Delta RMC70 User Manual
RMC70 Motion Controller
And
RMC70Tools Software
User Manual
Version 1.10.0 May 7, 2004
RMC70 and RMC70Tools User Manual
Copyright © 2004, Delta Computer Systems, Inc. All Rights Reserved.
deltamotion.com
ii Delta Computer Systems, Inc.
Condensed Contents
1. Introducing the RMC70 Series........................................................1
Overview of the RMC70 capabilities and applications.
2. Starting Up the RMC70...................................................................5
A Step-by-step guide to quickly get up and running.
3. Control Features...........................................................................19
Control Types and more…
4. Programming ...............................................................................37
A guide to programming the RMC70.
5. Using RMC70Tools........................................................................57
Detailed information on how to use the RMC70 motion control software.
6. Modules........................................................................................ 79
CPU, Axis and Expansion modules.
7. Registers.................................................................................... 107
Detailed information on all RMC70 registers.
8. Communication Types ................................................................ 113
Serial, PROFIUBUS, and more…
9. Troubleshooting......................................................................... 131
Hints and assistance. Detailed information on error codes.
10. Command Reference .................................................................. 181
Detailed information on how to use each RMC70 command.
11. RMC70 Specifications ................................................................. 215
Hardware specifications of the RMC70.
12. Index ......................................................................................... 239
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RMC70 and RMC70Tools User Manual
iv Delta Computer Systems, Inc.
Table Of Contents
Introducing the RMC70 Series...................................................................... 1
RMC70 Series Motion Controllers ............................................................................ 1
RMC70 Physical Components .................................................................................. 1
RMC70 Axis Types................................................................................................... 2
Starting Up the RMC70................................................................................. 5
RMC70 Start-up Procedure...................................................................................... 5
Scaling...................................................................................................................11
Tuning....................................................................................................................11
Tuning Overview................................................................................................................................... 12
Tuning a Position Axis.......................................................................................................................... 13
Control Features......................................................................................... 19
RMC70 Control Features.........................................................................................19
Halts ......................................................................................................................19
Halts Overview...................................................................................................................................... 19
External Halt ......................................................................................................................................... 21
Closed Loop Halt .................................................................................................................................. 21
Open Loop Halt..................................................................................................................................... 22
Open Loop with Disable Output Halt.................................................................................................... 22
Control Modes........................................................................................................23
Control Modes Overview...................................................................................................................... 23
Closed Loop Control............................................................................................................................. 24
Open Loop Control................................................................................................................................ 24
Pressure Limit ....................................................................................................................................... 25
Position-Pressure Control...................................................................................................................... 26
PFID Control......................................................................................................................................... 26
Plots ......................................................................................................................28
Using Plots............................................................................................................................................ 29
Advanced Plot Capabilities................................................................................................................... 29
Configuring Plots .................................................................................................................................. 30
Triggering Plots..................................................................................................................................... 32
Selecting Data to Plot............................................................................................................................ 33
Assigning Plots to Axes ........................................................................................................................ 34
Using Plots with a Host Controller........................................................................................................ 35
Programming ............................................................................................. 37
User Programs.......................................................................................................37
User Programs Overview...................................................................................................................... 37
Creating User Programs........................................................................................................................ 38
Verifying User Programs....................................................................................................................... 40
Running User Programs........................................................................................................................ 40
Labeling Steps....................................................................................................................................... 41
Expressions............................................................................................................42
Expressions Overview........................................................................................................................... 42
Assignment Expressions........................................................................................................................ 42
Logical Expressions .............................................................................................................................. 43
Functions............................................................................................................................................... 44
Operators............................................................................................................................................... 45
Troubleshooting Expressions................................................................................................................ 46
Link Types..............................................................................................................47
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Link Types Overview............................................................................................................................ 47
Link Type: End...................................................................................................................................... 48
Link Type: Immediate........................................................................................................................... 48
Link Type: Delay .................................................................................................................................. 48
Link Type: Wait For.............................................................................................................................. 49
Link Type: Jump................................................................................................................................... 49
Link Type: Delay Jump......................................................................................................................... 50
Link Type: Conditional Jump................................................................................................................ 50
Programming Overview .........................................................................................51
Tasks .....................................................................................................................52
Variables................................................................................................................53
PreScan Table ........................................................................................................55
Data Types.............................................................................................................56
Using RMC70Tools...................................................................................... 57
Using RMC70Tools .................................................................................................57
RMC70Tools IDE.....................................................................................................57
RMC70Tools Menu Bar............................................................................................58
RMC70Tools Project Pane ......................................................................................59
Axis Tools Pane......................................................................................................60
Event Log Monitor..................................................................................................61
Uploading and Downloading Axes..........................................................................62
Command Tool .......................................................................................................62
Output Pane...........................................................................................................63
Axes Status Registers Pane....................................................................................63
Hiding and Showing Columns............................................................................................................................64
Step Editor.............................................................................................................64
Program Monitor....................................................................................................64
Shortcut Keys ........................................................................................................65
Programming ...................................................................................................................................................... 66
Go Online, GO Offline .............................................................................................68
Editors ...................................................................................................................68
Axes Parameters Pane........................................................................................................................... 68
Indirect Data Map Editor....................................................................................................................... 70
Custom Data Map Editor....................................................................................................................... 71
Using Editors......................................................................................................................................... 71
Variable Table Editor............................................................................................................................ 73
Plot Manager..........................................................................................................75
Plot Manager: Viewing Plots ................................................................................................................ 75
Plot Manager Overview......................................................................................................................... 76
Plot Manager Elements ......................................................................................................................... 77
