Delta RMC151 Manual do Utilizador

RMC70/150 Motion Controllers And RMCTools Software User Manual Version 3.59.0 June 17, 2014

RMC70/150 and RMCTools User Manual EXP Function ...

RMC70/150 and RMCTools User Manual Force Pressure/Force Control, Pressure/Force Limit High-Order Control The RMC also supports Acceleration Control an

RMC70/150 and RMCTools User Manual Bits This register contains the following parameters. The bits for each are given in the right-hand column. Paramet

9 Register Reference Figure 1: Deadband Tolerance Control Modes The Deadband compensation applies to all the closed-loop control modes: Positi

RMC70/150 and RMCTools User Manual Description Note: The Directional Gain Ratio has been removed in RMC70 firmware versions 1.50 and greater because i

9 Register Reference System Tag: _Axis[n].OutputBits.InvertOutPol , where n is the axis number How to Find: Axes Parameters Pane, Setup tab: Prim

RMC70/150 and RMCTools User Manual The Output Bias voltage is always added to the Control Output. Use the Output Bias to compensate for hydraulic valv

9 Register Reference • If the Control Output is positive, the Output Deadband (v) is added to the Control Output. • If the Control Output is ne

RMC70/150 and RMCTools User Manual The Output Deadband applies to pressure/force control. If the Deadband Tolerance value is non-zero, then the Output

9 Register Reference Note: For firmware versions prior to 3.36.0, only one Output Filter existed, which applied to both the primary and secondary

RMC70/150 and RMCTools User Manual Type: Axis Parameter Register RMC70 Address: %MDn.38, where n = 12 + the axis number RMC150 Address: %MDn.38, where

9 Register Reference Type: Axis Parameter Register RMC70 Address: %MDn.34/3, where n = 12 + the axis number RMC150 Address: %MDn.34/3, where n =

3 Controller Features Advanced: Velocity I-PD Pressure Pressure/Force Limit Force Pressure/Force Limit Dual-Loop Control The RMC supports dual-lo

RMC70/150 and RMCTools User Manual 9.2.2.6.11. Unidirectional Mode Type: Axis Parameter Register RMC70 Address: %MDn.60/12-14, where n = 12+ the axis

9 Register Reference direction is set to match the direction of the current Target Velocity. When the axis is stopped or in the open loop control

RMC70/150 and RMCTools User Manual This section is primarily for addressing the Unidirectional Mode parameter when communicating with the RMC from an

9 Register Reference System Tag: _Axis[n].OutputBits.ValveLin , where n is the axis number How to Find: Axes Parameters Pane, All tab: Output Dat

RMC70/150 and RMCTools User Manual RMC70 Address: %MDn.45, where n = 12+ the axis number RMC150 Address: %MDn.45, where n = 24+ the axis number System

9 Register Reference Note: If the Direct Output Status bit is on, the Overtravel bits will not be set. Moving Toward the Valid Travel Range While

RMC70/150 and RMCTools User Manual The error bits will cause a Halt to occur if the Auto Stops are configured to do so and the Direct Output Status

9 Register Reference How to Find: Axes Parameters Pane, Setup tab: Primary Control Setup Axes Parameters Pane, Setup tab: Secondary Control Setup

RMC70/150 and RMCTools User Manual 9.2.2.8. Halts 9.2.2.8.1. Auto Stop Configuration Type: Axis Parameter Register RMC70 Address: %MDn.106 to %MDn.108

9 Register Reference Direct Output Halt A Direct Output Halt is initiated. See the Halts topic for details on the steps taken by the RMC when a

RMC70/150 and RMCTools User Manual Partial Open Loop Commands The following commands use open-loop control for part of the motion. As the axis reaches

RMC70/150 and RMCTools User Manual AutoStopCfg1.OutSat bits 6-8 Output Saturated AutoStopCfg1.FaultIn bits 9-11 Fault Input AutoStopCfg1.PosLimitIn bi

9 Register Reference Description This parameter defines which halt group the axis is in. If any member of a halt group halts, all axes in that gr

RMC70/150 and RMCTools User Manual Description This register specifies the rate at which the output is ramped to zero volts due to an Open Loop Halt o

9 Register Reference Type: Communications Register RMC70 Address: %MD21.11. See Register Map topic for other address formats. RMC150 Address: %MD

RMC70/150 and RMCTools User Manual How to Find: Address Selection Tool → Controller → Communication Settings → Ethernet Data Type: DWORD Accessibility

9 Register Reference 2: Program 9.2.3.5. PROFIBUS Connection Status Type: Communications Register RMC70 Address: %MD21.6. See Register Map topi

RMC70/150 and RMCTools User Manual The Current Axis Definitions and the Requested Axis Definitions will generally be the same except in two cases: (1)

9 Register Reference Register Bits Description Values Register (n x 4)+0: Axis and Input Types (n x 4)+0 0-7 Axis Type 0 - None 1 - Servo Positio

RMC70/150 and RMCTools User Manual 2 - Quadrature 6 - Analog 7 - MDT (RMC150 only) 8 - SSI (RMC150 only) 9 - Resolver (RMC150 only) 4-7 Feedback 0.0

9 Register Reference 5 - Sensor Slot #4 12-15 Output Channel RMC70 Output Channels: 0 - Control Output RMC150 Output Channels: 0 - Drive 0 1 -

3 Controller Features • Integral Gain The Integral Gain is multiplied by the accumulated Position Error. This helps the axis get into position o

RMC70/150 and RMCTools User Manual Address: address formats. System Tag: _Task[n].CurProg, where n is the Task number How to Find: Address Selection T

9 Register Reference RMC150 Address: %MD48.2+16*n, n = task number. See Register Map topic for other address formats. System Tag: _Task[n].CurAxi

RMC70/150 and RMCTools User Manual 9.2.6. Controller Registers 9.2.6.1. Controller Tags In addition to the controller registers (file F7) listed in th

9 Register Reference RUN Mode (98) command is issued. It will also be set immediately if the controller is set up to start in RUN mode. 2 _Contro

RMC70/150 and RMCTools User Manual Address: %MD7.28 Data Type: Internal: DINT External: REAL Description The Loader Command register is for sending ce

9 Register Reference Devices DF1 F56:0 Multi-level Modbus 28673 Flat FINS D28672 Flat IEC %MD56.0 Multi-level Viewing Addresses

RMC70/150 and RMCTools User Manual Every register in the RMC can be addressed as either an L or F file register. Typically, it only makes sense to add

9 Register Reference 9.3.3. IEC-61131 Addressing This topic describes the IEC addressing format as used in the RMC. For other addressing formats,

RMC70/150 and RMCTools User Manual starting with slot 0 to the left. number = the input or output number. Discrete I/O are also mapped to the Discre

9 Register Reference Examples: %MD12:3 = 2 x [(256 x 12) + 3] = 6150. Therefore, the address is D06151. %MD9:56 = 2 x [(256 x 9) + 56] = 47

RMC70/150 and RMCTools User Manual nearly all motion control systems with velocity feedback. In certain cases, Velocity I-PD control may be preferred.

RMC70/150 and RMCTools User Manual Command Area (RMC70) 25 D12800 - - Variables - Current Values (RMC150) - - 56-59 D28672 Variables - Initial Values

9 Register Reference The Modbus address is calculated according to the following equation: Modbus RTU Address = 2 x [(256 x file) + element] + 1

RMC70/150 and RMCTools User Manual Command Area 25 12801 - - Variables - Current Values (RMC150) - - 56-59 28673 Variables - Initial Values (RMC150) -

9 Register Reference 30 Image Area 31 Plot Layout 32-39 Plots 0-7 Status/Configuration 40-47 Dynamic Plot Upload Area 48-55 Static Plot Upload Ar

RMC70/150 and RMCTools User Manual 64: AP2 65: A2 66: D8 68: Q1 F7:7 3599 D03598 REAL %MD7.7 DINT Expansion 1 Module Rev Major * 256 + Minor F7:8 3601

9 Register Reference 0.1-1.x) 2: B (RMC75S and RMC75P 2.x) F7:22 3629 D03628 REAL %MD7.22 DINT Flash Rev Major * 256 + Minor F7:23 3631 D03630 RE

RMC70/150 and RMCTools User Manual 1=B, etc.) Bits 8-15: Minor Revision Bits 16-23: Major Revision Bits 24-31: Reserved For example, 2.1E will be 0x

9 Register Reference F8:9 4115 D04114 REAL %MD8.9 REAL Actual Differential Force Rate, Actual Jerk F8:10 4117 D04116 REAL %MD8.10 REAL Actual F

RMC70/150 and RMCTools User Manual F8:42 4181 D04180 REAL %MD8.42 REAL Acceleration Feed Forward Term F8:43 4183 D04182 REAL %MD8.43 REAL Jerk Feed Fo

9 Register Reference Axis 1 AB DF1,CSP Address Modbus TCP,RTU Address FINS Address External Data Type Internal IEC Address Internal Data Type

3 Controller Features Diagram 3.5.6. Gain Sets Overview Some position or velocity control applications require only one set of gains that neve

RMC70/150 and RMCTools User Manual F9:23 4655 D04654 REAL %MD9.23 REAL Actual Pressure/Force, Actual Acceleration F9:24 4657 D04656 REAL %MD9.24 REAL

9 Register Reference F9:45 4699 D04698 REAL %MD9.45 REAL PFID Output Secondary Control: Pressure or Force Axes F9:44 4697 D04696 REAL %MD9.44 REA

RMC70/150 and RMCTools User Manual F10:8 5137 D05136 REAL %MD10.8 REAL Actual Position F10:9 5139 D05138 REAL %MD10.9 REAL Actual Velocity F10:10 5141

9 Register Reference F10:28 5177 D05176 REAL %MD10.28 REAL Actual Force B, Channel B Acceleration F10:29 5179 D05178 REAL %MD10.29 REAL Voltage

RMC70/150 and RMCTools User Manual F10:54 5229 D05228 REAL %MD10.54 REAL Target Velocity F10:55 5231 D05230 REAL %MD10.55 REAL Target Acceleration F10

9 Register Reference F11:8 5649 D05648 REAL %MD11.8 REAL Actual Differential Force, Actual Acceleration F11:9 5651 D05650 REAL %MD11.9 REAL Actu

RMC70/150 and RMCTools User Manual F11:40 5713 D05712 REAL %MD11.40 REAL Double Differential Output Term F11:41 5715 D05714 REAL %MD11.41 REAL Velocit

9 Register Reference F11:65 5763 + b D05762 + b REAL %MD11.65 REAL Primary Custom Counts F11:66 5765 + b D05764 + b REAL %MD11.66 REAL Secondary

RMC70/150 and RMCTools User Manual Primary Feedback: Dual-Input Force or Acceleration F12:0 6145 D06144 REAL %MD12.0 REAL Force A Scale, Channel A Acc

9 Register Reference F12:22 6189 D06188 REAL %MD12.22 REAL Actual Pressure/Force Filter, Actual Acceleration Filter F12:23 6191 D06190 REAL %MD12

RMC70/150 and RMCTools User Manual Gain Set#2 applies when the Current Control Mode is Velocity PID or Velocity I-PD. PID, I-PD Automatically choose

RMC70/150 and RMCTools User Manual F12:71 6287 D06286 REAL %MD12.71 DINT High-Order Control Position/Velocity Gain Set #2 F12:128 6401 D06400 REAL %MD

9 Register Reference Position Target F12:92 6329 D06328 REAL %MD12.92 REAL Positive Travel Limit F12:93 6331 D06330 REAL %MD12.93 REAL Negative T

RMC70/150 and RMCTools User Manual F12:166 6477 D06476 REAL %MD12.166 DINT Primary Display Units F12:167 6479 D06478 DWORD %MD12.167 DWORD Primary Cus

9 Register Reference Acceleration Scale F13:1 6659 D06658 REAL %MD13.1 REAL Force A Offset, Channel A Acceleration Offset F13:2 6661 D06660 REAL

