

Appendix A: W iring ....................................................... 32

Appendix B: Mounting Dimensions ............................... 51

Appendix C: Agency Compliance ................................. 53

Version 1.04, March 7, 2019
Copyright © 2019, Delta Computer Systems, Inc.

deltamotion.com 1

RMC200 Startup Guide

Ambient Temperature

Clearance

122 - 140°F (50 - 60°C)

3 in. (7.6 cm)

Less than 122°F (50°C)

2 in. (5.1 cm)

Operating ambient temperature

-4 to +140°F (-20 to +60°C)

Storage ambient temperature

-40 to +185°F (-40 to +85°C)

Ambient humidity

5-95%, non-condensing

Clearance

Clearance

Step 1: Mount the Base

The RMC base should be mounted upright on a vertical surface, such
that the module ventilation holes are on the top and bottom.

Mounting the Base on a Panel

See Appendix B: Mounting Dimensions for more details

Clearance

The required clearance above and below for airflow
depends on the maximum ambient temperature:

Environment

The environment must conform to the following:

Keep liquids and conductive particles away from the RMC200.

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Step 1: Mount the Base

Enclosure

If the RMC200 is installed in an electronics enclosure, the enclosure
must be large enough to dissipate the power that is being generated
by the components in the cabinet without having the air temperature
in the cabinet exceed the rating on any of the components within the
cabinet.

To ensure sufficient convection, the enclosure should provide the
following clearances:

• At least 2” between front of RMC200 and enclosure

• At least 3” between top of RMC200 and enclosure

• At least 3” plus space for wires between bottom of RMC200

and enclosure

Grounding

IMPORTANT: Make sure to properly ground the base metal.

Mounting via steel screws to a well-grounded surface such as a
metal panel will typically suffice. To ensure a robust
connection, the grounding stud on the bottom of the base may
be used. The Case pins of each module are electrically
connected to the module chassis, which will conduct to the
base chassis.

WARNING: Electrostatic Discharge (ESD): Electrostatic
discharge can cause internal damage and affect normal
operation. When handling this equipment, follow these
guidelines:

• Touch a grounded object to discharge potential static or

wear a grounding wrist strap.

• Do not touch connectors or pins on the module boards, or

electronic components inside the modules.

• Use a static-safe workstation, if possible.

• Store modules in ESD packaging when not in use.

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RMC200 Startup Guide

Slot

Compatible Modules

0

PS4D (B5, B7 and B11)
PS6D (B15)

1

CPU40

2+

CA4, CV8, S8, A8, Q4, D24

Hooks

Pins

Connector

Screw

Step 2: Mount the Modules

Module Locations

Modules may only be installed in compatible slots on the base.
Modules are keyed so only compatible modules mount in a given slot.

Install each M odule

1. Tip the module up.

2. Set the upper pins

in the hooks.

3. Rotate the module down

carefully such that the
base connector engages.

4. Tighten the holddown screw

to 5 in-lbs (0.6 Nm).

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Step 3: Wiring

Wiring Topic

Page

General Wiring Information

33

PS4D and PS6D: Power Supply

35

CPU40, CA4, CV8: Discrete I/O

36

CA4, CV8: Control Output ±10V, 4-20 mA, or ±20mA

37

S8: SSI

38

S8: MDT

40

S8: Quadrature Encoder

42

A8: Analog ±10V, 4-20 mA

43

Q4: Quadrature Encoder

46

D24: Discrete I/O

48

Step 3: Wiring

Wire the power, actuators and feedback devices to the RMC according
to the instructions in Appendix A: Wiring on page 32.

IMPORTANT: Remove external power from the device before
wiring. Failure to do so may cause component failure.

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RMC200 Startup Guide

PC Requirements for RMCTools

Operating System*

Windows® XP/Vista/7/8/10

Step 4: Install RMCTools

Download

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

2. Choose the RMC200 section, then choose the Software section.

3. Choose RMCTools, 32-bit or 64-bit, as required for your computer.

RMCTools supports the RMC70, RMC150 and RMC200 controllers.

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 3 or newer.

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Step 5: Connect RMC to PC

Step 5: Connect RMC to PC

USB Cable

Connect an A to B USB cable to the PC and
to the RMC200 USB port.

This type of USB cable is typically 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 RMC200 and the PC
or Ethernet switch. The RMC200 supports both
straight through and crossover cables.

Setting the IP Address

The IP address need not be set before connecting via Ethernet. If the
PC is on the same physical Ethernet network as the RMC, RMCTools
can detect the RMC even if the IP address is not set.

The RMC’s IP address and subnet mask can be set via RMCTools while
connecting via Ethernet. See the next step Start a New Project for
details.