Modules...................................................................................................... 79
CPU Modules ..........................................................................................................79
RMC75S................................................................................................................................................ 79
RMC75S CPU Module ....................................................................................................................................... 79
RMC75S Wiring................................................................................................................................................. 79
RMC75P................................................................................................................................................ 79
RMC75P CPU Module ....................................................................................................................................... 79
RMC75P Wiring................................................................................................................................................. 79
CPU Modules Overview ....................................................................................................................... 80
CPU Module LEDs ............................................................................................................................... 80
Axis Modules..........................................................................................................82
Axis Modules Overview........................................................................................................................ 82
Control Output....................................................................................................................................... 82
Enable Output........................................................................................................................................ 83
Fault Input............................................................................................................................................. 84
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Table of Contents
AA......................................................................................................................................................... 85
AA Module ......................................................................................................................................................... 85
AA Axis Module Specifications ......................................................................................................................... 85
AA Wiring .......................................................................................................................................................... 86
AA LEDs............................................................................................................................................................ 88
Analog Scaling for the AA Module .................................................................................................................... 89
MA ........................................................................................................................................................ 90
MA Axis Module................................................................................................................................................ 90
MAx Supported Transducer Options .................................................................................................................. 90
MA Axis Module Specifications......................................................................................................................... 91
MAx Wiring........................................................................................................................................................ 92
MA LEDs............................................................................................................................................................ 96
MDT Scaling....................................................................................................................................................... 96
MDT Transducer Fundamentals..........................................................................................................................98
SSI Scaling.......................................................................................................................................................... 99
SSI Transducer Fundamentals........................................................................................................................... 100
Expansion Modules ..............................................................................................101
Expansion Modules Overview ............................................................................................................ 101
AP2...................................................................................................................................................... 102
AP2 Expansion Module .................................................................................................................................... 102
AP2 Wiring....................................................................................................................................................... 103
AP2 LEDs......................................................................................................................................................... 104
Analog Scaling for the AP Module................................................................................................................... 104
Troubleshooting....................................................................................... 107
Troubleshooting Overview ...................................................................................107
Error Codes..........................................................................................................107
Technical Support ................................................................................................111
Registers.................................................................................................. 113
RMC70 Register Address Format..........................................................................113
RMC70 Register Map ............................................................................................114
Status Registers...................................................................................................127
Axis Status Registers Overview.......................................................................................................... 127
Common.............................................................................................................................................. 127
Error Bits Register ............................................................................................................................................ 127
Last Error Number Register.............................................................................................................................. 129
Read Response.................................................................................................................................................. 130
Status Bits Register........................................................................................................................................... 131
Input .................................................................................................................................................... 133
Actual Acceleration...........................................................................................................................................133
Actual Differential Force...................................................................................................... ............................ 134
Actual Differential Force Rate.......................................................................................................................... 134
Actual Force A, Actual Force B........................................................................................................................ 135
Actual Position.................................................................................................................................................. 135
Actual Pressure/Force....................................................................................................................................... 135
Actual Pressure/Force Rate............................................................................................................................... 136
Actual Velocity................................................................................................................................................. 136
Counts............................................................................................................................................................... 136
Volts.................................................................................................................................................................. 137
Counts A, Counts B .......................................................................................................................................... 137
Raw Counts....................................................................................................................................................... 137
Raw Counts A, Raw Counts B.......................................................................................................................... 138
Output.................................................................................................................................................. 138
Control Output.................................................................................................................................................. 138
Primary Control................................................................................................................................... 138
Acceleration Feed Forward Term ..................................................................................................................... 138
Differential Output Term..................................................................................................................................139
Integral Output Term ........................................................................................................................................ 139
PFID Output...................................................................................................................................................... 139
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Position Error.................................................................................................................................................... 139
Proportional Output Term................................................................................................................................. 140
Velocity Error...................................................................................................................................................140
Velocity Feed Forward Term............................................................................................................................ 140
Jerk Feed Forward Term................................................................................................................................... 141
Primary Target..................................................................................................................................... 141
Command Position............................................................................................................................................ 141
Command Velocity...........................................................................................................................................141
Target Acceleration........................................................................................................................................... 142
Target Position.................................................................................................................................................. 142
Target Velocity.................................................................................................................................................142
Secondary Control............................................................................................................................... 143
Pressure/Force Differential Term...................................................................................................................... 143
Pressure/Force Error ......................................................................................................................................... 143
Pressure/Force Feed Forward Term.................................................................................................................. 143
Pressure/Force Proportional Term .................................................................................................................... 143
Pressure/Force Rate Feed Forward Term.......................................................................................................... 144
Secondary Target................................................................................................................................. 144