RMC70/150 and RMCTools User Manual F13:23 6703 D06702 REAL %MD13.23 REAL Actual Pressure/Force Rate Filter, Actual Jerk Filter F13:24 6705 D06704 REAL

9 Register Reference F13:128 6913 D06912 REAL %MD13.128 REAL Proportional Gain F13:129 6915 D06914 REAL %MD13.129 REAL Integral Gain F13:130 6917

RMC70/150 and RMCTools User Manual F13:93 6843 D06842 REAL %MD13.93 REAL Negative Travel Limit F13:94 6845 D06844 REAL %MD13.94 REAL Requested Jerk Pr

9 Register Reference F13:168 6993 D06992 REAL %MD13.168 DINT Secondary Display Units F13:169 6995 D06994 DWORD %MD13.169 DWORD Secondary Custom U

RMC70/150 and RMCTools User Manual F14:2 7173 D07172 REAL %MD14.2 REAL Force B Scale, Channel B Acceleration Scale F14:3 7175 D07174 REAL %MD14.3 REAL

9 Register Reference Secondary Feedback: Analog Transducer F14:28 7225 D07224 REAL %MD14.28 DWORD Analog Config Register Analog Control Output F1

3 Controller Features 3.5.8. Gain Scheduling Gain scheduling is the process of dynamically changing the gains of an axis based on some scheduling

RMC70/150 and RMCTools User Manual F14:132 7433 D07432 REAL %MD14.132 REAL Velocity Feed Forward, Velocity Feed Forward (Positive) F14:133 7435 D07434

9 Register Reference F14:100 7369 D07368 REAL %MD14.100 REAL Positive Pressure/Force Limit F14:101 7371 D07370 REAL %MD14.101 REAL Negative Press

RMC70/150 and RMCTools User Manual AB DF1,CSP Address Modbus TCP,RTU Address FINS Address External Data Type Internal IEC Address Internal Data Type

9 Register Reference F15:4 7689 D07688 REAL %MD15.4 REAL Actual Pressure/Force Filter, Actual Acceleration Filter F15:5 7691 D07690 REAL %MD15.5

RMC70/150 and RMCTools User Manual F15:32 7745 D07744 REAL %MD15.32 REAL Output Limit F15:33 7747 D07746 REAL %MD15.33 REAL Output Bias F15:34 7749 D0

9 Register Reference F15:133 7947 D07946 REAL %MD15.133 REAL Acceleration Feed Forward F15:134 7949 D07948 REAL %MD15.134 REAL Jerk Feed Forward

RMC70/150 and RMCTools User Manual F15:106 7893 D07892 REAL %MD15.106 DWORD Auto Stops F15:107 7895 D07894 REAL %MD15.107 DWORD Auto Stops F15:108 789

9 Register Reference command area is still available for backwards compatibility with earlier versions of RMC70s that did not support the new lar

RMC70/150 and RMCTools User Manual Tip: For the DF1/CSP addressing format, all 'F' type registers (32-bit floating point) can also be read a

9 Register Reference F18:24 9265 D09264 * %MD18.24 * * Indirect Data Value 24 F18:25 9267 D09266 * %MD18.25 * * Indirect Data Value 25 F18:26 926

RMC70/150 and RMCTools User Manual Delta does not recommend using non-linear valves for motion control if a linear valve is available. When using a hi

RMC70/150 and RMCTools User Manual Entry 15 F17:16 8737 D08736 REAL %MD17.16 DINT Read/Write Indirect Data Map Entry 16 F17:17 8739 D08738 REAL %MD17.

9 Register Reference 31 9791 D09790 31 Axis Definitions The Current Axis Definitions and the Requested Axis Definitions will generally be the s

RMC70/150 and RMCTools User Manual 1.000000). It can be used as a master for Curves that are to run based on time. F20:11-31 10263-10303 D10262 D10302

9 Register Reference 1=Do not use a Sync Register Applies to both EtherNet/IP and PROFINET. Bits 4 - 5 - PROFINET Byte Order 0=MSB first 1=LSB

RMC70/150 and RMCTools User Manual F21:2 10757 D10756 REAL %MD21.2 DINT Read Only RS-232 Monitor Protocol F21:3 10759 D10758 REAL %MD21.3 DINT Read On

9 Register Reference mode - bits 32-64 F23:8 11793 D11792 DWORD %MD23.8 DWORD _DIO.OnInProgram[0] Output to On in PROGRAM mode - bits 0-31 F23:9

RMC70/150 and RMCTools User Manual DF1,CSP Address Address Address Data Type IEC Address Type Task 0 F24:0 12289 REAL %MD24.0 DWORD Read Only Task 0

9 Register Reference All Command Area Registers are Write Only. Note: The RMC70 command area registers were originally located only in file 16. H

RMC70/150 and RMCTools User Manual F25:30 12861 D12830 REAL %MD25.30 REAL Axis 3 Command F25:31 12863 D12862 REAL %MD25.31 REAL Axis 3 Command Paramet

9 Register Reference Only F26:9 13331 D13330 REAL %MD26.9 REAL Read Only Analog Input 9 Usage Notes Viewing the Analog Voltage To view the Analog

3 Controller Features Non-Linear Valves Non-linear valves have a profile where the flow of the valve is linearly proportional to the command sig

RMC70/150 and RMCTools User Manual AB DF1,CSP Address Modbus TCP,RTU Address FINS Address External Data Type Internal IEC Address Internal Data Type

9 Register Reference plot. F31:5 15883 D15882 - %MD31.5 UDINT - Reserved F31:6 15885 D15884 - %MD31.6 UDINT - Reserved F31:7 15887 D15886 - %MD

RMC70/150 and RMCTools User Manual then use Axis Owner 12-23 Reserved F32:6 16397 D16396 REAL %MD32.6 - - Reserved F32:7 16399 D16398 REAL %MD32.7

9 Register Reference Bits 12-23 File Plot 1 F33:0 16897 D16896 REAL %MD33.0 UDINT not directly Plot Flags These bits should not be accessed dire

RMC70/150 and RMCTools User Manual complete F33:10 16917 D16916 REAL %MD33.10 DINT Read Only Plot Captured Samples Number of plot samples captured. On

9 Register Reference Only) 3 Read Active (Read Only) 4 Trigger Enabled (Read Only) F34:1 17411 D17410 REAL %MD34.1 UDINT Read/Write Plot Samples

RMC70/150 and RMCTools User Manual (low 24 bits). Only applies for Plot State > 0. F34:12 17433 D17432 REAL %MD34.12 DINT Read Only Plot Trigger Ti

9 Register Reference F35:4 17929 D17928 REAL %MD35.4 REAL Read/Write Plot Trigger Position %, 0-100, -1 = auto rearm F35:5 17931 D17930 REAL %MD3

RMC70/150 and RMCTools User Manual sample at which the plot trigger occurred. Only applies for Plot State > 0. F35:14-15 17949-17951 D17948- D17950

9 Register Reference 8-11 Axis 0-3 bits, if all zero, then use Axis Owner 12-23 Reserved F36:6 18445 D18444 REAL %MD36.6 - - Reserved F36:7 18

Table of Contents Communicating Directly over TCP ...

RMC70/150 and RMCTools User Manual Unidirectional Mode will prevent the Control Output from going negative even if the Actual overshoots the Target.

RMC70/150 and RMCTools User Manual Data Sets 0-15. Bits 0-11 Element Bits 12-23 File Plot 5 F37:0 18945 D18944 REAL %MD37.0 UDINT not directly Plot F

9 Register Reference 0 = not triggered, 1 = capturing, 2 = complete F37:10 18965 D18964 REAL %MD37.10 DINT Read Only Plot Captured Samples Number

RMC70/150 and RMCTools User Manual only) 2 Rearm (Write Only) 3 Read Active (Read Only) 4 Trigger Enabled (Read Only) F38:1 19459 D19458 REAL %MD38.1

9 Register Reference loops since controller startup (low 24 bits). Only applies for Plot State > 0. F38:12 19481 D19480 REAL %MD38.12 DINT Rea

RMC70/150 and RMCTools User Manual 0-3, -1 = none F39:4 19977 D19976 REAL %MD39.4 REAL Read/Write Plot Trigger Position %, 0-100, -1 = auto rearm F39:

9 Register Reference F39:13 19995 D19994 REAL %MD39.13 DINT Read Only Plot Trigger Index Index of the plot sample at which the plot trigger occur

RMC70/150 and RMCTools User Manual Read Samples F41:2 20997 D20996 DINT %MD41.2 UDINT Read/Write Plot Current Index F41:3 20999 D20998 DINT %MD41.3 UD

9 Register Reference Uploaded F45:5-255 23051-23551 D23050 D23550 * %MD45.5-255 * Read Only Plot Data Plot 6 F46:0 23553 D23552 DINT %MD46.0 UDIN

RMC70/150 and RMCTools User Manual F49:0-255 25089-25599 D25088-D25568 %MD49.0-255 Plot 0, Sample Set 1, Samples 0-255 F50:0-255 25601-26111 D25600-D2

9 Register Reference * The Data Types of the variables are specified by the user when defining a variable in the Variable Table. Allen-Bradley DF

3 Controller Features damping must be provided initially with the Differential gain. This is the primary difference between the tuning methods of

RMC70/150 and RMCTools User Manual 95 Plot Layout 96-103 Plots 0-7 Status/Configuration 104-111 Dynamic Plot Upload Area 112-143 Static Plot Upload Ar

9 Register Reference 69: Quadrature (Q) 70: SSI (S) 72: DI/O (D) 74: Analog (G) 76: Resolver (R) 77: Universal I/O 80: Resolver (RW) F7:7 3599 D0

RMC70/150 and RMCTools User Manual Major * 256 + Minor F7:23 3631 D03630 REAL %MD7.23 DINT Required RMCTools Ver Major * 256 + Minor (patch ignored) F

9 Register Reference Holds the patch level of the firmware version. For example, for 3.30.0, this value will be 0, and for 3.30.1, it will be 1.

RMC70/150 and RMCTools User Manual Primary Input: Dual-Input Force or Acceleration Axes Ff:8 4113 + b D4112 + b REAL %MDf.8 REAL Actual Differential F

9 Register Reference Ff:30 4157 + b D5156 + b DINT %MDf.30 DINT Raw Counts B Output: Analog Control Output Axes Ff:33 4163 + b D4162 + b REAL %MD

RMC70/150 and RMCTools User Manual Ff:47 4191 + b D4190 + b REAL %MDf.47 REAL Pressure/Force Integral Term Ff:48 4193 + b D4192 + b REAL %MDf.48 REAL

9 Register Reference b b Ff:1 12291 + b D12290 + b REAL %MDf.1 REAL Position Offset Ff:2 12293 + b D12292 + b REAL %MDf.2 REAL Actual Position Fi

RMC70/150 and RMCTools User Manual Ff:0 12289 + b D12288 + b REAL %MDf.0 REAL Force A Scale, Channel A Acceleration Scale Ff:1 12291 + b D12290 + b RE

9 Register Reference b b Actual Acceleration Filter Ff:23 12335 + b D12334 + b REAL %MDf.23 REAL Actual Pressure/Force Rate Filter, Actual Jerk F

RMC70/150 and RMCTools User Manual Control Mode status register. The Current Control Mode register indicates the mode currently in use. See the Closed

RMC70/150 and RMCTools User Manual Ff:43 12375 + b D12374 + b REAL %MDf.43 DINT Default Pos/Vel Control Mode Ff:56 12401 + b D12400 + b REAL %MDf.56 R

9 Register Reference Ff:134 12557 + b D12556 + b REAL %MDf.134 REAL Jerk Feed Forward Ff:135 12559 + b D12558 + b REAL %MDf.135 REAL Velocity Fee

RMC70/150 and RMCTools User Manual b b Ff:93 12475 + b D12474 + b REAL %MDf.93 REAL Negative Travel Limit Ff:94 12477 + b D12476 + b REAL %MDf.94 REAL