Or, set the IP address and subnet mask via the CPU display screen:

1. Using the Menu , arrow and Enter buttons, browse to:

Ethernet  Change IP Address  Set manually

2. Using the arrow buttons, set the IP address.

3. Press Enter for Next and set the subnet mask.

4. Press Enter for Next and use the arrow and Enter

buttons to choose whether to use a default gateway. Set it if so
desired.

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RMC200 Startup Guide

Step 6: Start a New Project

1. Start RMCTools.

In the Startup dialog, choose Create a New Project and click OK.

2. Enter the Project Name, then click Finish.

3. In the New Controller Wizard, choose Automatically Detect the

Controller Information, then click Next.

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Step 6: Start a New Project

4. Communication Method:

Via USB:

A. Choose USB and click Next.

B. The RMC200 will appear in the list as R200-CPU40. Choose

the RMC and click Next.

Tip: If multiple controllers are listed, use the serial number to

identify your RMC in the list (Device ID). The serial
number is accessible on the RMC200 display screen:

1. Using the Menu , arrow and Enter

buttons, browse to:
Module InfoSlot 1 (CPU40)

2. The serial number is prefixed by SN:

C. RMCTools will connect to the RMC and display it.

Verify it is correct, then click Finish.

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RMC200 Startup Guide

MAC address.

Via Ethernet:

A. Choose Ethernet and click

Next.

B. The RMC200 will appear in the list as R200-CPU40. Click the

RMC and click Next.

Tip: If multiple controllers are listed, use the MAC address to

identify your RMC in the list. The MAC address is
accessible on the RMC200 display screen:

1. Using the Menu , arrow and Enter

buttons, browse to:
Ethernet  View IP Address

2. Using the arrow buttons, scroll down to view the

C. If the RMC does not have an IP address (0.0.0.0), you must set

an IP address now in order to connect via Ethernet:

a. Click Configure Device.

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Step 6: Start a New Project

b. Choose Use the following IP address, set the IP Address

and Subnet Mask, then click OK.

Tip: For help on IP addressing, in the RMCTools help, in the Index tab,

type IP Address and choose that item from the list.

D. Click Next. RMCTools will connect to the RMC and display it.

Verify it is correct, then click Finish.

5. 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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RMC200 Startup Guide

Saving Settings

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

1. Save RMCTools Project

On the File menu, click Save.

2. Update Flash

On the Controller menu, click Update Flash.

IMPORTANT: 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.

Tip: On the File menu, click Save and Update Flash to perform

both operations at once.

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Step 7: Define the Axes

Position
Feedback

Dual-input Force Feedback

Valve

Hydraulic Cylinder

Analog

Position
Control

Output

Position
Feedback

Valve

Hydraulic Cylinder

Control
Output

Step 7: Define the Axes

To use a physical input or output, it must be assigned to an internal
software axis. The RMC starts with default axis assignments which you
will likely need to change.

Make sure to define the axes at the start of the project. Major changes
to axis definitions 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

deltamotion.com 13

Joystick

RMC200 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 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.

After changing axis definitions, save the project and update Flash.

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Step 8: Test each Actuator

Step 8: Test each 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 command signal to the
actuator. The actuator must already have been wired to the RMC.

Set the Output Type

1. In the Project tree,

double-click Axis Tools.

2. In the Axis Parameters, on the Setup tab, set the Output Type to

the correct setting for your actuator. Typically, it will be ±10V.

3. Click the Download button

to apply the changes to

the RMC.

4. In the Axis Status Registers, on the

Basic tab, look at the Control
Output.

It should be 0.

Notice that the Final Output shows
the output value in Volts or mA.

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RMC200 Startup Guide

Enable the Axis – Enable Controller (7) Command

5. In the Command Tool, in the axis

the actuator is connected to, click

the button.

6. Browse to General Commands,

click Enable Controller, then
click OK.

The Enable Controller command
enables all the axes to motion
commands can be sent to them.

7. In the Command Tool, click Send.

The axes will now be enabled, as
indicated by the Enabled Status bit
in the Axis Status Registers.

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Step 8: Test each Actuator

Move the Axis - Direct Output (9) Command

WARNING: Use the Direct Output (9) command with caution. It

disables the Autostop features of the axis.

Fault Controller Button
In the next steps, if you need to quickly stop the axis, click the
Fault Controller button on the toolbar, or press Ctrl + K on the
keyboard.

8. Browse to Motion Commands, then

Open Loop.
Choose the Direct Output
command and click OK.

The Direct Output command is
useful for setup because it ignores
all axis errors.

9. For the Direct Output command parameters, enter the following:

• Output (%): 10

• Ramp Rate: 1000

When you send the command in
the next step, the Control Output
will ramp to 10 % output at a rate
of 1000 %/sec.