Command Pressure/Force.................................................................................................................................144
Target Pressure/Force ....................................................................................................................................... 144
Parameter Registers ............................................................................................145
Axis Parameter Registers Overview.................................................................................................... 145
Feedback ............................................................................................................................................. 145
Input Filters....................................................................................................................................................... 145
Actual Acceleration Filter............................................................................................................................. 145
Actual Position Filter....................................................................................................................................145
Actual Pressure/Force Filter.......................................................................................................................... 146
Actual Pressure/Force Rate Filter..................................................................................................................146
Actual Velocity Filter.................................................................................................................................... 146
Pressure & Force............................................................................................................................................... 147
Force A Offset, Force B Offset..................................................................................................................... 147
Force A Scale, Force B Scale........................................................................................................................ 147
Pressure/Force Offset.................................................................................................................................... 148
Pressure/Force Scale..................................................................................................................................... 148
Transducer Specific...........................................................................................................................................148
Feedback Type.............................................................................................................................................. 148
MDT Type .................................................................................................................................................... 149
Absolute/Incremental........................................................................................................................................ 152
Noise Error Rate ............................................................................................................................................... 152
Position Offset .................................................................................................................................................. 153
Position Scale.................................................................................................................................................... 153
Linear/Rotary.................................................................................................................................................... 154
Stop Threshold.................................................................................................................................................. 154
Velocity Deadband............................................................................................................................................ 154
Velocity Offset.................................................................................................................................................. 155
Halting................................................................................................................................................. 155
Auto Stop Configuration................................................................................................................................... 155
Halt Group Number .......................................................................................................................................... 157
Closed Loop Halt Deceleration......................................................................................................................... 157
Open Loop Halt Ramp...................................................................................................................................... 157
Output.................................................................................................................................................. 158
Deadband Tolerance ......................................................................................................................................... 158
Directional Gain Ratio...................................................................................................................................... 159
Invert Output Polarity....................................................................................................................................... 160
Output Bias.......................................................................................................................................................160
Output Deadband..............................................................................................................................................160
Output Filter...................................................................................................................................................... 162
Output Limit ..................................................................................................................................................... 162
Output Scale...................................................................................................................................................... 163
Fault Input Polarity...........................................................................................................................................163
Enable Output Behavior.................................................................................................................................... 163
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Table of Contents
Primary Control................................................................................................................................... 164
In Position Tolerance........................................................................................................................................ 164
Position Error Tolerance................................................................................................................................... 164
At Velocity Tolerance....................................................................................................................................... 165
Jerk Feed Forward............................................................................................................................................. 165
Velocity Error Tolerance...................................................................................................................................166
Integrator Mode ................................................................................................................................................ 166
Position Proportional Gain..................................................................................................... ........................... 167
Position Integral Gain....................................................................................................................................... 167
Position Differential Gain................................................................................................................................. 169
Velocity Feed Forward......................................................................................................................................170
Acceleration Feed Forward............................................................................................................................... 171
Simulation........................................................................................................................................... 171
Simulate Mode.................................................................................................................................................. 171
System Gain...................................................................................................................................................... 173
Natural Frequency............................................................................................................................................. 173
Damping Factor ................................................................................................................................................ 174
Secondary Control............................................................................................................................... 174
At Pressure/Force Tolerance............................................................................................................................. 174
Pressure/Force Error Tolerance......................................................................................................................... 174
Pressure/Force Proportional Gain ..................................................................................................................... 175
Pressure/Force Integral Gain............................................................................................................................. 175
Pressure/Force Differential Gain....................................................................................................................... 176
Pressure/Force Feed Forward............................................................................................................................ 176
Pressure/Force Rate Feed Forward ................................................................................................................... 177
Pressure/Force Orientation................................................................................................................................ 177
Target .................................................................................................................................................. 178
Positive Travel Limit........................................................................................................................................ 178
Negative Travel Limit....................................................................................................................................... 179
Positive Pressure/Force Limit........................................................................................................................... 179
Negative Pressure/Force Limit.......................................................................................................................... 179
Communication Types .............................................................................. 181
RMC70 Communications Overview.......................................................................181
Indirect Data Map ................................................................................................181
RS-232 Monitor Port ............................................................................................182
PROFIBUS............................................................................................................184
PROFIBUS-DP Communications Overview....................................................................................... 184
PROFIBUS Configuration .................................................................................................................. 185
PROFIBUS Mode 8-1......................................................................................................................... 187
PROFIBUS Mode 16-1....................................................................................................................... 192
PROFIBUS Mode 8-7......................................................................................................................... 193
Configuring a PROFIBUS-DP Network with COM PROFIBUS....................................................... 194
Configuring a PROFIBUS-DP Network with SST Profibus Configuration........................................ 196
Configuring a PROFIBUS-DP Network with SyCon ......................................................................... 197
Serial (RS-232/485) ............................................................................................198
Serial Communications Overview....................................................................................................... 198
Configuration and Wiring ................................................................................................................... 200
Line Drivers: RS-232/485................................................................................................................................. 200