9 Register Reference b b Ff:149 12587 + b D12586 + b REAL %MDf.149 DINT Model Order Ff:150 12589 + b D12588 + b REAL %MDf.150 REAL Model Gain Pos

RMC70/150 and RMCTools User Manual c 3 F40:b+4 20489 + c D20488 + c REAL %MD40.b+4 REAL Axis n Command Parameter 4 F40:b+5 20491 + c D20490 + c REAL %

9 Register Reference RMC150 Registers, File 43: Axis Definitions The Axis Definitions are not intended to be directly accessed by the user. The

RMC70/150 and RMCTools User Manual F44:8 22545 D22544 REAL %MD44.8 DINT Read/Write Startup Mode 0=PROGRAM, 1-RUN (default = 0) F44:9 22547 D22546 REAL

9 Register Reference This register controls whether the PROFIBUS Station Address can be changed over PROFIBUS by a Class 2 master. Notice that

RMC70/150 and RMCTools User Manual server IP Address F45:16 23073 D23072 DINT %MD45.16 DINT Read Only DHCP Lease Start (seconds since powerup) F45:17

9 Register Reference characters of the PROFINET device name. F45:116 23273 D23272 DWORD %MD45.116 DWORD Read/Write PROFINET Custom Data Record 10

3 Controller Features Tuning Overview topic for details. Keep in mind that the I-PD algorithm does not use the Velocity or Acceleration Feed Forw

RMC70/150 and RMCTools User Manual b + b Off in FAULT mode for Slot n F47:30+n 24125 + b D24124 + b DWORD %MD47.30+n DWORD _DIO.OnInFault[n] Output to

9 Register Reference RMC150 Registers, Files 56-59, 72-75: Variables Registers All variable registers are Read/Write. Tip: For the DF1/CSP addr

RMC70/150 and RMCTools User Manual The variables can given a user-defined tag name in the Variable Table Editor, which is the preferred method of refe

9 Register Reference 15 Plot (1-16) 16-23 Reserved F95:1 48643 E0_15874 REAL %MD95.1 UDINT Read Only Maximum Plots (8) This read-only value indi

RMC70/150 and RMCTools User Manual b + b directly These bits should not be accessed directly. 0 Reserved (Write Only) 1 Trigger (Write only) 2 Rearm (

9 Register Reference Ff:10 49173 + b E0_16404 + b REAL %MDf.10 DINT Read Only Plot Captured Samples Number of plot samples captured. Only applies

RMC70/150 and RMCTools User Manual Note: When communicating via a protocol that uses DF1 addressing, the Plot Data can be accessed with registers 5-40

9 Register Reference F107:1 54787 E0_22018 DINT %MD107.1 UDINT Read/Write Plot 3 Requested Read Samples F107:2 54789 E0_22020 DINT %MD107.2 UDINT

RMC70/150 and RMCTools User Manual F111:0 56833 E0_24064 DINT %MD111.0 UDINT Read/Write Plot 7 Upload Mode/Status F111:1 56835 E0_24066 DINT %MD111.1

9 Register Reference F119:0-255 60929-61439 E0_28160-E0_28670 %MD119.0-255 Plot 1, Sample Set 4, Samples 0-255 Plot 2 F120:0-255 61441-61951 E0_2

RMC70/150 and RMCTools User Manual Each closed loop motion command issued to the RMC specifies a target profile, which defines where the axis should b

RMC70/150 and RMCTools User Manual F140:0-255 71681-72191 E1_06144-E1_06654 %MD140.0-255 Plot 7, Sample Set 1, Samples 0-255 F141:0-255 72193-72703 E1

9 Register Reference 80: Resolver (RW) F144+n:1 73731 +512 x n E1_08194 +512 x n DWORD %MD144+n.1 DWORD Read Only Slot n Module Rev Major * 256

RMC70/150 and RMCTools User Manual 1 = Slave - Clock is an input F144+n:17 73741 +512 x n E1_08204 +512 x n DWORD %MD144+n.17 DWORD Read/Write Channel

9 Register Reference address of the register to save the value coming in on the SSI input. F144+n:20 73747 +512 x n E1_08210 +512 x n DWORD %MD14

RMC70/150 and RMCTools User Manual 0 = Master - Clock is an output 1 = Slave - Clock is an input F144+n:25 73751 +512 x n E1_08214 +512 x n DWORD %M

9 Register Reference +512 x n +512 x n [Applies only to SSI Output and SSI Register Input modes] For SSI Output mode, this is the address of the

10. Wiring and Installation 10.1. Wiring Guidelines Proper wiring of the RMC and of the system is important for proper machine control. Poor wiring i

RMC70/150 and RMCTools User Manual AA SSI MA Quadrature QA Discrete I/O A2 Resolver AP2 Universal I/O D8 Q1 10.2. RMC70 10.2.1. RMC70 Mounting I

10 Wiring and Installation Expansion Modules Protrude 2.0 in. Make sure to leave room for the front connectors. D8 module 1.25 in. x 5.0 in. AP2

3 Controller Features • Pneumatics Due to the compressibility of air, pneumatic systems are notorious for oscillating. The active damping limits

RMC70/150 and RMCTools User Manual 10.2.2. RMC75E Wiring The RMC75E CPU module contains a connector for power, and two connectors for communications

10 Wiring and Installation 10.2.4. RMC75P Wiring The RMC75P CPU module contains a connector for power, and two connectors for communications. Wir

RMC70/150 and RMCTools User Manual 6 Common Cmn Common 7 +Analog In An In+ +Analog Input 8 Jumper for 4-20mA Jmpr for 4-20mA Jumper for 4-20mAfeedback

10 Wiring and Installation 10.2.6. MAx Wiring The MAx module can be wired to MDT and SSI transducers. Each axis on the MAx also has a Fault

RMC70/150 and RMCTools User Manual 11 -Ret/Data Ret/Dat- 12 Case Case Connected to RMC Chassis The commons are internally connected. MDT Wiring (see b

10 Wiring and Installation Pin Function Int/Clk + SSI + Clock Int/Clk - SSI - Clock Cmn Common Ret/Dat + SSI + Data Ret/Dat - SSI - Data Case R

RMC70/150 and RMCTools User Manual 10.2.7. QAx Wiring The QAx module can be wired to quadrature encoders. Each axis on the QAx also has a Fault input,

10 Wiring and Installation 23 n/c n/c No connection 24 EnOut- EnOut- Enable Output (12-24 VDC) Drv: white/orange 25 EnOut+ Enout+ Drv: orange/w

RMC70/150 and RMCTools User Manual 10.2.8. A2 Wiring The A2 expansion module can be wired to voltage or current feedback transducers. Use shielded

10 Wiring and Installation 10.2.9. AP2 Wiring The AP2 expansion module can be wired to voltage or current feedback transducers. Use shielded

RMC70/150 and RMCTools User Manual Position-based a. Set the High-Order Control parameter to Active Damping. This is only valid if the axis is positi

RMC70/150 and RMCTools User Manual 2-Wire Current Transducer 10.2.10. D8 Wiring Each discrete I/O point on the D8 expansion module is individu

10 Wiring and Installation I/O 5 Input or Output I/O 6 Input or Output I/O 7 Input or Output Input Cmn Common to one side of all inputs Discret

RMC70/150 and RMCTools User Manual Figure 1: SSR switching inductive inductive load: high-side configuration. Example: Calculating maximum current

10 Wiring and Installation Figure 6: PNP Configuration: This configuration is the most popular for open collector PNP outputs. Figure 7: Open

RMC70/150 and RMCTools User Manual supply needs and connector pin-outs or cable color codes, consult your transducer manufacturers documentation. Pin-

10 Wiring and Installation Daisy-Chaining Quadrature Inputs One quadrature encoder can typically output its A and B signals to thirty-two (32) RM

RMC70/150 and RMCTools User Manual Note: Allow space for the connectors on the front of the RMC. 10.3.2. RMC150E CPU Module Wiring This topic cover

10 Wiring and Installation The current rating depends on the size of the backplane: Backplane Slots Maximum Current 3 375mA 4 500mA 5 625mA 6 750

RMC70/150 and RMCTools User Manual Note: The RMC150E CPU inputs are 12-24V, whereas the DI/O module inputs are 5-24V. For a complete discussion o

10 Wiring and Installation Note: The MDT input Cmn pin must be connected! A disconnected Cmn pin can cause noise and inaccurate readings. Start/S

3 Controller Features For position-acceleration or velocity-acceleration axes, the secondary input from an accelerometer provides very good accel

RMC70/150 and RMCTools User Manual 10.3.5. RMC150 SSI Wiring This topic covers the wiring of the SSI inputs on the RMC150 SSI (S) module. For the

10 Wiring and Installation 10.3.6. RMC150 Quadrature Wiring This topic covers the wiring of the quadrature inputs on the RMC150 Quadrature (Q)

RMC70/150 and RMCTools User Manual 12 Control Output Drv: blue/white 13 Control Output Common Drv: white/blue 14 Z- Index from encoder (5 V) Enc: whit

10 Wiring and Installation 10.3.7. RMC150 Analog Input Wiring This topic covers the wiring of the analog inputs on the RMC150 Analog (A), Anal

RMC70/150 and RMCTools User Manual supply needs and connector pin-outs or cable color codes, consult your transducer manufacturer's documentation

10 Wiring and Installation To minimize electrical interference: • -In and Cmn must be connected. This connected should be made as close to the

RMC70/150 and RMCTools User Manual To minimize electrical interference: • -In and Cmn must be connected. This connected should be made as close to t

10 Wiring and Installation 10.3.8. RMC150 Resolver Wiring This topic covers the wiring of the Resolver inputs on the RMC150 Resolver (R) and Reso

RMC70/150 and RMCTools User Manual Resolver (RW) Module Below is a typical wiring diagram for the Resolver (RW) module. 10.3.9. RMC150 Discrete I/

10 Wiring and Installation user must power the outputs externally. The maximum current and voltage for the outputs is 75 mA (50 mA for Class I, D

RMC70/150 and RMCTools User Manual The ultimate goal of the cascaded loops is to control the end process. Cascade control can provide precise control

RMC70/150 and RMCTools User Manual In the 24V case, the maximum current is right at the maximum allowed by the SSRs. The outputs may be overpowered if

10 Wiring and Installation Figure 7: Open Collector Outputs to the DI/O Module Inputs with Input Common Connected to Ground. For 24VDC power, th

RMC70/150 and RMCTools User Manual Outputs can be wired in either a high-side or low-side configuration. Because all the outputs share the Output Comm

10 Wiring and Installation Typical current = 24V / (480Ω + 25Ω) = 47.5mA Typical current = 12V / (480Ω + 25Ω) = 23.7mA UI/O Discrete Inputs The U

RMC70/150 and RMCTools User Manual Figure 8: Open Collector Outputs to UI/O Inputs with Input Common Connected to Vcc. Figure 9: Open Collector Ou

10 Wiring and Installation for the A and B signals. Do NOT connect the transducer Ground or Cmn to the cable shield, Case, or earth ground. The u

RMC70/150 and RMCTools User Manual SSI Monitor Mode SSI Register Input mode can be used with Monitor Mode to monitor the communication between anothe

11. Troubleshooting 11.1. Troubleshooting Overview Tip: USE THE EVENT LOG! If an error occurred, or something unexpected happens, open the Event Log

RMC70/150 and RMCTools User Manual Support If you are unable to solve a problem, contact Delta's Technical Support. 11.2. Error Codes When

11 Troubleshooting This error occurs when the Speed At Position (36) command is issued with starting conditions and command parameters that lead

3 Controller Features • Allows inner loop to handle non-linear valve and other final control element problems. • Allows operator to directly co

RMC70/150 and RMCTools User Manual 21 Invalid command parameter 7 The eighth command parameter had an invalid value. Refer to the commands documentati

11 Troubleshooting Endpoint Behavior set to Cyclic (+2) or Zero-Velocity (+0). 34 Curve Add failed because the curve queue is full. Curve Add fai

RMC70/150 and RMCTools User Manual These errors set the Command Modified error bit, if the error code occurred on a specific axis. No. Name 81 Request

11 Troubleshooting One or more of the Auto Stop settings in this register were out of range. This means that either a reserved value was used or

RMC70/150 and RMCTools User Manual dropped because too many sets were received simultaneously. The RMC70 allows up to 6 command sets (up to one comma

11 Troubleshooting The simulator parameter settings resulted in an invalid simulator model. The simulator will not function without a valid model

RMC70/150 and RMCTools User Manual 227 Task Fault on Task n. This will occur if any of the following occur: an array index is out of range, a command

11 Troubleshooting 239 Image Area: Invalid command received. The value written to the Image Area Command register is not supported. Verify the va

RMC70/150 and RMCTools User Manual event log entry: • Invalid Image Format The image downloaded appears to be corrupt or built by a later firmware ed

11 Troubleshooting Delta Technical Support Contact Information Phone: 360-254-8688 (24-hour emergency support available) Fax: 360-254-5435 Email

RMC70/150 and RMCTools User Manual DF1 Protocol (Full- and Half-Duplex) ...

