Delta RMC70 User Manual

Motion Control and More

RMC70 MOTION CONTROLLER

STARTUP GUIDE

With wiring diagrams

RMC70 Startup Guide

Where to Get Help

Vid e o Tut orials

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

RMC T ools Help

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

For um

forum.deltamotion.com

Del ta Tec hnical Suppo rt

Phone: +1-360-254-8688

Email: support@deltamotion.com

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Contents

Step 1: Add Expansion Modules .................................... 2

Step 2: Mounting ............................................................. 3

Step 3: Wiring ................................................................. 4

Step 4: Install RMCTools ................................................ 5

Step 5: Connect RMC to PC ........................................... 6

Step 6: Start a New Project ............................................ 7

Step 7: Define the Axes ................................................ 11

Step 8: Test an Actuator ............................................... 13

Step 9: Connect Feedback Device ............................... 16

Step 10: Scale and Offset ............................................. 20

Step 11: Set the Output Polarity ................................... 21

Step 12: Tuning ............................................................ 22

Continuing the Motion Application ................................ 24

Diagnostic Tools ........................................................... 26

Appendix A: Wiring ....................................................... 27

Appendix B: Mounting Dimensions ............................... 42

Appendix C: Agency Compliance ................................. 44

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RMC70 Startup Guide

Step 1: Add Expansion Modules

Remove power from the RMC before adding expansion modules. Instructions are also included with each module.

Expansion modules can be added in any order. Do not add more than 4 expansion modules. No more than two Q2 modules can be installed per RMC75.

1. Rem ove 4 screws

Remove the 4 phillips-head screws on the right side of the top and bottom of the RMC70.

2. Ins tall E xpans i on Module

3. Rei n stall the 4 screws

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Step 2: Mounting

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 2: Mounting

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

Mou nting Option s

Symmetrical DIN 3 Panel-mount

See Appendix B: Mounting Dimensions for dimensions

Cle a rance

The amount of clearance above and below depends on the maximum ambient temperature:

Gro u nding

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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RMC70 Startup Guide

Wiring Topic

Page

General Wiring Information

Power

MA Modules

Control Output, Enable Output, Fault Input

Start/Stop or PWM Transducer

SSI Transducer

AA Modules

Control Output, Enable Output, Fault Input

Voltage Feedback Transducer

Potentiometer

Current Feedback Transducer

QA Modules

Control Output, Enable Output, Fault Input

Quadrature Encoder (A, B, Z)

Step 3: Wiring

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

For expansion module wiring, consult the wiring diagram you received with it, or use the RMCTools help. For communications wiring, consult the RMCTools help.

Note: Remove power from the RMC before connecting any wires.

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Step 4: Install RMCTools

PC Requirements

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 4: Install RMCTools

Fro m 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.

Dow nload

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.

Sta rt 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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RMC70 Startup Guide

Step 5: Connect RMC to PC

RMC 75E

USB Cable

Connect a standard A to B USB cable to the PC and to the RMC75E port labeled USB Monitor.

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 RMC75E. The RMC75E supports both straight through and crossover cables.

RMC 75S or RMC75 P

Connect Serial Cable

Connect a null-modem, DB-9, female-to-female cable to the RMC75 RS-232 Monitor port, and to a serial port on the PC.

If you make your own cable, pins 2 and 3 must be crossed over, and pin 5 must be straight-through.

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Step 6: 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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RMC70 Startup Guide

5. RMC75E via USB: A. Click USB and click Next.

B. When the RMC appears in

the list, choose it and click Next.

RMC75E via Ethernet:

A. Click Ethernet and click

Next.

B. Use the MAC

address (on the RMC75E 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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Step 6: Start a New Project

RMC75S or RMC75P:

Select the serial port and click Next.

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.

Pro j ect P ane

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

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RMC70 Startup Guide

Sav ing Se ttings

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

1. Sav e RMCT ools P rojec t

On the File menu, click Save.

2. Upd ate Fl ash

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. Rep eat Of ten

Make sure to save often to prevent loss of data.

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Step 7: Define the Axes

Control Output

Position Feedback

Dual-input Force Feedback

Valve

Hydraulic Cylinder

Analog Joystick

Position Feedback

Control Output

Position Feedback

Valve

Hydraulic Cylinder

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.

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.

Exa mple A xis De finiti ons

Pos ition Contr o l Axi s

One Control Output, one position input.

Pos ition- F orce C ontrol Axis ( all p art of a si ngle a xis)

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

Ref erence Axis

One position input.

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RMC70 Startup Guide

View A xis De f initi o ns

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.

Edi t Axis Defini tions

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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Step 8: 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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+ 33 hidden pages