Configuring the RMC7xS Serial Communications........................................................................................... 201
Serial Network Topologies ............................................................................................................................... 202
RS-232 Wiring for the RMC70......................................................................................................................... 204
RS-485 Wiring for the RMC70......................................................................................................................... 205
RS-485 Termination and Biasing...................................................................................................................... 207
RMC70 Serial Protocols...................................................................................................................... 209
DF1 Protocol (Full-and Half-Duplex)............................................................................................................... 209
Modbus/RTU Protocol...................................................................................................................................... 213
Command Reference ................................................................................ 215
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RMC70 and RMC70Tools User Manual
RMC70 Commands Overview................................................................................215
RMC70 Commands ...............................................................................................215
General Commands..............................................................................................217
RMC70 Command: No-op (0) ............................................................................................................ 217
RMC70 Command: Clear Faults (4)................................................................................................... 217
RMC70 Command: Initialize Axes (7) ............................................................................................... 217
RMC70 Command: Fault Controller (8).............................................................................................218
RUN Mode (98) .................................................................................................................................. 219
PROGRAM Mode (99)....................................................................................................................... 219
Motion Commands ...............................................................................................220
Motion Commands.............................................................................................................................. 220
Open Loop........................................................................................................................................... 221
RMC70 Command: Direct Drive (9).................................................................................................................221
RMC70 Command: Open Loop Rate (10) ........................................................................................................ 221
RMC70 Command: Open Loop Absolute (11)................................................................................................. 222
RMC70 Command: Open Loop Relative (12) .................................................................................................. 223
Point-to-Point...................................................................................................................................... 224
RMC70 Command: Move Absolute (20).......................................................................................................... 224
RMC70 Command: Move Relative (21)........................................................................................................... 224
RMC70 Command: Quick Move Absolute (15)...............................................................................................225
RMC70 Command: Quick Move Relative (16) ................................................................................................ 226
RMC70 Command: Time Move Absolute (23)................................................................................................. 226
RMC70 Command: Time Move Relative (24).................................................................................................. 227
Specialty.............................................................................................................................................. 227
RMC70 Command: Speed at Position (36)....................................................................................................... 227
Stops.................................................................................................................................................... 228
RMC70 Command: Closed Loop Halt (1)........................................................................................................ 228
RMC70 Command: Open Loop Halt (2)........................................................................................................... 228
RMC70 Command: Disable Output (3)............................................................................................................ 229
RMC70 Command: Hold Current Position (5)..................................................................................................229
RMC70 Command: Stop (6)............................................................................................................................. 229
System.................................................................................................................230
RMC70 Command: Update Flash (110).............................................................................................. 230
Pressure Control ..................................................................................................230
RMC70 Command: Enable/Disable Pressure Limit (40).................................................................... 230
RMC70 Command: Ramp Pressure(41).............................................................................................. 231
Set Parameters ....................................................................................................231
RMC70 Command: Set Integrator Mode (71)..................................................................................... 232
RMC70 Command: Set Enable Output (67)........................................................................................ 232
RMC70 Command: Set Actual Position (49)...................................................................................... 232
RMC70 Command: Set Target Position (48)...................................................................................... 233
RMC70 Command: Read Register (111)............................................................................................ 233
RMC70 Command: Write Register (112)........................................................................................... 233
Programming.......................................................................................................234
RMC70 Command: Stop Task (91)..................................................................................................... 234
RMC70 Command: Start Task (90) .................................................................................................... 234
Plots ....................................................................................................................235
RMC70 Command: Enable/Disable Plot Trigger (104)...................................................................... 235
RMC70 Command: Rearm Plot (103).................................................................................................236
RMC70 Command: Start Plot (100).................................................................................................... 236
RMC70 Command: Stop Plot (101).................................................................................................... 236
RMC70 Command: Trigger Plot (102)...............................................................................................237
Step Editor Commands.........................................................................................237
RMC70 Command: Expression (113).................................................................................................237
RMC70 Specifications ............................................................................... 239
RMC70 Specifications...........................................................................................239
Wiring Guidelines.................................................................................................239
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Table of Contents
RMC70 Part Numbering........................................................................................240
Index ....................................................................................................... 243
deltamotion.com xi
RMC70Tools On-line Help
The RMC70Tools on-line help provides the most complete and up-to-date information available
for the RMC70 and RMC70Tools. To ensure you have the latest help file, download the latest
version of RMC70Tools from Delta's website www.deltamotion.com.
Troubleshooting
See the Troubleshooting topic.
Customer Support
Delta support is ready to assist you. Call should you have questions or need help:
Telephone: 360-254-8688
Fax: 360-254-5435
24-hour paging: 360-699-7784
E-mail: support@deltamotion.com
Website: http://www.deltamotion.com
Paper Copy of On-line Help
A manual containing the same information as the online help is available as a Portable
Document Format (PDF) file from Delta's website www.deltamotion.com. If you need a
hard-copy manual, contact Delta by telephone at 360-254-8688 or email at
sales@deltamotion.com.
deltamotion.com xiii
Disclaimer
Although great effort has been taken to ensure the accuracy of the information in this
documentation, it is intended to be used only as a guide. Knowledge of motion control,
hydraulic servos, electric servos, transducers, and safety rules is required. Delta Computer
Systems, Inc. does not accept responsibility for problems resulting from errors or omissions in
this documentation. The information in this documentation is subject to change without notice.
Neither Delta Computer Systems, Inc. nor anyone else involved in the creation, production, or
delivery of this product shall be liable for any direct, indirect, consequential injuries and or
damages arising out of the use, the results of use, or the inability to use this product.
All brand names and trademarks referenced in this manual are the property of their respective
owners.
RMC70 Warranty
GENERAL
These general terms and conditions of sale of Delta Computer Systems, Inc (Delta), along
with any written Delta quotation, exclusively will govern the sale or licensing by Delta of
all goods and services (including hardware, firmware, and software products, training,
support, parts and repair services) furnished hereunder. No additions or modifications
will be binding on Delta unless agreed to in writing by an authorized representative of
Delta.
WARRANTY
Hardware products will conform to Deltas material specifications and be free of defects in
material and workmanship under normal and proper use for a period of one (1) year from
date of shipment to Customer by Delta or its authorized distributor. Repaired or
replacement products are similarly warranted for six (6) months or the remainder of the
original warranty term, whichever is longer.
Non-warranty repaired or replacement products (which may be new or reconditioned) are
warranted to be free of defects in materials and workmanship for six (6) months from
date of shipment from Delta.
Standard firmware and software will perform in accordance with Deltas published
specifications when used with Delta-specified hardware for a period of one (1) year from
date of shipment to Customer by Delta or its authorized distributor. Delta makes no
representation or warranty, express or implied, that the operation of the firmware or
software will be uninterrupted or error-free, or will meet or satisfy the Customers
intended use or requirements. Corrections are warranted for a period of six (6) months
or the remainder of the original warranty term, whichever is longer.
Deltas sole liability under this warranty shall be, at Deltas discretion, to repair or replace
product found defective or to issue Customer credit for the purchase price of defective
product. Customer may obtain service under this warrant if: a) within the warranty
period Customer notifies Delta of the defective product and obtains a Return Material
Authorization (RMA) from Delta; b) Customer returns product to Delta, postage prepaid,
in compliance with the RMA instructions, and c) Delta, upon inspection, confirms the
existence of the defect, and determines that the product has not been subject to misuse,
neglect, accident, or improper installation, operation, or application, or has been repaired
or altered by others. Any warrantee service (consisting of time, travel and expenses
relating to such services) performed other than at Delta, will be at Customers expense.
THIS WARRANTY IS IN LIEU OF ANY OTHER WARRANTY, EXPRESS OR IMPLIED. DELTA
DISCLAIMS ANY IMPLIED WARRANTY OF MERCHANTABILITY AND FITNESS FOR A
PARTICULAR PURPOSE. DELTAS RESPONSIBILITY TO REPAIR OR REPLACE DEFECTIVE
PRODUCTS IS THE SOLE AND EXCLUSIVE REMEDY PROVIDED TO THE CUSTOMER FOR
BREACH OF THIS WARRANTY.