RMC70/150 and RMCTools User Manual 4. Set up Outer Loop Axis Set up the outer loop axis, including scale/offset and tuning. During closed loop contro

12. Index . .NET Assembly ... 613 _ _Axis[]. .AccAOffset ...

RMC70/150 and RMCTools User Manual .OutputBits ... 992 .OutputDeadband ...

12 Index 9 90-30 PLC ... 562 A A Input Status Bit ...

RMC70/150 and RMCTools User Manual RMC70 AA Module ... 629 RMC70 AP2 Module ... 639 Ana

12 Index Class I, Division 2 Compliance ... 684 Clear Discrete Output (61) Command ... 833 Clear Faults (4) Command .

RMC70/150 and RMCTools User Manual Phasing (34) ... 741 PROGRAM Mode (99) ...

12 Index CRV_INTERP_A Function ... 346 CRV_INTERP_V Function ... 346 CRV_INTERP_Y Function ...

RMC70/150 and RMCTools User Manual Direction Command Parameter (Rotary Axes) ... 101

12 Index EtherNet/IP I/O Performance ... 460 Explicit Messaging ... 464 Handling Broken Ethe

3 Controller Features the error bit turns on, its Auto Stop setting determines what type of halt occurs. Make sure the Following Error Auto Stop

RMC70/150 and RMCTools User Manual FollowErr (Axis Error Bits) ... 849 Following Error ...

12 Index GrayCode (MDT/SSI Configuration Bits) ... 926 GSD File ... 480 H Halt Group Num

RMC70/150 and RMCTools User Manual K Keyboard Shortcuts ... 259 Knee Command Voltage ...

12 Index Model Gain Negative ... 913 Model Gain Positive ... 912 Model Natural Fre

RMC70/150 and RMCTools User Manual Output Filter ... 986 Output Limit ...

12 Index PosErrorTolerance ... 952 PosFrcLimit ... 996 Po

RMC70/150 and RMCTools User Manual Program Configuration ... 228 PROGRAM Mode (99) Command ... 694 Progr

12 Index Registration 1 Armed Status Bit ... 887 Registration 1 Latched Status Bit ... 887 Registration 1 Posit

RMC70/150 and RMCTools User Manual Ethernet/IP I/O ... 564 S-Curve Target Profile ...

12 Index Start Task (90) Command ... 830 Starting a User Program when the RMC turns on ...

RMC70/150 and RMCTools User Manual In general, to move rotary axes, use the same motion commands as you would for linear axes. When positions wrap on

RMC70/150 and RMCTools User Manual Transition Rate (56) Command ... 783 Transition Rate (Prs/Frc) (64) Command ... 805 TransOve

12 Index Verify Results Window ... 257 Verifying User Programs ... 307 VFD ...

3 Controller Features Each of the commands listed above has a Direction parameter with the following options for rotary axes: • Positive: The ax

RMC70/150 and RMCTools User Manual command parameter is treated as a position on a linear axis; the axis begins moving toward the position as if on a

3 Controller Features Nearest Absolute The axis will move in the direction that gives the shortest path to the Command Position, as sho

RMC70/150 and RMCTools User Manual Nearest Absolute The axis will move in the direction that gives the shortest path to the Command Position, as shown

3 Controller Features Rotary Motion with Relative Position Moves This section applies to the following commands: • Move Relative (21) • Quic

RMC70/150 and RMCTools User Manual The Direct Output (9) and Open Loop Rate (10) commands work like on a linear axis, except that the positions will

3 Controller Features 3.6.4. Gearing Gearing is used when one axis (the slave axis) must move incrementally and proportionately to a register (th

Table of Contents Resolver (R) Module (RMC150) ...

RMC70/150 and RMCTools User Manual The Track commands provide gearing, with limits on the position, velocity, acceleration and jerk. These commands ar

3 Controller Features Point B. The ratio can be calculated as follows. See the Gear Absolute (25) command for more details. Gear Ratio = (Slave P

RMC70/150 and RMCTools User Manual Transition command must previously have been issued to the axis to define how the axis should move from it's c

3 Controller Features The behavior of the components of the gearing target, including the Target Velocity, Target Acceleration, and Target Jerk,

RMC70/150 and RMCTools User Manual 3. Enter Maximum Acceleration Enter the desired maximum acceleration. This is not necessarily a true limit of the

3 Controller Features volume = the volume of trapped oil in the cylinder (in3) Damping Factor For a 2nd order system. The damping factor is a uni

RMC70/150 and RMCTools User Manual 3.6.6. Step Jumps For closed-loop motion control, the RMC target generator typically generates a motion profile tha

3 Controller Features Curve Tool Creating and viewing curves is easy in the graphical Curve Tool. This method is excellent for applications that

RMC70/150 and RMCTools User Manual • Endpoint Behavior Truncate (+4) • Note: You can choose other Options settings, but these are typical. 4. Sen

3 Controller Features RMC75E: any version RMC75S: versions 2.1D or newer only RMC75P: versions 2.1E or newer only 3.6.7.2. Managing Curves in t

RMC70/150 and RMCTools User Manual Gearing ...

RMC70/150 and RMCTools User Manual 2. In the Properties pane, on the Curve tab, in the Name cell, enter a name for the new curve. You may also enter

3 Controller Features must be increasing (Xi+1 > Xi). Advanced Points 2 This format expands on the Variable-Spaced Points format by allowing t

RMC70/150 and RMCTools User Manual • Curve Delete All (85) • Curve Delete Except (84) Curves can also be deleted automatically, by specifying the St

3 Controller Features • (1) Processing Once the command has been received, the Status will immediately be set to Processing. While in this state

RMC70/150 and RMCTools User Manual Registers 0 - 4 of the Partial Curve Format listed above must always be included in each write. The actual data of

3 Controller Features Note: This is very tedious to do directly from RMCTools, but you may need to when you are first trying it. Part #1: Varia

RMC70/150 and RMCTools User Manual 514 1014 Part Offset = 1014 - 515 507 Part Length = 507 - 516 2504 Total Length = 2504 - 517 Y1010 Y1010 1014 : : :

3 Controller Features 3.6.7.5. Curve Interpolation Methods and Options The RMC supports several interpolation methods and options to satisfy a wi

RMC70/150 and RMCTools User Manual On pressure or force axes, the Target Rate will always be zero. Therefore, the Pressure/Force Rate Feed Forward wil

3 Controller Features • +1 Natural-Velocity Endpoints The endpoints will have their velocity automatically selected to match the natural slop

Table of Contents Command: Write Register (112) ...

RMC70/150 and RMCTools User Manual When overshoot protection is enabled, the velocity is set to zero at each local minimum/maximum point, which elimin

3 Controller Features Example 3 Consider this same curve with both Overshoot Protection and Auto-Constant Velocity enabled. This particular curve

RMC70/150 and RMCTools User Manual curve, the Part Complete (2) state wont be usedthe status will change from Processing (1) directly to Curve Ready (

3 Controller Features and Y values, allowing variable spacing. (22) Partial Curve - Advanced Points This partial curve format expands on the Vari

RMC70/150 and RMCTools User Manual Offset Register Description 0 Status See Above 1 Format (1) Single Curve - Variable-Spaced Points 2 PointCount Numb

3 Controller Features +16: Auto Constant Velocity 4-7 Pt0 Point 0 structure. Each field is described below: 4 .Type Point 0 Type. It can have the

RMC70/150 and RMCTools User Manual using the Multiple Curves formats, the curves will receive sequential ID numbers, starting with the ID specified by

3 Controller Features Offset Register Description 0 Status See Above 1 Format Partial Curve format (20-22) 2 PartOffset Offset of this part of th

RMC70/150 and RMCTools User Manual This error code will be used if the Curve Store does not have enough space free for any of these allocations. See C

3 Controller Features This error will occur if there are already 128 curves in the curve store. You must delete one or more curves before adding

RMC70/150 and RMCTools User Manual Double Differential Output Term ...

RMC70/150 and RMCTools User Manual 80 Equal-length Curves 8,550 points 261 points 128 Equal-length Curves 5,381 points 161 points Curve Store Memory U

3 Controller Features The amount of space required for the computation buffer and curve object depends on several factors. The most important fac

RMC70/150 and RMCTools User Manual Finally, the curve object itself will require 20xN+144 bytes or 200,144 bytes. Therefore, the Curve Store must have

3 Controller Features When determining the curve points, keep in mind that the axis that follows the curve must be at the starting Y-axis po

RMC70/150 and RMCTools User Manual Variable Table: You can enter the curve data in the Variable Table using RMCTools, or you can write the data f

3 Controller Features Notice if you wish to be able to save the curve to Flash, you should choose the Permanent Life Cycle option. Only curves cr

RMC70/150 and RMCTools User Manual For more efficient communication, you can make a user program that issues the Curve Add and Curve Start commands. T

3 Controller Features 3.7.2. Controlling Only Pressure or Force This topic describes how to perform pressure/force control on a pressure-only or

RMC70/150 and RMCTools User Manual Scaling the feedback converts it from volts or current to useful units such as pounds, newtons, etc. To scale the f

3 Controller Features • Curve Start (Prs/Frc) (87) • Curve Start Advanced (Prs/Frc) (89) Exiting Pressure or Force Control To exit pressure/for

Table of Contents Natural Frequency (Simulator) ...

RMC70/150 and RMCTools User Manual Pressure/Force Target Generator Done bit This bit indicates that the Target Pressure or Target Force has reached th

3 Controller Features • Control Axis • 2 Inputs • First Input: Select your position input type. • Input Type: Pressure, Force (single-input),

RMC70/150 and RMCTools User Manual Pressure/force limit is a special type of pressure or force control. With pressure or force limit, the pressure or

3 Controller Features • Stop Pressure/Force (43) • Enter Pressure/Force Control (Auto) (44) • Enter Pressure/Force Control (Time) (45) • Sine

RMC70/150 and RMCTools User Manual The Pressure/Force Target Generator bits in the Status Bits register indicate which portion of the move the axis is

3 Controller Features pressure limit. In order to achieve precise motion when pressure is not important, do not enable Pressure Limit mode. This

RMC70/150 and RMCTools User Manual affect normal closed-loop motion even when the pressure is very low. Therefore, if possible, do not enter Pressure/

3 Controller Features • Hold Current Pressure/Force (19) • Enter Pressure/Force Control (Auto) (44) • Enter Pressure/Force Control (Time) (45)

RMC70/150 and RMCTools User Manual This type of control can be done on any control axis with pressure feedback, whether or not the axis also has posit

3 Controller Features You can choose to filter these values when they used in the control algorithm. See the Velocity Filter Type and Acceleratio

RMC70/150 and RMCTools User Manual Positive Pressure/Force Limit ...