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RMC200 Startup Guide

10. In the Command Tool, click Send.

The axis should move, and the

Control Output (in the Axis Status
Registers) should be 10.0.

11. If the axis did not move, resend the command with a larger

Output until the axis moves.

Note: If the Enable Output is wired to the actuator, before

moving, set it with the Set Enable Output command.

12. Now stop the axis:

In the Command tool, enter 0
in the Output box and click
Send.

13. Repeat these steps to move the axis in the other direction. In the

Direct Output command, use a negative Output value.
Move the axis back and forth through the entire travel range to
make sure the axis is moving properly.

18 Delta Computer Systems, Inc.

Step 9: Test each Feedback Device

Transducer Type

Module

Page

SSI

S8

20

Start/Stop or PWM (Magnetostrictive)

S8

20

Quadrature Encoder

Q4, S8, D24

21

Analog (Voltage or Current)

A8

21

Step 9: Test each Feedback Device

Now that you have connected and tested an actuator, you will 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.

Refer to the procedure for your transducer type and module:

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RMC200 Startup Guide

SSI Feedback

1. In the Axis Parameters pane, on the Setup tab, set the Feedback

Type to SSI.

2. Set the following parameters:

• SSI Format

• SSI Data bits (e.g. 24)

• Linear/Rotary

Choose Format and Data Bits per the SSI device data sheet.
For linear transducers, choose Linear. For rotary encoders, choose
Rotary if the axis on your machine can rotate continuously and
the positions wrap around, or Linear if it has a limited travel range
and the encoder will not cross the zero counts point.

Note: For help on a parameter, click the cell and press F1.

3. Click the Download button to apply the changes to the RMC.

4. Continue to the Verify Feedback section on page 22.

Start/Stop or PWM (Magnetostrictive) Feedback

1. In the Axis Parameters, on the Setup tab, set the Feedback Type

to MDT.

2. Set MDT Type to the type of

magnetostrictive transducer
you have.
This information is available
from your transducer
datasheet.

3. Click the Download button to apply the changes to the RMC.

4. Continue to the Verify Feedback section on page 22.

20 Delta Computer Systems, Inc.

Step 9: Test each Feedback Device

Analog Feedback

1. In the Axis Parameters, on the

Setup tab, set the Analog Input
Type to Voltage (±10V) 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.

For pressure or force inputs on a dual-loop axis, the Input Type is
in the Secondary Control Setup section in the Axis Parameters.

2. Click the Download button to apply the changes to the RMC.

3. Continue to the Verify Feedback section on page 22.

Quadrature Feedback

1. In the Axis Parameters, on the

Setup tab, set the Linear/Rotary

parameter.
For linear transducers, choose

Linear. For rotary encoders, choose
Rotary if the axis on your machine

can rotate continuously and the
positions wrap around, or Linear if it has a limited travel range
and the encoder will not cross the zero counts point.

2. Click the Download button to apply any changes to the RMC.

3. Continue to the Verify Feedback section on page 22.

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RMC200 Startup Guide

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. It may be changing slightly.

3. Use the Direct Output command to move the axis back and forth

(as described in the Test an Actuator section).

4. As the axis moves, look for a corresponding change in the Counts,

Voltage or Current. If it does not change smoothly, recheck the
wiring, verify that the parameters on the Setup tab are correct,
and check for smoothly changing Counts, Voltage or Current
again.

5. Save the project and update Flash.

22 Delta Computer Systems, Inc.

Step 10: Scale and Offset

Step 10: Scale and Offset

The Scale and Offset parameters convert the Counts, Volts or Current
from the transducer into meaningful measurement units.

First, determine the approximate positions at either end of travel. This
will help you verify later that you performed the procedure correctly.

To set the Scale and Offset:

1. Go to the Axes Parameters pane,

Setup tab, Tools and Wizards

section.

2. Click Launch for the Scale/Offset

Wizard in the desired axis.

3. In the wizard, follow the directions. For help, press the Help

button.

Tip: If the wizard does not work for your system, you can manually

determine the Scale and Offset parameters. See the Scaling topic
in the RMCTools help for details.

4. After completing the wizard, in

the Axis Parameters, locate the
Display Units parameter.

Select the desired display units.
If you wish to use units that are
not listed, choose Custom, then
type up to 4 characters in the Custom Units parameter.

5. Click the Download button to apply the changes to the RMC.

Remember to save your project and update Flash.

deltamotion.com 23

RMC200 Startup Guide

Step 11: Set the Output Polarity

The Actual Position, Pressure, Force or Velocity must increase when
the RMC applies a positive Control Output percentage. If this condition
is not met, you will not be able to perform closed-loop control.