LIMITATION OF LIABILITY
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RMC70 and RMC70Tools User Manual
IN NO EVENT SHALL DELTA OR ITS DISTRIBUTORS OR VENDORS BE LIABLE FOR ANY
INDIRECT, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF OR
CONNECTED WITH CUSTOMERS PURCHASE OR USE OF ANY PRODUCT, EVEN IF DELTA
OR THE DISTRIBUTOR OR VENDOR HAS ADVANCE NOTICE OF THE POSSIBILITY OF
SUCH DAMAGES.
RMC Return for Repair
Should an RMC require repair, refer to the Technical Support topic for return details.
xvi Delta Computer Systems, Inc.
1. Introducing the RMC70 Series
1.1. RMC70 Series Motion Controllers
The one- and two-axis RMC70 series
motion controllers brings the benefits
of high-performance, easy-to-use
motion control to a wide range of
industrial applications.
1.2. RMC70 Physical Components
This topic describes the physical components of the RMC70 on a basic informational level. For
mechanical and electrical specifications, see the RMC70 Specifications. For detailed function of
each module, see the respective links.
Controller Modules
An RMC70 motion controller consists of the following physical components:
• CPU Module
This module includes the main motion control processing unit. It also incorporates the
primary communication channel such as serial, DeviceNet, Ethernet, etc. and a serial
port for communications to the RMC70Tools software.
• Axis Modules
This module interfaces to a transducer and the axis drive. It is attached to the Control
Module and is sold as one unit with the Control Module. Axis Modules are transducer
specific.
Note:
The Control Module and Axis Module are one unit (called a Base Module) and make up a
complete motion controller. They are referred to as separate units solely for the purpose
of explaining their functionality.
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RMC70 and RMC70Tools User Manual
• Optional Expansion Modules
Up to four optional expansion modules can be added to enhance the capabilities of the
RMC70. These modules are field-changeable. Currently, an analog input expansion
module is available.
Example Module
The module below consists of a RMC75S-MA2 base module and an AP2 expansion
module.
CPU
Module
Axis
Module
Expansion
Module
1.3. RMC70 Axis Types
The RMC70 is a 1- or 2-axis motion controller with up to 3 additional reference axes (halfaxes). The axis types listed in this topic are or will be available on the RMC70. The required
inputs and outputs for each axis type constitute 1 axis. For example, a Position-Force
application may require 3 inputs and 1 output, but is still considered one axis.
Maximum Number of Axes
The maximum number of control axes on the RMC70 is 2. The maximum number of total
axes (control axes plus reference axes) is 4. A reference axis is also commonly known as
a half-axis.
Control Axes
Control axes have a Control Output and an input for transducer feedback. A control axis is
capable of controlling a system because it has a Control Output. All axes on the RMC70
Axis Modules are control axes.
Possible
Control Axis
Types
Position 1 Input 1 Analog
Velocity 1 Analog Input 1 Analog
Required
Inputs
Required
Outputs
Output
Output
Transducer
Types
MDT, SSI, Analog,
Quadrature
Analog AA1, AA2
RMC70
Modules
MA1, MA2,
AA1, AA2
2 Delta Computer Systems, Inc.
1 Introducing the RMC70 Series
Pressure 1 Analog Input 1 Analog
Output
Force 1 or 2 Analog
Inputs
PositionPressure
PositionForce
VelocityPressure
VelocityForce
Note:
Force control axes require 1 input if a load cell is used, and require 2 inputs for differential
force on a hydraulic cylinder.
Quadrature modules are currently not available on the RMC70.
1 Input + 1
Analog Input
1 Input + 1 or 2
Analog Inputs
2 Analog Inputs 1 Analog
2 or 3 Analog
Inputs
1 Analog
Output
1 Analog
Output
1 Analog
Output
Output
1 Analog
Output
Analog Pressure Any above +
AP1 or AP2
Analog Pressure Any above +
AP1 or AP2
Adding Pressure
or Force
requires an
additional analog
pressure input
Adding
Pressure
or Force
requires an AP2
expansion
module
Reference Axes
A reference axis does not have a Control output. It only has an input for transducer
feedback. A reference axis is not capable of controlling a system. Reference axes are
commonly used in gearing and synchronization applications. The A and AP Expansion
Modules contain reference axes.
Reference Axis
Types
Position 1 Input MDT, SSI, Analog,
Velocity 1 Analog Input Analog A1, A2
Pressure 1 Analog Input Analog AP1 or AP2
Force 1 or 2 Analog
Virtual none
Required
Inputs Transducer Types
Quadrature
Analog AP1 or AP2
Inputs
Possible RMC70
Modules
A1, A2
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2. Starting Up the RMC70
2.1. RMC70 Start-up Procedure
The following step-by-step procedure will help you get your system up and running quickly.
For a more detailed start-up procedure, use the Startup Guide that came with the RMC70.
TIP:
Deltas position/pressure simulators provide a simple way to test your program before
connecting the controller to a real system.
1. Provide Power to the RMC Module
a. Before providing power to the RMC for the first time, disconnect all other
wiring from the module.
b. Connect the power supply common to the PS Return pin on the RMC70
base module. The power supply should be rated for 500 mA.
c. Connnect +24 volts to the +24 Vdc PS pin.
d. For specifics on wiring, see the wiring topic. For details on the RMC power
requirements, see RMC70 Specifications.
2. Connect to Controller in RMC70Tools
a. Connect a Null-Modem cable with DB-9 connectors from a serial port on
your computer to the RMC70.
b. Open RMC70Tools.
c. On the File menu, click New Project. In the New Project Wizard, fill in
the fields and click Finish.
d. In the New Controller Wizard, type a Controller Name and choose
Automatically Detect the Controller Information.
e. Click Next.
f. Select the desired serial port, verify that the requirements in the Note are
met, and click Next.
g. You may need to wait while RMC70Tools connects to the controller. Once it
has connected, verify that the information is correct and click Finish.