RMC70/150 and RMCTools User Manual Determining the Model To determine the model initially, use the Tuning Wizard. Or, if you know the system of the mo

3 Controller Features Plots in the Plot Manager can be saved for use later in the Plot Manager, or to send to Delta for technical support. Indivi

RMC70/150 and RMCTools User Manual In the Plot Manager toolbar, click the Open Plot File button. In the Open dialog, browse to the desired plot file

3 Controller Features You have set the Plot Duration to 4 seconds and the Trigger Percentage to 25%. When you trigger a plot, the first 1 second

RMC70/150 and RMCTools User Manual • Manually Rearm To manually rearm the trigger, issue the Rearm Plot (103) command. You can also issue the Rearm P

3 Controller Features To see which data items are actually captured and stored in the RMC: 1. In the Plot Template Editor, on a plot tab, choose

RMC70/150 and RMCTools User Manual To read a plot using this method, follow these steps: 1. Wait for the Plot to Complete Before reading the plot da

3 Controller Features To begin reading up a plot before it has finished capturing, follow these steps: 1. Make sure the plot is currently capturi

RMC70/150 and RMCTools User Manual If you wish, you can use Dynamic Plot Upload registers 0-4 to do error checking, as described below: • Verify that

3 Controller Features Use the Plot State register to tell whether the plot is continuously capturing. The plot is continuously capturing when the

Table of Contents RMC150 Analog Input Wiring ...

RMC70/150 and RMCTools User Manual • Verify that the Plot ID register is unchanged. If it has changed, it indicates that you are no longer reading fr

3 Controller Features 4. Read the Plot Data Starting from Dynamic Plot Upload register #0 Upload Mode 3 will always return the newest data whethe

RMC70/150 and RMCTools User Manual Tip: In order to use the plot data, you will probably need to know the sample period. The Sample Period register co

3 Controller Features 3.9.6. Mean Squared Error The Mean Squared Error (MSE) is a quantity that can be included in a plot. The MSE is a single

RMC70/150 and RMCTools User Manual Switching feedback for an axis is useful in certain testing applications, or for using several transducers to provi

3 Controller Features Define the Axes Custom feedback is supported by all axis types with feedback, except differential force or differential acc

RMC70/150 and RMCTools User Manual b. In one of the task columns, choose the user program you created. Make sure no other user programs will ever run

3 Controller Features Custom No Transducer Error Bit The Custom No Transducer bit in the Custom Error Bits register can be written to from the us

RMC70/150 and RMCTools User Manual 3.10.2. Switching Feedback using Custom Feedback Switching feedback on the fly can be implemented in the RMC via Cu

3 Controller Features c. Make sure the task does not stop when an axis halts. 7. Tune the Axis a. Tune the axis manually (auto-tuning does not

RMC70/150 and RMCTools User Manual Copyright © 2004- 2014, Delta Computer Systems, Inc. All Rights Reserv

RMC70/150 and RMCTools User Manual a. Define a control axis with the feedback type required (position, velocity, pressure, force, or acceleration). F

3 Controller Features 1. Determine Actual Measurement Versus Transducer Measurement Determine the equation that defines the relationship of the d

RMC70/150 and RMCTools User Manual 1. Define a Control Axis with Custom Input a. Define a control axis with the feedback type required (position, vel

3 Controller Features 6. Make Sure the User Program Always Runs As described in more detail in the Custom Feedback topic, do the following: a.

RMC70/150 and RMCTools User Manual drive that takes a ± 10V command signal from the RMC. Feedback can be quadrature encoder, SSI, analog voltage or cu

3 Controller Features performance significantly, Delta does not recommend using valves with overlapped spools – in particular for high performanc

RMC70/150 and RMCTools User Manual PID with Acceleration Control with accelerometers This gives the tightest control. However, it really works the val

3 Controller Features Magnetostrictive Displacement Transducers (MDT) are absolute position transducers designed for use in rugged industrial env

RMC70/150 and RMCTools User Manual Pulse Width Modulated Transducer The value obtained from the PWM or Start/Stop counter is put in the Raw Counts

3 Controller Features  RMC150: SSI Module, Universal I/O module The RMCs provide the following SSI options: SSI Options RMC70 MA Module RMC15

1. Introducing the RMC Family RMCTools and RMC Controllers Help The RMCTools software is for setting up, tuning, programming and troubleshooting the

RMC70/150 and RMCTools User Manual 5. The value obtained from the SSI data is put in the Raw Counts register for that axis. The Raw Counts are conver

3 Controller Features To compensate for the delay, set SSI Wire Delay parameter. You can enter the wire length or enter the time delay directly.

RMC70/150 and RMCTools User Manual RMC70 AA1 -10 to +10V, 4-20mA AA2 -10 to +10V, 4-20mA A2 -10 to +10V, 4-20mA AP2 -10 to +10V, 4-20mA RMC150 Analog

3 Controller Features counts on the RMC feedback. For example, a 1000 PPR encoder will give the RMC 4000 counts per revolution. The RMC increment

RMC70/150 and RMCTools User Manual Resolvers are commercially available in many varieties with different specifications. The primary specifications o

3 Controller Features experienced RMC user may not be available. 3. Make more user programs available to the user If an application requires m

RMC70/150 and RMCTools User Manual 1. Preparation • This process will restart the RMC. Therefore, make sure the RMC is in a state where restarting i

3 Controller Features RMCLink documentation for details, particularly the topics relating to the ReadImageToFile and WriteImageFromFile methods.

RMC70/150 and RMCTools User Manual Sequence Error 23=Invalid Download Image 24=Cannot Apply without Restart 25=Failure writing to Flash 26=Must be in

4. Using RMCTools 4.1. Using RMCTools RMCTools Overview RMCTools is a Windows XP*/Vista/7/8 based software package for the RMC70 and RMC150 series m

RMC70/150 and RMCTools User Manual For details on the hardware, see the RMC70 and RMC150 topics. Required Software The software is used for setup,

RMC70/150 and RMCTools User Manual Pane Axis Parameters Pane Axis Definitions Command Tool Command Tool Plots Plot Manager Plot Template Editor Indire

4 Using RMCTools • Project Pane • Command Tool • I/O Monitor • Task Monitor • Output Window • Verify Results Window Moving Dockable Panes T

RMC70/150 and RMCTools User Manual To float a dockable pane, in the title bar, click the arrow and choose Float. Resetting the Window Layout If the

4 Using RMCTools 4.4.1. RMCTools Project The RMCTools project contains all the information involved in setting up and programming the RMC. To sav

RMC70/150 and RMCTools User Manual To access this pane: The Project pane should already be open in RMCTools. If it is not, on the View menu, click Pro

4 Using RMCTools Multiple User Programs may be created for each controller. Right-click User Programs and choose New Program to create a new prog

RMC70/150 and RMCTools User Manual 4.5.2. Connection Path To access this dialog: Right-click the desired controller in the Project pane and choose Con

4 Using RMCTools Going Online or Offline To go online or offline, select the desired controller in the Project pane, then, on the toolbar, click

RMC70/150 and RMCTools User Manual To access the Communication Statistics Window: In the Project pane, select the desired controller. On the Controlle

4 Using RMCTools Variable values can be remembered between power cycles by marking them as retentive (RMC75E and RMC150E only), or by updating Fl

1 Introducing the RMC Family Target Profile When the RMC is commanded to make a move in closed loop control, it generates a target profile, which

RMC70/150 and RMCTools User Manual 4.6.2. View/Change Controller Hardware To access this dialog: In the Project pane, right-click Modules and click Vi

4 Using RMCTools To view the values in the RMCTools project, click the Show Project Values button . To view the values in the RMC, click the Sho

RMC70/150 and RMCTools User Manual 4.7.1.3. Axis Parameters Pane To access this pane: On the RMCTools toolbar, click the Axis Tools button . If the

4 Using RMCTools To hide a column, right-click the column heading and click Hide Column. To see it again, right-click any column heading, click A

RMC70/150 and RMCTools User Manual Note: It is possible to add more analog inputs on the RMC70 than can be assigned to axes. However, it is still poss

4 Using RMCTools To send a command to one axis: a. Determine which axis you wish to send a command to. b. In the Cmd box for the desired axis,

RMC70/150 and RMCTools User Manual 4.9.1. Plot Manager Overview To access the Plot Manager: On the Plots menu, click Open Plot Manager. Use the Plot

4 Using RMCTools menu, click Rearm Plot. You can also use the Trigger Plot (102) and Rearm Plot (103) commands. Triggering a plot will cause the

RMC70/150 and RMCTools User Manual • Start a Trend Click Trend. History Tab The History tab, located in the upper left pane, displays a list of al

4 Using RMCTools • Number Format This sets the number of decimal places to display. Right-click an item in the Plot Details and choose Format Nu

RMC70/150 and RMCTools User Manual 6. If an error occurred, or if you wish to see if the command went through, open the Event Log by double-clicking

RMC70/150 and RMCTools User Manual Using the Plot Template Editor The Plot Template Editor has two main sections, General Settings and Individual Plot

4 Using RMCTools Plot template sets are for advanced usage, can be confusing, and are hidden by default. You will likely never need to use them.

RMC70/150 and RMCTools User Manual 1. Click the Format cell for the desired plot quantity and click the ellipsis button. 2. Choose from the followi

4 Using RMCTools Setting Description Enable Automatic Trigger If this checkbox is set, a plot will automatically trigger when the action in the T

RMC70/150 and RMCTools User Manual such as Target and Actual Position. The smaller the number, the closer the items tracked. Choose Standard Error Qua

4 Using RMCTools The System Identification tool calculates system models for the currently displayed plot. The System Identification tool assig

RMC70/150 and RMCTools User Manual Tuning Parameters You can change the tuning parameters and then download them to the controller by clicking the D

4 Using RMCTools Tip: For a typical hydraulic cylinder position axis, the Accel and Decel parameters of the Move absolute command are typically o

RMC70/150 and RMCTools User Manual d. To see how your tuning has progressed, or to see which gains you used several moves ago, click the History tab

4 Using RMCTools • Delete a Step: On the Step Editor toolbar, click the Delete Step button. Or, right-click in the white space below the step

1 Introducing the RMC Family These general terms and conditions of sale of Delta Computer Systems, Inc (Delta), along with any written Delta quot

RMC70/150 and RMCTools User Manual The Commanded Axes specifies which axes to issue the command to. • Click the Command Axes button and choose the ax

4 Using RMCTools 4.11.3. Program Triggers To access the Program Triggers: In the Project pane, expand Programming, and double-click Program Tri

RMC70/150 and RMCTools User Manual The first trigger will cause the user Program "Cycle" to be started on Task 0 when the variable StartProg

4 Using RMCTools To print the Program Triggers, on the Program Triggers Editor toolbar, click the Print button. Or, on the File menu, choose Pri

RMC70/150 and RMCTools User Manual 4. On the RUN/PROGRAM page of the Program Properties dialog, set the RMC to start up in RUN Mode. 5. Update Flash

4 Using RMCTools Starting and Stopping User Programs To start a User Program: • Right-click a Task listed in the Task Monitor, choose Start Task

RMC70/150 and RMCTools User Manual • Type a value and press Enter. • Click the Download button to apply the changes to the RMC. • The variable wi

4 Using RMCTools is downloaded to the controller. The Current Value will be set to the Initial Value for all variables for which the Initial Valu

RMC70/150 and RMCTools User Manual User functions are custom functions created or imported by the user. User Functions provide flexibility and efficie

4 Using RMCTools Variable Declarations Functions can have input variables, output variables, input/output variables, and local variables. For det

RMC70/150 and RMCTools User Manual Exporting User Functions 1. Right-click in the function list pane and choose Export User Functions. 2. Choose the

4 Using RMCTools Column reference the I/O point in User Programs or the Program Triggers, but the preferred method is to use the tag name. Assign