1. Send the Direct Output command with a positive Output value

that is large enough to move the axis.

2. On the Basic tab of the Axis Status Registers pane, observe the

Actual Position and note whether it is increasing or decreasing:

Increasing
The Output Polarity is correct. Go to Enable the Axes below.

Decreasing

You must invert the Output Polarity:

A. In the Axis Parameters pane, on the Setup tab, double-click

the Invert Output Polarity parameter to set it.

B. Click the Download button to apply the change to the

RMC.

Enable the Axes

In order to send motion commands other than Direct Output, the axes
must be enabled after the RMC starts up.

1. In the Command Tool, in the Cmd box,

type Enable, and choose
Enable Controller (7) from the list.

2. Click Send. All axes will be enabled.

Entering RUN Mode will also enable the
axes.

24 Delta Computer Systems, Inc.

Step 12: Tuning

Step 12: Tuning

In order to control an axis in closed-loop, it must first be tuned. You
can use autotuning or manually tune the axis.

Autotuning – Position Axes Only

Autotuning can be used for most position control axes.

1. Open Tuning Tools

On the Tools menu, click
Tuning Tools.

2. Set Up Tuning Tools

Set up the buttons that you will use
to move the axis back and forth after
the tuning wizard completes.

• Click the first button labeled

[Click to set up].

• Enter a Move Absolute

command with position, speeds,
and acceleration values that will
work for your system.

• Repeat for the other button,

with a different position.

3. Start the Tuning Wizard

In the Tuning Tools, click Tuning
Wizard.

4. Complete the Tuning Wizard

During the autotuning, the wizard will move the axis a short
distance when you prompt it to.

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RMC200 Startup Guide

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. The plot will automatically be displayed.

Tip: To halt the axis, click the Fault Controller button on the

toolbar, or press Ctrl+K.

7. If the Actual Position is not following the Target Position very well,

pull the slider bar up, apply gains, and move the axis again.
Repeat until the Actual Position tracks the Target Position very
well.

Tuning With an Existing Plot

If the autotuning does not work for your system, you can use the
Tuning Wizard with an existing plot.

1. In the Tuning Tools, use the move buttons to make moves and

adjust the Proportional Gain until the axis has some control.

2. Start the Tuning Wizard and choose Use Existing Plot. The Wizard

will prompt you to choose one of the plots of the moves you
made.

3. When the wizard completes, use the Gain Calculator as described

above.

26 Delta Computer Systems, Inc.

Step 12: Tuning

Manual Tuning– Position, Pressure, or Force Axes

You can manually tune systems for which autotuning does not work.
For instructions:

1. On the help menu, choose Help Topics.

2. On the Index tab, type tuning and double-click about.

3. The Tuning Overview topic describes tuning.

In the Manual Tuning section, choose a procedure. For most
position control applications, choose Tuning a Hydraulic Position
Axis or Motor in Velocity Mode. For pressure or force, choose the
procedure that applies to your axis.

After tuning, save the project and update Flash.

deltamotion.com 27

RMC200 Startup Guide

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.

Commands

The RMC has a rich set of pre-programmed commands that perform
anything from simple moves to complex motion to system control. For
a list of all the commands, see the Command List topic in the
RMCTools help.

User Programs

A User Program carries out simple or advanced sequences of
commands on the RMC. This allows the RMC to respond to events
within its control-loop time rather than the scan rate of a PLC or other
host controller. It also reduces the PLC programming required.

A User Program consists of multiple steps linked together in
sequences. Each step can issue any RMC command to one or several
axes. The link types allow branching and looping, waiting for
conditions and many other features. Simple and complex
mathematical operations are also possible in the user program.

A User Program runs on a task. Each task can run one user program at
a time. The RMC200 has up to 32 tasks. Therefore, an RMC200
controller may run up to 32 User Programs simultaneously.

For details on creating and running User Programs, see the User
Programs topic in the help.

28 Delta Computer Systems, Inc.

Continuing the Motion Application

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 RMC200 supports a number of Ethernet protocols.

WARNING: When the motion controller is remotely controlled
by some other device, such as a PLC, make sure to design
proper safety interlocks to ensure safe machine operation in
the event of communications loss.

See the Communications section of the RMCTools help for more
detailed information.

Discrete I/O

Discrete I/O augments the communications of the RMC. Discrete I/O is
often faster than the communications, and is therefore well-suited for
starting a sequence in the RMC at a specific time. See the Discrete I/O
topic in the RMCTools help for details.

Variables

Variables help make the User Programs very flexible and easy to
maintain. Variables can be used to effortlessly change programs and
easily modify User Program parameters via a PLC. Variables can also
be used to store data.