3. Connect a Feedback Device
a. Important: Turn off power to the RMC70 and the feedback device before
connecting any wires!
b. For each axis you wish to connect a feedback device to, wire it to the RMC70
according to the instructions in the Wiring topic.
c. After wiring, re-apply power to the RMC70 and the feedback device.
d. In RMC70Tools, in the Project pane, click the RMC70 controller.
e. On the RMC70Tools toolbar, click the Go Online button (
red circle around the RMC70 icon in the Project pane disappears, indicating
that it is online with the RMC70.
deltamotion.com 5
). Verify that the
RMC70 and RMC70Tools User Manual
f. The RMC70 must be properly configured before it will communicate with the
transducer(s). Refer to the procedure for your module and your transducer
type:
• MA Module - MDT transducer
i. On the RMC70Tools toolbar, click the Axis Tools button (
ii. In the Axis Parameters pane, on the Setup tab, under the
Primary Control Setup, in the Feedback Type register,
select MDT.
iii. In the MDT Type register, select the type of MDT transducer
you have. This information should be available on the MDT
datasheet. The options are:
iv. To apply the changes to the RMC70, click the Download
button (
• MA Module - SSI transducer
i. On the RMC70Tools toolbar, click the Axis Tools button (
ii. In the Axis Parameters pane, on the Setup tab, under the
Primary Control Setup, in the Feedback Type register,
select SSI.
iii. From the information in your SSI transducer data sheet, enter
the correct value for each of these registers:
ii. To apply the changes to the RMC70, click the Download
button (
b. On the RMC70Tools toolbar, click the Axis Tools
c. In the Axis Tools, in the Axis Status Registers
d. Move the axis manually and look for a corresponding
• Start/Stop Rising Edge
• Start/Stop Falling Edge
• Pulse-Width Modulated
) or press Ctrl+D.
• SSI Format - Binary or Gray
• SSI Data bits - (e.g. 24)
) or press Ctrl+D.
• AA Module - Voltage or Current
transducer
i. On the RMC70Tools toolbar, click the
Axis Tools button (
ii. In the Axis Parameters pane, on the
Setup tab, under the Primary
Control Setup, in the Input Type
register, select Voltage or Current.
iii. To apply the changes to the RMC70,
click the Download button (
press Ctrl+D.
button (
pane, on the Basic Position tab, look at the Actual
Position register. It may be changing slightly.
change in the Actual Position register. If it does not
change, recheck the wiring, verify that the Primary
Control Setup registers in the Axis Parameters
).
).
) or
).
).
6 Delta Computer Systems, Inc.
2 Starting Up the RMC70
pane are correct, and check for changing Actual
Position again. When it is working correctly, proceed
to the next step.
Note:
It is important that the transducer is connected and is
working properly before continuing the Start-up
procedure.
e. On the Controller menu, click Update Flash. This
stores your changes in the RMC70 even in the event of
a power outage.
f. Press Ctrl+S to save the project.
4. Connect an Actuator
Note:
Read this section completely before executing any
commands on the RMC70.
a. Important: Turn off power to the RMC70 and
the actuator before connecting any wires!
b. For each axis you wish to connect an actuator
to, wire it to the RMC70 according to the
Wiring topic.
c. After wiring, re-apply power to the RMC70, the
feedback device, and the actuator.
Note:
To test the actuator, you will supply a
Control Output voltage from the RMC70 to
the actuator. Before doing this, make sure
that the axis may safely move in either
direction!
d. In RMC70Tools, in the Project pane, click the
RMC70 controller.
e. On the RMC70Tools toolbar, click the Go
Online button (
around the RMC70 icon in the Project pane
disappears, indicating that it is online with the
RMC70.
f. On the RMC70Tools toolbar, click the Axis
Tools button (
g. In the Axis Parameters pane, on the All tab,
expand the Simulate section and verify that
Simulate Mode is cleared. If you make
changes, you must click the Download button (
) or press Ctrl+D to apply the changes to
the RMC70.
h. On the RMC70Tools toolbar, click the RUN
Mode button (
mode.
i. In the Axis Tools, in the Axis Status
Registers pane, on the Basic Position tab,
). Verify that the red circle
).
) to put the RMC70 in RUN
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RMC70 and RMC70Tools User Manual
verify that the Control Output for the axis is
0 (zero).
j. Turn on power to the motor or hydraulics for
the axis being set up. Note that after starting,
it is normal for the axis to drift slowly.
k. On the Tools menu, click Command Tool.
The following steps will ask you to issue
commands from this tool. The steps to issue a
command are as follows (do not issue a
command yet):
• In the Command Tool, in the
desired axis, double-click the
Cmd box and choose a
command.
• Enter the values for the
command parameters, if there
are any.
• Click Send Command or press
Alt+S.
l. In this step, you will apply 0.1 V to the axis
Control Output:
Caution: Use the Direct Drive
command with extreme caution! It
disables the safety features of the
RMC!
Note:
If you need to quickly halt the axis,
click the Fault Controller button (
) or press Ctrl+K. After doing so, you
must click the RUN Mode button (
) to put the RMC70 back into RUN
mode.
• Double-click the Cmd box, type
"D" and choose the Direct Drive
(9) command.
• Set the Output to 0.1 V.
• Set the Ramp Rate to 100 V/s.
• Click Send Command or press
Alt+S.
• Enter 0 in the Output box. This
will allow you to quickly issue a
Direct Drive Command with 0
drive in the next steps.
m. Verify that the Control Output register for the
axis is at 0.1 V.
n. Observe the Actual Position register (on the
Basic Position tab) and note whether it is
increasing or decreasing. One of three things
could have happened at this point:
• The actuator moved and the
Actual Position increased.