RMC70/150 and RMCTools User Manual Output - Forced Off Output - Forced On Input - Off Input - On Input - Forced Off Input - Forced On Discrete I

4 Using RMCTools The Curves in Project window displays the curves in the project. The Curves In Controller window displays the curves in the cont

RMC70/150 and RMCTools User Manual In the graph, click and drag the hairline cursor. Or, right-click in the graph and choose Move hairline here. The X

4 Using RMCTools Curves can be imported from a separate file into the project. 1. In the Curves in Project window, right-click and choose Import

RMC70/150 and RMCTools User Manual the natural slope of the interpolated curve. • Cyclic - Matches the velocity of the first and last point so that t

4 Using RMCTools 4.13.1. Indirect Data Map Editor To access this editor: Expand the desired controller in the Project pane, then double-click Ind

RMC70/150 and RMCTools User Manual The addresses of the registers in the Indirect Data Map are displayed in the Reg # column. To change the address fo

4 Using RMCTools • On the main toolbar, in the Active Shortcut Command Set box, choose a shortcut command set. The shortcut command set will bec

2. Starting Up the RMC 2.1. RMC Startup Procedure The best resource to start using the RMC is the Startup Guide that was shipped with the controller

RMC70/150 and RMCTools User Manual 1. Highlight the entire command by clicking the word Command, or the whitespace above the Command box. 2. Press D

4 Using RMCTools Saving the Event Log To save the Event Log, click the Save Event Log button on the toolbar in the Event Log window. A Save As

RMC70/150 and RMCTools User Manual view these events, you must set the filter to include them. Other events that appear by default may sometimes flood

4 Using RMCTools Parameters Changed Logs all changes to the Axis Parameters. Pressure/Force Mode Changes Logs all changes to the pressure/force m

RMC70/150 and RMCTools User Manual Data Channel 0 Logging For the Basic/Enhanced modes, logs the specified actions from Data Channel 0. None: Do not l

4 Using RMCTools Functions, User Programs) Current Value of Variables In the Variable Table Editor, on the Monitor tab, on the toolbar. Curve Too

RMC70/150 and RMCTools User Manual or warnings caused by a program running in the RMC, but you still want to see error resulting from actions in RMCTo

4 Using RMCTools If the upload or download is successful, the Output window will automatically close after 0.5 seconds. In the RMCTools Options d

RMC70/150 and RMCTools User Manual The Options dialog contains various RMCTools settings. These settings apply to RMCTools, and are not saved to the p

4 Using RMCTools • Remote: This setting is intended for slow or unreliable Internet connections. 4.16.8. Communication Log The Communication L

RMC70/150 and RMCTools User Manual g. Click Next. h. You may need to wait while RMCTools connects to the controller. Once it has connected, verify t

RMC70/150 and RMCTools User Manual F2 Rename Find Ctrl + F Replace Ctrl + H Find All Ctrl + Shift + F Find Next F3 View Menu Commands Key Action Alt +

4 Using RMCTools Editor Menu Commands (Step Editor for User Programs) This menu is available when the Step Editor is open. Key Action Ins Add Ste

RMC70/150 and RMCTools User Manual Arrow or Keypad + Left Arrow or Keypad - Collapse an item Up Arrow Move up one item Down Arrow Move down one item

4 Using RMCTools wheel Arrow Keys Move cursor Page Up Move cursor to left Page Down Move cursor to right Home Move cursor to end of plot End Move

RMC70/150 and RMCTools User Manual Browser F6 Changes focus between the editor to the Expression Browser. Ctrl + Tab The Expression Browser Opens

4 Using RMCTools To paste text or table cells: 1. Click the desired paste location or move the cursor to the desired paste location. 2. Paste t

RMC70/150 and RMCTools User Manual 3. Enter the desired replacement text in the Replace with box. 4. Set the Find options as desired. 5. To find th

4 Using RMCTools Analog Acceleration Scaling Analog Pressure/Force Scaling MDT Scaling SSI Scaling Quadrature Scaling Resolver Scaling 4.17.2.

RMC70/150 and RMCTools User Manual 4.17.3. Autotuning Wizard: Enter Move Parameters Page Previous Wizard Page Next Wizard Page In the Axis Paramete

4 Using RMCTools The parameters you enter on this page affect the Control Output profile as described below: Section A: The Control Output ram

2 Starting Up the RMC i. On the RMCTools toolbar, click the Axis Tools button . ii. In the Axis Parameters pane, on the Setup tab, under the P

RMC70/150 and RMCTools User Manual might not necessarily take up the entire distance specified by the Maximum Distance parameter, but it will typicall

4 Using RMCTools 1. Enter Desired Position Range Enter the desired range of position travel. For rotary axes, choose the number of position unit

RMC70/150 and RMCTools User Manual over Ethernet box must be checked in the Ethernet Settings Page, and the controller must be running firmware 3.30.0

4 Using RMCTools Page Setup: Setup the page margins for printing. Print: Print the current editor. Exit: Close the project and close RMCTools. Yo

RMC70/150 and RMCTools User Manual Download All to Controller: Downloads all the parameters from the project to the currently selected controller. Thi

4 Using RMCTools Open Plot File: Open a saved plot file. Recent Plot Files: List of recently saved or opened plot files. Select Active Plot: Sele

RMC70/150 and RMCTools User Manual Append Command: Add a command after the other commands in the step. Remove Command: Delete the selected command. Mo

4 Using RMCTools The following buttons are available on the Standard Toolbar: New Project Creates a new . Open Project Opens an RMCTools pro

RMC70/150 and RMCTools User Manual Help Opens the help. 4.18.3. Shortcut Command Toolbar Use Shortcut Command Toolbar to issue Shortcut Commands.

5. Programming 5.1. Programming Overview The RMC has a rich set of pre-programmed high-level motion commands. In addition, it can easily be programm

Condensed Contents 1. Introducing the RMC Family ... 1 Overview of the RMC family capabilit

RMC70/150 and RMCTools User Manual j. On the Controller menu, click Update Flash. This stores your changes in the RMC even in the event of a power ou

RMC70/150 and RMCTools User Manual See the Program Triggers topic for details. Variables Variables make the User Programs very flexible. Variables can

5 Programming See the User Programs topic for details on how to create and run user programs to issue to commands to the RMC. Issuing Commands fr

RMC70/150 and RMCTools User Manual The user wishes to issue the following move absolute command to Axis 1 of the RMC70: Move Absolute(20): • Command

5 Programming With Modbus/RTU or Modbus/TCP Addresses: From the RMC150 Register Map - File 40 Commands, we see that the addresses for the Axis 0

RMC70/150 and RMCTools User Manual processed a non-immediate command this control loop. Command sets remaining in the command queue will be processed

5 Programming • Task Monitor in RMCTools In the Task Monitor, right-click a task and click Start Task. • Project Pane In the Project pane, in t

RMC70/150 and RMCTools User Manual • Apply the changes to the RMC by right-clicking Programming and clicking Download Programs to Controller. Assign

5 Programming To change the default task, you can use the _Task[].CurAxis tag. The tag _CurAxis is equivalent to _Task[].CurAxis, which referenc

RMC70/150 and RMCTools User Manual Tag Name The name of the variable. Use the Variable name to refer to the variable. You can also reference the varia

5 Programming • Use the Edit tab of the Variable Table Editor to set the initial value. The Initial value is the value the variable will take on

2 Starting Up the RMC i. In the Axis Parameters pane, select the Setup tab and expand the Primary Control Setup section. ii. Double-click the Inv

RMC70/150 and RMCTools User Manual When the RMC boots up, the Current Values for all variables will start at zero, and then if a variable has an Initi

5 Programming The Program Triggers has one column for each Task. To increase the number of tasks, use the General page of the Programming Propert

RMC70/150 and RMCTools User Manual To move rows up or down, select one or more rows, then use the Move Up and Move Down buttons. To delete rows, s

5 Programming 5. In the Task columns, choose the user program you wish to run. You must have created a user program first. 6. To apply the chan

RMC70/150 and RMCTools User Manual After changing any items under the Programming node in the Project Pane, you must download the programs to the RMC

5 Programming Entering Tag names You do not have to remember the tag names in order to use them. The Address Selection Tool can be used to find t

RMC70/150 and RMCTools User Manual Reducing the Program Size The RMCs have the following amount of memory allocated for the entire Programming node wh

5 Programming In the RMCTools Options dialog, in the Programming section, you can choose to display the execution times that RMCTools calculates

RMC70/150 and RMCTools User Manual RMC75P (2.1F or newer) 3.31.0+ 3000µs 1000µs 500µs/250µs (note 3) 210 µs (note 1) -- RMC75P (2.1E or older) 3.31.0+

5 Programming prevents the controller image from being uploaded via the Controller Image Upload/Download area. Enable Programming Security If you

RMC70/150 and RMCTools User Manual If you wish to use units not listed, choose Custom, then type up to 4 characters in the Custom Units parameter. c.

RMC70/150 and RMCTools User Manual locked copyright notice or programming is saved, the Programming portion will be saved in encrypted format. A proje

5 Programming • If you have provided the contact information in the copyright notice field during User programming, Delta will make a good faith

RMC70/150 and RMCTools User Manual User Programs run on Tasks. One User Program can run per Task. The RMC70 has up to four Tasks and therefore, up to

5 Programming Expressions The Expression command makes the User Programs very powerful. The Expression (113) command can only be used in User Pr

RMC70/150 and RMCTools User Manual Note: In order to run User Programs or the Program Triggers, the RMC must be in RUN mode. See the RUN/PROGRAM Mode

5 Programming A maximum of one non-immediate command per loop time can be issued to each axis. There is no limit to the number of immediate comma

RMC70/150 and RMCTools User Manual step specified in the Jump To box. You can enter a step number or label, choose a step label from the drop-down lis

5 Programming desired location, or use the Move Step Up and Move Step Down buttons on the Step Editor toolbar. Or, right-click the area under

RMC70/150 and RMCTools User Manual After you have created a User Program, it must be verified before downloading and running it in the RMC. The verif

5 Programming 1. See the Issuing Commands topic for details. • Send the Start Task (90) command from a User Program: 1. In the Command box, ty

2 Starting Up the RMC To access the Scale/Offset wizard, in Axis Tools, in the Axis Parameters pane, click the Setup tab. Expand the Tools and Wi

RMC70/150 and RMCTools User Manual For example, consider the following user program: This user program only runs one step (which takes only one loo

5 Programming 5.11.7. Exporting and Importing User Programs User Programs can be exported to a file to be imported later into another project. Wh

RMC70/150 and RMCTools User Manual 3. When the user program runs, if bits 0, 1, and 3 are set, then the command will be sent to Axis 0, Axis 1, and

5 Programming A Link Type specifies the condition that makes the RMC jump to and start the next step in a User Program. As a User Program runs, t

RMC70/150 and RMCTools User Manual To select the Immediate Link Type: • Open or create a User Program. • Go to the step where you want the Immediate

5 Programming Box Description Time to Delay The Time to Delay specifies the number of seconds to wait before jumping to the next step in the User

RMC70/150 and RMCTools User Manual 5.11.9.5. Link Type: Wait For Note: A Link Type specifies the condition that makes the RMC jump to and execute the

5 Programming destination specified in its Jump On True box. If all conditions evaluate to False, then the program jumps to the destination speci

RMC70/150 and RMCTools User Manual than the next loop time after the first step was executed, and the state of the condition in the same loop time tha

5 Programming DINT 32-bit integer number. When typing a DINT number, it must not include a decimal point. DWORD 32-bit string of bits. Each bit i

RMC70/150 and RMCTools User Manual The RMC calculates the Actual Position every control-loop time using either of the following formulas: Actual Posit

RMC70/150 and RMCTools User Manual A BOOL number in the RMC is a single bit. In the RMC, a single bit cannot exist by itself. It is always a part of a