For details on using variables, see the Variables topic in the help.

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RMC200 Startup Guide

Program Triggers

Use the Program Triggers to start User Programs based on conditions
defined by the user. For example,

• Start a User Program by writing to an RMC variable from a PLC.

• Start a User Program when a discrete input turns on.

• Automatically start a User Program when the RMC starts up.

• When an error condition occurs, automatically start a User

Program to handle it.

See the Program Triggers topic in the RMCTools help for details.

30 Delta Computer Systems, Inc.

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. You can easily capture events with the plot
trigger. For details on using plots, see the Plots topics in the help.

Event Log

The Event Log Monitor displays all events that have occurred in the
controller, such as issued commands, changed parameters and errors.
The Event Log Monitor is an important aid in troubleshooting.

The Event Log can help you:

• Determine if a command was successfully issued. The entire

command, with parameters, is displayed.

• Find out which, if any, error occurred.

• See where a command was issued from, for example, from a PLC,

from a User Program or from the Command Tool.

To open the Event Log:

• In the Project Pane, expand the controller, and double-click Event

Log .

Note: The Event Log is very useful! When you don’t know what

happened, or why something did not happen, look at the
Event Log.

deltamotion.com 31

RMC200 Startup Guide

Wiring Topic

Page

General Wiring Information

33

PS4D and PS6D: Power Supply

35

CPU40, CA4, CV8: Discrete I/O

36

CA4, CV8: Control Output ±10V, 4-20 mA, or ±20mA

37

S8: SSI

38

S8: MDT

40

S8: Quadrature Encoder

42

A8: Analog ±10V, 4-20 mA

43

Q4: Quadrature Encoder

46

D24: Discrete I/O

48

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.

WARNING: Remove external power from the device before
wiring. Failure to do so may cause the module to fail.

WARNING: Miswiring may cause damage to the RMC200 and
connected components.

WARNING: Pay special attention to wiring the Common pins,
or the RMC may not properly receive signals from connected
transducers.

32 Delta Computer Systems, Inc.

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.

• Use separate power supplies for sensors and actuators.

Unpluggable Terminal Blocks

All RMC200 modules employ unpluggable terminal blocks. Features of
these terminal blocks include:

• Latching type to prevent unintended extraction

• Spring-cage connectors for consistent wire clamp force

Using Spring-Cage Connectors

Spring-cage connectors may be used for stranded copper wire or
stranded copper wire with ferrules. Wire ferrules provide easy
insertion.

Inserting stranded wire:

1. Press and hold the spring clamp actuator.

2. Insert wire.

3. Release spring clamp actuator.

Inserting wire with ferrule

1. Insert wire (may require some force).

Removing wire (stranded or ferrule):

1. Press and hold the spring-cage actuator.

2. Remove wire.

3. Release spring-cage actuator.

deltamotion.com 33

RMC200 Startup Guide

PS4D, PS6D

CPU40, CA4, CV8,
S8, A8, Q4, D24

Wire gauge, stranded

24 – 12 AWG

0.2 – 2.5 mm2

24 – 16 AWG

0.2 – 1.5 mm2

Wire gauge, ferrule no
plastic sleeve

0.25 – 2.5 mm2

0.25 – 1.5 mm2

Wire gauge, ferrule with
plastic sleeve

0.25 – 2.5 mm2

0.25 – 0.75 mm2

Stripping Length

10 mm

10 mm

Ferrule Length

10 – 12 mm

10 – 12 mm

Wire Gauge, Stripping Length and Ferrule Length

IMPORTANT: Use copper wire only.

34 Delta Computer Systems, Inc.

Appendix A: Wiring

PS4D or PS6DPower Supply

+24 VDC

Cmn

Protective Earth

Ground

+24V

24Cmn

Case

AC

Line

The PS4D and PS6D Case pins are

PS4D and PS6D: Power

Input Voltage:

Recommended 24 Vdc ±15% (20.4 – 27.6 Vdc), 30 V max.
Overvoltage shutdown at 36 V.

Input Power:

PS4D: 42 W max (1.8 A at 24 Vdc)
PS6D: 60 W max (2.5 A at 24 Vdc)

For a given power draw, the current draw will be greater at a
lower input voltage.
Current draw varies based on number and type of modules
installed in the base.

Power Wiring Diagram

internally connected to the base

deltamotion.com 35

RMC200 Startup Guide

Outputs

On Impedance

15Ω max.