In this case you are ready to go
8 Delta Computer Systems, Inc.
2 Starting Up the RMC70
to the next section and set the
Scale.
• The actuator moved and the
Actual Position decreased.
In this case, first verify that the
wiring is correct. If it is not, fix it
and repeat the process. If it is,
invert the Output Polarity to
reverse the direction:
i.In the Axis Parameters pane,
select the Setup tab and
expand the Primary Control
Setup section.
ii.Double-click the Invert
Output Polarity register in
the axis you are using. The
Invert Output Polarity box
should now have a checkmark
in it.
iii.Click the Download button (
) or press Ctrl+D to apply
the changes to the controller.
iv.Repeat the process again:
Issue the Direct Drive
command again, observe the
Actual Position, and see which
of the three things happened.
• The actuator does not move.
In this case, you may need to
increase the Control Output.
First, verify the following:
i. Check that the physical Control Output voltage really is 0.1 volts.
ii. Check that the actuator is enabled.
If these items check out fine,
repeat the process above with a
larger Output. Some systems
may require much more than 0.1
volt to move.
Note:
It is essential that the Actual
Position increase when a positive
output voltage is specified with
Direct Drive command. If this
condition is not met, you will not be
able to control the axis in closed
loop.
b. In the Command Tool, enter 0 in the Output
box and click Send Command, or press Alt +
S, to turn the Control Output voltage off.
c. In the Command tool, enter -0.1 in the Output
box and click Send Command, or press Alt +
S. The Control Output register should change
deltamotion.com 9
RMC70 and RMC70Tools User Manual
to -0.1 and the axis should move in the
opposite direction.
Once the actuator moves fine, you are ready to go
to the next step.
5. Set the Scale and Offset
The Scale and Offset parameters convert
the Counts from the transducer into
meaningful measurement units. In order to
do so, the Scale and Offset must first be
configured correctly.
To set the Scale and Offset:
a. In the Axis Tools, in the Axes
Parameters pane, select the
Setup tab. Note that the first two
registers under the Primary
Control Setup section are
Position Scale and Position
Offset. These are the parameters
you will configure.
b. To calculate what the scale and
offset should be, you will need to
refer to the Scaling topic.
c. When you have determined what
value the scale or offset parameter
should be, type the new value in
the cell in the Axis Parameters
pane. Then click the Download
button (
apply the changes to the controller.
d. On the Controller menu, click
Update Flash. This stores your
changes in the RMC70 even in the
event of a power outage.
e. Press Ctrl+S to save the project.
6. Tune Each Axis
In order to control an axis in closed-loop
control, it must first be tuned. Refer to the
online help for the tuning procedure:
a. In the Axis Tools, in Axes
Parameters pane, select the Tune
tab. You will set all the Gain and Feed
Forward registers under the
Position/Velocity Tuning section during
tuning.
b. Follow the instruction in the Tuning
topic to tune the system.
7. Set up and Configure the Communications
If your RMC70 will be communicating with
an external controller, such as a PLC, PC,
or other device, you must set up the
communication. Refer to one or more of
the following topics for details on
) or press Ctrl+D to
10 Delta Computer Systems, Inc.
2 Starting Up the RMC70
configuring the communication type of
your RMC70 controller:
• PROFIBUS-DP
• Serial Overview
8. Save Your Configuration Settings
Make sure to save your settings!
This can be done in the following
ways:
• Save your RMC70Tools project.
Before doing this, make sure
the project data is the same as
the controller data. To save the
project, on the File menu, click
Save.
• On the Controller menu, click
Update Flash.
2.2. Scaling
Scaling refers to converting the transducer feedback into meaningful units. The RMC70 uses
the Scale and Offset parameters to convert the transducer Counts into measurement units
(position, velocity, pressure, force). For example, the Voltage returned by an analog position
transducer must be converted to positions in order to be useful for control. In order to
correctly convert the transducer feedback to useful units, you must calculate the Scale and
Offset parameters.
Scale and Offset Parameters
The following parameters converting the transducer feedback Counts into meaningful
units. Each axis, whether a control axis or reference axis, has these parameters:
• Scale
Defines the number of Actual units (position, velocity, pressure or force) per count or
volt returned from the transducer.
• Invert Feedback Polarity
Defines which direction the Actual units increase relative to the counts. This parameter
allows the transducer to be mounted in either direction.
• Offset
Moves the zero point of the Actual units to where the user wants it.
Calculating the Scale and Offset
The method of calculating the scale and offset parameters depends on the transducer
type. See the scaling topic for the module and transducer you are using:
MA Module: MDT Scaling, SSI Scaling
AA Module: Analog Scaling
AP Module: Analog Scaling
2.3. Tuning
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RMC70 and RMC70Tools User Manual
2.3.1. Tuning Overview
Once your system is set up and ready for use, it must be tuned in order to control it. Tuning is
the process of adjusting the tuning parameters for optimum control of the system. The better
tuned a system is, the closer the actual movement follows the desired path of movement.
Tuning Procedures
Tuning procedures differ depending on the type of system. Please read the Tuning
Guidelines below before continuing to any of the tuning procedures. Click the following
links for suggested tuning procedures:
• Tuning a Hydraulic Position Axis or Motor in Velocity Mode
Tuning Guidelines
Keep the following guidelines in mind throughout the tuning procedure. There is no
substitute for experience when tuning an axis. The procedures offer some guidelines, tips,
and suggestions for tuning your system. While the steps will work for many systems, they
may not be the best for a particular system.
• Reiterate these Steps
The tuning procedure is a reiteration of the following general steps. Use these steps
throughout the tuning procedure:
1. Make a move, typically using the Move Absolute (20) command. Use the
Command Tool to issue the command.
2. View the plotted move using the Plot Manager. Viewing the plot will help you
determine which parameters must be changed.