5 Programming For details on creating a DWORD variable, see the Variables topic. 5.12.5. REAL Data Type A REAL number in the RMC is a 32-bit

RMC70/150 and RMCTools User Manual For examples of expressions, see the Condition Expressions and Assignment Expressions topics. For examples of user

5 Programming Register := Expression; where: Register must be writable and may be any of the following: • Variable • Local Variable • Register

RMC70/150 and RMCTools User Manual • In the Tags box, find the desired register and double click it. It will be placed in Expression box. Then, in th

5 Programming • Soft Limit Switch , such as comparing whether the Actual Position is greater than a ceratin value. • Discrete I/O, such as chec

RMC70/150 and RMCTools User Manual 5.13.4. Value Expressions A value expression evaluates to a number. Value expressions are used in the Delay Link Ty

5 Programming • Type your expression. The intellisense will offer suggestions for variables and tag names based on what you have typed. • If th

RMC70/150 and RMCTools User Manual Array values can be initialized as shown in the example above. The number of initialized values must equal the numb

5 Programming REAL[20] array with the index 4. This is actually the fifth element because the indices are zero-based. MyArray as REAL[10] Myindex

2 Starting Up the RMC 2.2.4. Analog Acceleration Scaling To have any useful meaning, the Voltage or Current from an analog transducer on an accel

RMC70/150 and RMCTools User Manual 5. All items of the array must have the same setting for the Retain column. Before declaring an array, make sure t

5 Programming parentheses. = Equal To (not for assigning values) All Data Types Cannot be used for assignment. <> Not Equal All Data Types

RMC70/150 and RMCTools User Manual Equality Inequality = <> Boolean AND AND Boolean Exclusive OR XOR Boolean OR OR Lowest Assignment :=

5 Programming Example Example 1 IF _Axis[0].ActPos > 20.0 THEN MyREAL := 92; END_IF Example 2 IF MyInput1 = True THEN MyREAL1 := 34.0; MyREAL2

RMC70/150 and RMCTools User Manual preceding "0x" instead of 16#, for example 0x01006a01. Boolean Representing a single bit. 0 = False and 1

5 Programming When performing mathematical calculations in the RMC, keep in mind that the numbers are 32-bit numbers. 32-bit numbers do not provi

RMC70/150 and RMCTools User Manual The Expression Editor displays the Assignment Expression in black text if it is valid, and in red text when it is i

5 Programming 5.14.2. Standard Functions 5.14.2.1. Standard Functions The RMC expressions support many built-in standard functions, as listed bel

RMC70/150 and RMCTools User Manual ATAN(a) Returns the arctangent of a. SINH(a) Returns the hyperbolic sine of a. COSH(a) Returns the hyperbolic cosin

5 Programming ADDR_OFS(loc, i) Returns the address of the ith register after the register loc. COPY(src, dst, len) Copies up to 32 variables from

RMC70/150 and RMCTools User Manual Method 2: P0/P1 Calculation The accuracy of this method depends on how accurately you can measure the pressure of

RMC70/150 and RMCTools User Manual 5.14.2.4. ADDR_OFS Function ADDR_OFS(location, i) Returns the address of the ith register after location. This fu

5 Programming Examples ASHR(16#FFFF0008, 2) returns 16#FFFFC0002 5.14.2.6. ASIN Function ASIN(a) Returns the arcsine of a. Parameters a (REAL

RMC70/150 and RMCTools User Manual 5.14.2.8. CEIL Function CEIL(a) Rounds a to the next greater (most positive) integer. Parameters a (REAL) The input

5 Programming Notice that although the variable table is broken up into multiple individual files (%MD56, %MD57, etc.), the COPY function can wra

RMC70/150 and RMCTools User Manual The ADDR_OFS function can be used to calculate an address from a base address and an offset. For example, if the fi

5 Programming COS(a) Returns the cosine of a. Parameters a (REAL) The input value in radians. Return Value Returns a REAL. Remarks Notice a is in

RMC70/150 and RMCTools User Manual 5.14.2.13. CRV_FIRST_X Function CRV_FIRST_X (id) Returns the x value for the first point in the curve with the spec

5 Programming 4: Truncated If x is beyond the endpoints of the curve, the curve holds it position at each endpoint: CRV_INTERP_Y will return the

RMC70/150 and RMCTools User Manual program that uses the CRV_INTERP_Y function to continuously update a variable. The user program should then gear th

5 Programming DINT_TO_REAL (a) Converts a DINT to a REAL. Parameters a (DINT) The input value. Return Value Returns a REAL. Remarks For values be

2 Starting Up the RMC To have any useful meaning, the counts from the transducer must be scaled to position units. The Position Scale and Positio

RMC70/150 and RMCTools User Manual 5.14.2.20. FILL Function FILL(to, value, length) Sets length registers starting at the to address to the specified

5 Programming you will need to spread the code over several steps, in which case the variable i needs to be defined in the Variable Table, not lo

RMC70/150 and RMCTools User Manual FLOOR(5.8) returns 5 FLOOR(-17.8) returns -18 5.14.2.22. LENGTH Function LENGTH(array) Returns the number of el

5 Programming LOG(a) Returns the logarithm (base 10) of a. Parameters a (REAL) The input value. Return Value Returns a REAL. Remarks If a is less

RMC70/150 and RMCTools User Manual Return Value The LOG_EVENT function does not return a value. Remarks The LOG_EVENT function can only be used in the

5 Programming MIN(8, 5, 10) returns 5 MIN(10, 2, -5,8) returns -5 5.14.2.29. MROUND Function MROUND(a, multiple) Rounds a to the desired mult

RMC70/150 and RMCTools User Manual Examples POLY(1, 1, 2, 4, 1) is the equivalent of 1 + 2t + 4t2 + t3, where t is 1.0 and returns 8.0. POLY(0.5, -10,

5 Programming REG_DWORD: DWORD Remarks This function is not intended for common use. All RMC registers can be addressed directly, making this fun

RMC70/150 and RMCTools User Manual Return Value Returns the same data type as a. Remarks The result of an invalid n is undefined. Examples ROR(16#0000

5 Programming Parameters cond (BOOL) The condition to be evaluated. a (REAL or DINT) The value to return if cond is true. b (REAL or DINT) The va

RMC70/150 and RMCTools User Manual • The 240MHz and 120 MHz values comes from the RMC's internal counter. If you change the units from the above

RMC70/150 and RMCTools User Manual n (DINT) The number of times to shift a. n must be between 0 and 31. Return Value Returns the same data type as a.

5 Programming SIN(45 * M_PI / 180) returns 0.70710677 5.14.2.41. SINH Function SINH(a) Returns the hyperbolic sine of a. Parameters a (REAL) Th

RMC70/150 and RMCTools User Manual Remarks Notice a is in radians. To convert a value from degrees to radians, multiply the degrees value by π/180. Th

5 Programming a (REAL) The input value. Return Value Returns a REAL. Examples TRUNC_REAL(34.78) returns 34.0 TRUNC_REAL(-3.46) returns -3.0 TRUNC

RMC70/150 and RMCTools User Manual • Input/Output e. Click OK. To adjust the order of the parameters, use the Up and Down arrows. To delete par

5 Programming All user functions in the project are displayed in the User Function list. To add a user function, click the New User Function bu

RMC70/150 and RMCTools User Manual Limitations The following limitations apply to calling user functions: • Any Output and Input/Output type paramete

5 Programming MyOutputVar : REAL :=4; MyArray : Array [0..3] OF REAL := [10, 10, 0]; END_VAR VAR MyVar : REAL := 100; YourVar : Array [0..9] OF D

RMC70/150 and RMCTools User Manual MyPos := Avg4(_Axis[0].ActPos, _Axis[1].ActPos, _Axis[2].ActPos, _Axis[3].ActPos); Declaration (

5 Programming y := r; ELSE x := r * COS(theta * (M_PI / 180.0)); y := r * SIN(theta * (M_PI / 180.0)); END_IF

2 Starting Up the RMC • To calculate the Offset: Move the axis to where it should be 0 mm. The Actual Position shows 24.8. The Position Offset s

RMC70/150 and RMCTools User Manual RMC Module Details RMC70 D8 Expansion module 8 DI/O points, individually programmable as inputs or outputs. RMC150

5 Programming RMC I/O Addressing Examples RMC70 Inputs = %IXn Outputs = %QXn where n is the I/O number as displayed in the I/O Monitor. %QX0 is

RMC70/150 and RMCTools User Manual Write to the address of the output. See the RMC150 DI/O Register Map or RMC70 DI/O Register Map for address details

5 Programming In the I/O Monitor, right-click the input or output you want to remove the force from, and click Remove Force. Or, in the I/O Monit

RMC70/150 and RMCTools User Manual Assign a Tag Name to the I/O To assign a tag name to an I/O, type a name in the Tag Name column. Tag names are limi

5 Programming Simple User program - A simple user program Jog Button - Shows how to set up a jog with the RMC. Can be done using discrete I/O or

RMC70/150 and RMCTools User Manual 2. Create a New User Program a. In the Project Pane, expand Programming, right-click User Programs, and click New

5 Programming Notice that the Link Type box is red. This indicates an error. In this case, the error is that there is no next step, but one will

RMC70/150 and RMCTools User Manual 7. Add Last Step for Move Back This step will move the axis back up to 10 in. a. Right-click in the left part of s

5 Programming Link: Waits for Axis 0 In Position status bit to turn on, which means the axis has reached the requested position. This link type i

RMC70/150 and RMCTools User Manual 3. The Position Scale is equal to the number of position units per count, for example, using inches and a resoluti

RMC70/150 and RMCTools User Manual This topic describes how to program the RMC so that an axis enters closed loop control when the RMC turns on. For e

5 Programming If you are starting up the RMC at the same time as the transducers, there may be a delay before the transducers start sending data

RMC70/150 and RMCTools User Manual 5.16.5. Example: Jogging an Axis This topic provides two examples on how to program the RMC to jog on a position

5 Programming d. The fourth condition will continuously monitor the discrete input (or variable register) for moving the axis backward. When it

RMC70/150 and RMCTools User Manual 3. Create four Program Triggers conditions: Since the HMI writes to bit 0 of the variables, the value of the entir

5 Programming 3. Create four Program Trigger conditions: If an input is on, it is TRUE. If is off, it is FALSE. Each condition compare

RMC70/150 and RMCTools User Manual DINT, and will wrap around to -2147483648 after it reaches its maximum value of 2147483647. Example Consider an app

5 Programming This example makes use of the _SysMS tag. The _SysMS tag holds the number of milliseconds since the RMC powered up. It is a 32-bit

RMC70/150 and RMCTools User Manual This topic provides an example of using a variable array. Description This example will program the RMC for a cylin

5 Programming 3. Downloading the Programmng To download the programming, in the Project pane, right-click Programming and choose Download Progra

2 Starting Up the RMC For the range of counts described above, the positions must be kept within a corresponding range. The Position Unwind and P

RMC70/150 and RMCTools User Manual General Considerations In a machine fault situation, the following actions are typically desired of the RMC: 1. Ha

5 Programming In addition, the same discrete input can be used to put the RMC in PROGRAM mode, thereby stopping all user programs and the Program

6. Communication 6.1. RMC Communications Overview Numerous communication protocols are available on the RMC70 and RMC150. This allows almost any ext

RMC70/150 and RMCTools User Manual RSView Siemens S7 PLCs via PROFIBUS Siemens S7 PLCs via PROFINET Schneider Electric PLCs via EtherNet/IP I/O Schnei

6 Communication The Indirect Data Map is important for several communication types. It maps any data items from anywhere in the RMC to one locati

RMC70/150 and RMCTools User Manual Every RMC CPU module has a Monitor port. This port is used primarily to communicate from RMCTools to the RMC. The m

6 Communication 3. In the Project Pane, right-click the controller you wish to connect to and click Connection Path. 4. Choose the COM port tha