Max Current

75 mA

Max Voltage

30 V

RMC Module

Resistive
load

+VCC (12-24 VDC)

DOut +

DOut -

RMC Module

+VCC (12-24 VDC)

DOut +

DOut -

Resistive
load

RMC Module

In+

In -

PLC

+VCC (12-24

VDC)

DOut +

DOut -

PLC

RMC Module

In+

In

-

Power

Output
(24VDC)

CPU40, CA4, CV8: Discrete I/O

CPU40: 2 discrete inputs, 2 discrete outputs
CA4: 4 discrete inputs (Fault), 4 discrete outputs (Enable)
CV8: 8 discrete I/O, individually configurable as inputs or outputs

The CPU40, CA4, and CV8 discrete inputs and outputs are individually
isolated.

Discrete Inputs

Apply 12-24 V to the input. The polarity can be positive or negative.
Max current draw is 3 mA.

Used with a sourcing output Used with a sinking output

Discrete Outputs

The discrete outputs are solid state relays. Outputs can be wired in
either a high-side or low-side configuration.

36 Delta Computer Systems, Inc.

Appendix A: Wiring

Drive or AmplifierCA 4 or CV8

Connector

Ctr lOu tn

Cmn

Cas e

Shi eld

+ Re f In

- Re f In

Cmn

Cmn

Drive or AmplifierCA4 or CV8

Connector

Ctr lOu tn

Cmn

Cas e

Shi eld

+ Re f In

Cmn

CA4 and CV8: Control Output

The CA4 has 4 analog outputs, individually software selectable as
0-10 V, ±10 V, 4-20 mA, or ±20 mA, with unipolar or bipolar operation,
or a custom range within the ±10 V or ±20 mA range.

The CV8 has 8 analog outputs, individually software selectable as
0-10 V, ±10 V, with unipolar or bipolar operation, or a custom range
within the ±10 V.

Wiring to Differential Inputs

Differential inputs provide the best noise immunity. This is indicated
by individual +, -, and cmn inputs on the drive or amplifier.

Wiring to Single-ended Inputs

deltamotion.com 37

RMC200 Startup Guide

S8

Clock +

Clock -

Data +

Data -

Power Supply

+Pwr

Cmn

Clk+

Clk-

Cmn

Dat+

Dat-

Case

Pwr+

DC Gnd

Notes:

S8: SSI Transducer Wiring

For Synchronous Serial Interface (SSI) transducers and encoders.
For linear SSI transducers, make sure to choose the synchronized type.

Tip: See next page for manufacturer-specific wiring diagrams.

• The user must supply power to the transducer.

• Connect the encoder DC ground to the Cmn pin on the S8

module. The Cmn must be connected to the transducer, or the
signals may not be read correctly!

38 Delta Computer Systems, Inc.

Appendix A: Wiring

S8

+ Clk

- Clk

+Data

-Data

+PwrCmn

Clk+

Clk-

Cmn

Dat+

Dat-

Case

+24 V

GND

Yellow

Pink

Gray

Green

Brown

Blue

Do not connect Case pin to cable shield. Cable shield is
internally connected to Balluff sensor housing.

S8

(+) Clock

(-) Clock

(+) Data

+PwrCmn

Clk+

Clk-

Cmn

Dat+

Dat-

Case

+24 Vdc

DC Ground

Yellow

Green

Pink

Gray

Red or Brn

White

(-) Data

S8: SSI Manufacturer-Specific Wiring

These diagrams provide transducer manufacturer labels and colors.
Follow all SSI wiring instructions on page 38.

Balluff Micropulse BTL5 or BTL7 with SSI output
Styles: Z, W, K, P

MTS Temposonics with SSI output
Models: R, RP, RH

deltamotion.com 39

RMC200 Startup Guide

S8

Interrogate +

Interrogate

-

Return +

Return -

Power Supply

+

Pwr

Cmn

Int

+

Int

-

Cmn

Ret+

Ret-

Case

Pwr+

DC Gnd

Notes:

S8: Start/Stop or PWM Transducer Wiring

For magnetostrictive transducers with Start/Stop or PWM outputs.

Tip: See next page for manufacturer-specific wiring diagrams.

• The S8 module interfaces to RS-422 (3.5-5V differential) signals.
Single-ended (TTL) signals are not supported.

• The user must supply power to the transducer.

• Connect the encoder DC ground to the Cmn pin on the S8

module. The Cmn must be connected to the transducer, or the
signals may not be read correctly!

40 Delta Computer Systems, Inc.

Appendix A: Wiring

S8

Interrogate + Input

Interrogate - Input

Pulse + Output

Pulse - Output

+Pwr

Cmn

Int+

Int-

Cmn

Ret+

Ret-

Case

Pwr+

GND

Yellow

Pink

Gray

Green

Brown

Blue

White

*

GND

*White wire must remain unconnected.