3. Change a parameter. Use the Axes Parameters pane in the Axis Tools to edit
the parameters. After changing the value in the Axes Parameter Editor, you
must click the download button
the controller.
4. Repeat these steps using the same move until the parameter is at the desired
value. See the Command Tool topic for details on using Shortcut commands to
repeat moves.
• Long, Slow Moves
Begin the tuning procedure with long, slow moves and low Accelerations. This will
prevent you from losing control of and potentially damaging the system.
• Use Small Plot Sample Interval
To obtain the greatest tuning precision, use the smallest Plot Sample Interval possible.
This will allow you to see precisely how the system is responding.
• Set Auto Stops
You may want to turn off some of the Auto Stop bits. The Auto Stop cause the axis to
halt if an error occurs. In the initial stages of tuning, a Following Error or other error
may occur, causing an undesired halt. Setting these bits to "Status Only" will make the
RMC ignore the errors so you can tune the axis. Once you gain sufficient control of the
axis, set the Auto Stop bits to halt. Turning off the Auto Stops may not be possible on
some systems because of safety concerns.
• Update Flash and Save the Project
When editing the parameters in the Project tag, you must download them to apply the
changes to the RMC70. However, they are not updated in the RMC's Flash until you
issue an Update Flash command. This will save the parameters even if power is
disconnected. To save the RMC's parameters to the project, Upload the parameters
and then save the project.
or press Ctrl+D to apply the changes to
12 Delta Computer Systems, Inc.
2 Starting Up the RMC70
2.3.2. Tuning a Position Axis
The following procedure may be used to tune many position axes, hydraulic axes and motors
in velocity mode. Please read the Tuning Overview topic before following this procedure. There
is no substitute for experience when tuning an axis. This procedure offers some guidelines,
tips, and suggestions for tuning your system. While these steps will work for some systems,
they may not be the best for a particular system.
Tuning Procedure
1. Test Wiring and Polarity
This step is for verifying that the system wiring and setup is correct before doing any
closed loop control.
• In the Command Tool, issue a Direct Drive (9) command to the axis. Use small
Output value, such as 0.050-0.150 V. Use a Ramp Rate of 100. If the axis
does not move, increase the Output until the axis begins to move.
DANGER: The Direct Drive (9) command disables the safety features on
the RMC! Use this command carefully!
• A positive drive should yield increasing counts. If it does not, do the following:
i. On the RMC70Tools toolbar, click the Axis Tools button (
ii. In the Axes Parameters Pane, on the Setup tab, toggle the Invert
Output Polarity parameter.
• Issue a Direct Drive (9) command again with a negative drive. This should
yield decreasing counts.
• Before continuing, verify that all the Gains and Feed Forwards are set to zero:
i. In the Axis Tools button (
Tune tab, set all the Gains and Feed Forwards to 0.
), in the Axes Parameters Pane, on the
).
ii. Click the Download button (
2. Check the Deadband
If the axis exhibits a deadband, you may need to use the Deadband
parameters.
Check whether the system exhibits a deadband:
a. Give increasing amounts of Output to the axis with the Direct Drive
(9) command until the system starts to move.
b. The value of Output at which the system starts to move is your
deadband. If this value is approximately 0.4 V or greater, you should
probably use the deadband parameters. If it is less, it is left to the
discretion of the designer.
Set the deadband parameters:
If you found that your system has a deadband, set the deadband parameters
in the following manner:
c. On the RMC70Tools toolbar, click the Axis Tools button (
d. In the Axes Parameters Pane, on the All tab, expand the Output
Section.
e. Set the Output Deadband parameter to the value of your deadband.
f. Set the Deadband Tolerance to a small value.
g. Click the Download button (
) to apply the changes to the RMC70.
).
) to apply the changes to the RMC70.
deltamotion.com 13
RMC70 and RMC70Tools User Manual
2. Adjust the Directional Gain Ratio
Some axes have different system gains depending on the direction of travel.
The Directional Gain Ratio ratios the Gains and Feed Forwards to account
for the different system gains.
Note:
Skip this step if you are not controlling a hydraulic cylinder.
To adjust the Directional Gain Ratio:
• Use the Open Loop Rate (10) command to move the axis in the extend
direction. Use a value of Requested Drive, for example 1.0 V, that
will move the axis at a reasonable speed. Make sure the cylinder
reaches a constant speed. Be prepared to stop the axis by typing
Ctrl+K (Disable Output (3) command) to keep it from running into the
end of the cylinder. Record the constant Actual Velocity that the
cylinder reached.
• Repeat the previous step for the opposite direction (use a negative
Requested Drive).
• Using the following equation, calculate the Directional Gain Ratio
parameter:
Directional Gain Ratio = (Velocity in Negative Direction) /
(Velocity in Positive Direction)
• In the Axis Tools, in the Axes Parameters Pane, on the Tune tab,
enter the value you just calculated in the Directional Gain Ratio
parameter.
• Click the Download button ( ) to apply the changes to the RMC70.
4. Adjust the Output Bias
Some systems may drift significantly when the Control Output is at
zero volts, which may adversely affect control. Use the Output Bias
parameter to adjust the output such that the axis does not move when
you issue an Open Loop command with zero volts Control Output.
The RMC70 always adds the Output Bias to its Control Output.
Check if your system need Output Bias:
a. Issue an Open Loop Rate (10) command to the axis. Use a
Requested Output of zero and a Ramp Rate of 100.
b. If the axis moves significantly, you need to set the Output
Bias.
Set the Output Bias:
c. In the Axis Tools, in the Axes Parameters Pane, on the Tune
tab, enter a small number in the Output Bias parameter, e.g.
0.05 V or -0.05 V.
d. Keep increasing (or decreasing) the number until the axis
stands still.
e. Click the Download button (
RMC70.
5. Adjust the Proportional Gain
) to apply the changes to the
14 Delta Computer Systems, Inc.
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