Do not connect Case pin to cable shield. Cable shield is
internally connected to Balluff sensor housing.

S

8

(+) Interrogation or Start

(-) Interrogation or Start

(+)

Gate or (+) Stop

+Pwr

Cmn

Int+

Int-

Cmn

Ret+

Ret-

Case

Cust. Supplied Pwr (+Vdc)

DC Ground

Yellow

Green

Pink

Gray

Red or Brn

White

(-) Gate or (-) Stop

S8

(+) Interrogation

(-) Interrogation

(+) Gate Out, (+) Start/Stop

+Pwr

Cmn

Int+

Int-

Cmn

Ret+

Ret-

Case

+ VDC

DC Ground

Yellow

Green

Pink

Gray

Red

White

(-) Gate Out, (-) Start/Stop

or

or

or

or

or

or

Wh/Gy

Gy/Wh

Or/Wh

Wh/Or

Wh/Gr

Wh/Bu

- VDC

Frame

-Pwr

Blue

or Gr/Wh

Brown

or Bu/Wh

S8: Start/Stop and PWM Manufacturer-Specific Wiring

These diagrams provide transducer manufacturer labels and colors.
Follow all MDT wiring instructions on page 40.

Balluff Micropulse BTL-5, digital RS-485 output
Styles: Z, W, K, E, P, R, AT

MTS Temposonics with digital output (Start/Stop or PWM)
Models: LH, LS, LD, LF, LPS, LPR, G, EP2, ER

MTS Temposonics II with DPM or RPM personality module

deltamotion.com 41

RMC200 Startup Guide

Notes:

S8: Quadrature Wiring

The S8 supports one RS-422 quadrature encoder input, using channels
6 and 7.

• The S8 module interfaces to RS-422 (3.5-5V differential) signals
only. Single-ended (TTL) signals are not supported.

• The user must supply power to the transducer.

• Connect the encoder DC ground to the Cmn pin on the S8

module. The Cmn must be connected to the transducer, or the
signals may not be read correctly!

42 Delta Computer Systems, Inc.

Appendix A: Wiring

To reduce electrical interference:

connection at the transducer.

Input
Connector

+Analog Out

-Analog Out

Pwr Common

+Pwr

Power Supply

+Pwr

Cmn

In+V

In-

Cmn

Case

Signal Common

Input
Connector

+

Analog Out

Common

Power Supply

+24 VDC

Cmn

In+V

In-

Cmn

Case

+Pwr

A8: Analog Voltage Transducer Wiring

Voltage Transducer, 4- or 5-Wire

Voltage Transducer, 3-Wire

• In- and Cmn must be connected,

either internally in the
transducer or externally as close
as possible to the transducer.

• Use individually shielded
twisted-pair wire.

• Connect cable shield to earth
ground on one end only.

• If transducer has only one
common, connect Pwr Supply
Common and RMC Cmn to it. For
best results, make this

In+

deltamotion.com 43

RMC200 Startup Guide

To reduce electrical interference:

Connect cable shield to ground on one end only.

Input
Connector

In+V

In-

Cmn

+10V Exc

Case

Potentiometer

Wiper

A8: Potentiometer with Exciter Pin

Note: Use the Exciter pin to increase the measurement accuracy of

the potentiometer.

• The connection of In- to Cmn should be made as

close as possible to the transducer.

• Use individually shielded twisted-pair wire.

•

44 Delta Computer Systems, Inc.

Appendix A: Wiring

Input must be

Input must be

Sensor

Input
Connector

+Analog Out

Power Supply

+24 VDC

Cmn

In+

mA

In-

Cmn

Case

+Pwr

Power Supply

Input
Connector

4-20 mA Out

Signal Cmn

Pwr Common

+Pwr

+Pwr

Cmn

In+mA

In-

Cmn

Case

A8: Analog Current Wiring 4-20 mA

Current Transducer, 2-Wire

configured in software
for current.

Current Transducer, 4-Wire

For three-wire transducers with a single
shared common, the In-, RMC Cmn, and
power supply Cmn should all be connected
as close to the transducer as possible.

The current input
impedance is 250 Ω.

To reduce noise, use
shielded twisted-pair
wire.

configured in software
for current.

The current input
impedance is 250 Ω.

To reduce noise, use
individually shielded
twisted-pair wire.

deltamotion.com 45

RMC200 Startup Guide

Q4: Quadrature Encoder Wiring

Important: Set the AB Input Type and Z Input Type axis parameters in

RMCTools to correspond to the physical signal level and type. See the
RMCTools help for details.

Differential Signal

Single-Ended Signal

46 Delta Computer Systems, Inc.

Appendix A: Wiring

Q4 Home Inputs

Set the H Input Type axis parameter in RMCTools to correspond to the
type of signal. See the RMCTools help for details.

Q4 Registration Inputs

Set the R Input Type axis parameter in RMCTools to correspond to the
type of signal. See the RMCTools help for details.

deltamotion.com 47

RMC200 Startup Guide

DI/O #

Features

Group A

0-7

Input or output – nominal 24V.

outputs share the same output common.

Group B

8-15

Group C

16-19

Fast Inputs

20-23

Inputs only – 5V or 24V. High-speed.

timing.

D24 Outputs

On Impedance

8Ω max, 5Ω typ.

Max Current

75 mA

Max Voltage

30 V

D24

+VCC (12-24 VDC)

Output

Output

Resistive
Load
…

OutCmn

D24

+VCC (12-24 VDC)

Output

Output

Resistive
Load
…

OutCmn

D24: Discrete I/O Overview

The D24 discrete I/O are organized into 4 sections:

Software-configurable. Each group is
isolated. Within each group, all inputs
share the same input common, and all

Each input is individually isolated.
Configurable for pulse counters,
quadrature inputs, and high-speed

D24: Discrete Outputs

The D24 discrete outputs are solid state relays. When off, they have
high impedance, and when on, they have low impedance.

Outputs can be wired in
either a high-side or low-side
configuration. Because all the
outputs in a group share a
common, all outputs in the
same group must be wired the same.

48 Delta Computer Systems, Inc.

Appendix A: Wiring

RMC Module

InCmn

In

PLC

+VCC (12-24 VDC)

Douts+

DOut -

PLC

RMC Module

In
In

InCmn

Power

Output
Output

In

D24

Din+

DIn +5V

DIn -

n/c

D24

Din+

DIn +5V

DIn -

n/c
Apply 12-24 VDC
to turn on

Apply 5 VDC to
turn on

Inputs 0-19

Inputs 20-23

Signal Levels

12-24 VDC

5-24 VDC

Max Current Draw

3 mA

7 mA

PLC

D24

Din+

DIn +5V

DIn -

n/c

Power

Output (24VDC)

D24: Discrete Inputs

To turn on a discrete input, apply a voltage of the correct level. The
polarity is unimportant for inputs 0-19, and is important for 20-23.

Inputs 0-19

The inputs 0-19 are polarity-independent and can be sinking or
sourcing. Inputs 0-19 are divided in three groups: 0-7, 8-16, 17-21.
Each group shares a common, so all inputs in a group must be wired
the same.

Used with a sourcing output Used with a sinking output

Inputs 20-23

Each input is individually isolated and has Din+, Din +5V, and Din–
connections. Use only Din+ or Din+5V, not both.

Example:

deltamotion.com 49

RMC200 Startup Guide

D24: Quadrature Encoder

The D24 high-speed inputs 20-23 supports the following quadrature
encoder feedback and pulse train signal types:

• 5V Differential

• Differential HTL (High Threshold Logic) for 12V to 24 V

• RS-422

RS-422 will only work in this configuration if the differential
output is greater than 3.5V. Some RS-422 drivers may not
provide sufficient voltage.

• TTL

• Push-pull 5V-24V without complements

• Open collector from 5V to 24 V

• RS-422 (3V)

Use RS-422 in this configuration only if the differential output
is less than 3.5V.

For detailed wiring diagrams, see the D24 wiring topic in the RMCTools
help.

50 Delta Computer Systems, Inc.

Appendix B: Mounting Dimensions

Ambient Temperature

Clearance

122 - 140°F (50 - 60°C)

3 in. (7.6 cm)

Less than 122°F (50°C)

2 in. (5.1 cm)

Clearance

Appendix B: Mounting Dimensions

Clearance

The required clearance above and below for airflow
depends on the maximum ambient temperature:

Bases

B5: Side View, All Bases:

deltamotion.com 51

RMC200 Startup Guide

B7:

B11:

B15:

52 Delta Computer Systems, Inc.

Appendix C: Agency Compliance

Appendix C: Agency Compliance

CE

The following modules are CE compliant: B7, B11, B15, PS4D, PS6D,
CPU40, S8, A8, D24, CA4

For CE compliance and to minimize electrical interference:

• Install a ferrite ring on the power wires to the PS4D or PS6D

power supply module. Recommended ferrite is Fair-Rite

0431167281.

• 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.

UL and CUL

Pending

deltamotion.com 53

RMC200 Startup Guide

Notes

54 Delta Computer Systems, Inc.

Appendix C: Agency Compliance

Notes

deltamotion.com 55

RMC200 Startup Guide

The RMC Family of Motion Control

Connect. Control. Optimize.

56 Delta Computer Systems, Inc.