RMC70/150 and RMCTools User Manual Pin # RS-232 Function 1 DCD- Not used by RMC70 2 RxD - Receive Data 3 TxD - Transmit Data 4 DTR - Not used by RMC70

6 Communication For details on using the Indirect Data Map for PROFIBUS, see the PROFIBUS topic, and then choose a PROFIBUS mode topic. The addre

RMC70/150 and RMCTools User Manual Note: If the Actual Position filter is applied, the RMC filters the Actual Position after calculating it with the a

RMC70/150 and RMCTools User Manual To read the data from the mapped registers, read from F18:0 to F18:7. Now, instead of reading 8 registers in variou

6 Communication series motion controllers. It also describes how to configure the communications and the basics of actually communicating, such a

RMC70/150 and RMCTools User Manual If you are connecting the HMI to the communications serial port on the RMC75S, make sure you configure the RMC75S s

6 Communication Discrete I/O augments the communications of the RMC. Discrete I/O is typically faster and more deterministic than the communicati

RMC70/150 and RMCTools User Manual For serial (RS-232/485) and Ethernet communication, each axis has a Command Request and Command Acknowledge bit. •

6 Communication until they are before issuing the next command. Otherwise, a command is still being received, and the synchronization will be los

RMC70/150 and RMCTools User Manual 6.8.1. Ethernet Communications Overview The RMC75E and RMC150E provide Ethernet slave communications, supporting 10

6 Communication support all major Ethernet devices, and is interested in knowing about devices that the RMC does not support. Note: The RMC does

RMC70/150 and RMCTools User Manual 1. Orange/White 2. Orange 3. Green/White 4. Blue 5. Blue/White 6. Green 7. Brown/White 8. Brown 6.8.2. Using Eth

6 Communication your device supports reading and writing to registers in any of the PLCs listed below, then your device should be able to communi

2 Starting Up the RMC If you are using a feedback device that gives only velocity feedback, such as a tachometer, see the Analog Velocity Scaling

RMC70/150 and RMCTools User Manual • Allen-Bradley CompactLogix with Ethernet Interface Module (1769-ENBT) • Allen-Bradley FlexLogix with Ethernet I

6 Communication The simplest TCP-based protocol supported by the RMC (firmware 3.31.0 or newer) is the Delta Motion Control Protocol (DMCP). This

RMC70/150 and RMCTools User Manual order of the bytes in this 16-bit value is determined by the Byte Order field. 14-15 00 00 Reserved. Must be zero.

6 Communication • Most-Significant Byte (MSB) First (01). For example, the value 0x1122 will be encoded as 11 22. 8-9 nn nn Starting Address (Fi

RMC70/150 and RMCTools User Manual Response Code Description 00 Success. 01 Malformed. 02 Too Long. 03 Invalid Address. Notice that in certain other

6 Communication 6.8.5. Communicating Directly over UDP Master Ethernet controllers can communicate with the RMC using several methods. This topic

RMC70/150 and RMCTools User Manual write at. The order of the bytes in this 16-bit value is determined by the Byte Order field. 12-13 nn nn Write Coun

6 Communication Data registers in the response. Notice that the Packet Length byte order is not affected by this field. • Least-Significant Byte

RMC70/150 and RMCTools User Manual The response packet holds a single-byte Response Code field, indicating to the client whether the transaction was s

6 Communication 6.8.6. Ethernet Link/Act LED The RMC75E and RMC150E have a Link/Activity LED. This LED has the following states: State Descriptio

RMC70/150 and RMCTools User Manual On a poorly tuned system, the Actual Position will not follow the Target Position very well. To see a plot, cl

RMC70/150 and RMCTools User Manual 6.8.7. Troubleshooting RMCTools Ethernet Connection This topic describes problems and possible solutions for connec

6 Communication Virtual PC also often adds virtual IP interfaces, in addition to any physical interfaces on the computer. To determine if browsin

RMC70/150 and RMCTools User Manual 6. In the Advanced TCP/IP Settings dialog box, click the IP Settings tab, clear the Automatic metric checkbox, and

6 Communication 6.8.8.1. Setting Up the RMC Ethernet Setting up the Ethernet communications for the RMC75E or RMC150E requires entering only a fe

RMC70/150 and RMCTools User Manual Entire Packet Framing Header IP Header TCP Header Modbus/TCP Header Modbus/TCP Data Area CRC Thi

6 Communication Each protocol is briefly described below: ARP (Address Resolution Protocol) Ethernet packets can either be broadcast (received by

RMC70/150 and RMCTools User Manual ENET and 1756-ENBT). See the EtherNet/IP topic for details on usage with the RMC. FINS/UDP This is an open applicat

6 Communication Many industrial applications require a standalone Ethernet network for machine control, for example, a PLC communicating with sev

RMC70/150 and RMCTools User Manual Example: The user decided to use the 192.168.0 address. Because this network address is 24 bits long, the subnet ma

6 Communication Value IP Address 192.168.0.5 C0A80005 Subnet Mask 255.255.255.0 FFFFFF00 Network Address 192.168.0 C0A800 Local Address 5 05 Th

2 Starting Up the RMC The Tuning Wizard makes the tuning process very easy. The Tuning Wizard provides autotuning and tuning based on existing pl

RMC70/150 and RMCTools User Manual Every Ethernet device manufactured is required by the IEEE Standards Organization to have a unique MAC address. Thi

6 Communication • The RMC handles incoming packets on a first-in first-out (FIFO) basis, making it possible to send multiple requests and then w

RMC70/150 and RMCTools User Manual The FINS protocol uses a three-stage addressing system: network address, node number, and unit number. These three

6 Communication in its response packet. It can be used to match responses with requests, since UDP does not prevent packets from being delivered

RMC70/150 and RMCTools User Manual packets from being delivered out-of-order or dropped. 10-11 01 01 FINS Command. These two bytes should be 01 01 to

6 Communication Prefix Area Code D 82 E0_ A0 E1_ A1 In the FINS/UDP protocol, the Starting Address is encoded as a 16-bit value with the most-s

RMC70/150 and RMCTools User Manual Example 1: Writing a Single Register In this example, the client will write the value 0x11223344 to variable 0 (%MD

6 Communication The RMC uses port number 7171 hex (29,041 in decimal) for the Procedure Exist protocol. A sample program for the Q-Series Procedu

RMC70/150 and RMCTools User Manual Fixed Buffer: Receive Fixed Buffer communication procedure: Procedure Exist Paring open: Enable Existence confirmat

6 Communication 12. Data Time 1 The RMC has 32-bit registers. Therefore, you can only write 32-bit words. Most RMC registers are floating-point;

RMC70/150 and RMCTools User Manual absolute command should be on the order of 20 -100 pu/sec2. The speed is typically between 1 and 30 pu/sec. 2. Vie

RMC70/150 and RMCTools User Manual (16 bits) Count (16 bits) (32 bits) (32 bits) (32 bits) Description: 16-bit Count This is the number of 1

6 Communication significant byte. • The RMC will respond to this request with the following packet: Offset Data (hex) Description 0 E0 Acknowl

RMC70/150 and RMCTools User Manual 2-3 mm mm Packet Length. This value holds the number of 16-bit words in this packet, not including this field and t

6 Communication After the RMC has successfully received and processed this write request, it will respond with the following packet: E0 00 Notice

RMC70/150 and RMCTools User Manual EtherNet/IP I/O EtherNet/IP I/O provides a mechanism of deterministically sending data in both directions between a

6 Communication 6.8.10.6.2. Setting Up an EtherNet/IP I/O Connection This topic describes the concepts involved in setting up an EtherNet/IP I/O

RMC70/150 and RMCTools User Manual Connection Type The RMC supports three types of I/O connections: • Input/Output This connection is bidirectional:

6 Communication The RMC supports both multicast and unicast (point-to-point) I/O connections. Traditionally, most EtherNet/IP I/O connections hav

RMC70/150 and RMCTools User Manual 2. Under Incoming Cyclic I/O Data, in the Location for Incoming Data box, type the starting address where the data

6 Communication O->T Format 32-bit Run/Idle3 Heartbeat O->T Fixed/Variable Fixed3 O->T Connection Type Point-to-point3 O->T Priority

2 Starting Up the RMC 1. Using plots of motion, the Tuning Wizard computes a mathematical model of the system. The Tuning Wizard provides two me

RMC70/150 and RMCTools User Manual any system that will use 802.1D/Q priority tagging. See the EtherNet/IP Settings Page topic for more details. DiffS

6 Communication the one it sent to the RMC when issuing the command, and it can then safely examine the In Position bit. Setting the Sync Registe

RMC70/150 and RMCTools User Manual 3. Write to the Command Registers Write the Command registers and all required command parameters to the Output Da

6 Communication 1. If you need to write to other variables that are used by the user program (e.g. for defining speeds, setpoints, etc.), do so

RMC70/150 and RMCTools User Manual As soon as the first register is encountered that is not a current or initial variable register, the guarantee for

6 Communication To find these registers when editing the Program Triggers or a User Program, use the Address Selection tree and browse to: Cont

RMC70/150 and RMCTools User Manual ControlLogix and represent external modules. In the Instance Name field of the GSV blocks, type the name you select

6 Communication These status bits are located in the DDT input structure in a field called Status, which is an array of 16 BYTEs. To determine th

RMC70/150 and RMCTools User Manual • Initial Data This entry is logged only if the Sync Register is used and the Ethernet I/O Logging filter option f

6 Communication 1756-EWEB 4.5.3 1768-ENBT 2.1.0 1768-EWEB 1.2.9 1794-AENT 4.1.1 If you have one of these modules with an older revision, then you

RMC70/150 and RMCTools User Manual f. Upload the plot. Make sure the Actual Pressure or Force changed significantly in the plot. If it did not, repea

RMC70/150 and RMCTools User Manual Configuring Multiple Connections To establish multiple I/O connections with an RMC, you simply create I/O connectio

6 Communication • Read Rockwell Automation’s EtherNet/IP Performance application guide (Publication ENET-AP001D-EN-P). It covers this subject in

RMC70/150 and RMCTools User Manual requirement of each RMC. Usually the RPI for all RMCs will be set the same, and each RMC will have a single connect

6 Communication • Use two 1756-ENBT modules and divide the RMCs between the two. For example, one could control 15 RMCs (3000 packets/second), a

RMC70/150 and RMCTools User Manual least one switch or router connected to the network supports IGMP Query. Notice that some switches are now availabl

6 Communication Object Instance 0x01 (1) The Data Table Object supports the following services: Service ID Service Name Description 0x4B (75) Re

RMC70/150 and RMCTools User Manual 1 The byte order of multi-byte fields is determined by the Read service selected. For service 0x4B (Read LSB First)

6 Communication maximum value varies based on the PLC, but is generally around 120 registers. 0x13 (19) Request length too small. This error will

RMC70/150 and RMCTools User Manual • Troubleshooting PROFINET RMC PROFINET IO Specifications The following chart summarizes the PROFINET IO specifica

6 Communication • Cyclic I/O data is always sent between the PLC and RMC at the specified update time. For example, status information from the

2 Starting Up the RMC 2.3.4. Creating Plots for Tuning To successfully calculate valid gains using the Tuning Wizard - Use Existing Plot method,

RMC70/150 and RMCTools User Manual Installing the GSD File Before an RMC device can be added to the PROFINET configuration, the GSD files for the RMC

6 Communication recommended because it can result in the IP address being changed or cleared at times when RMCTools is connected to the RMC. An a

RMC70/150 and RMCTools User Manual in the Output Data by the PLC program, a copy of the Output Data could prematurely be sent to the RMC, mixing some

6 Communication used if the PLC will be writing commands to the Command Area. The following sequence is recommended: 1. Wait Until the Sync In a

RMC70/150 and RMCTools User Manual count from 0 to 9,999, and then wrap back down to 0 without an error. Take care to ensure that you only update the

6 Communication Indirect Data Map The only data guaranteed to be consistent are variables, if they are placed first in the Incoming Data area of

RMC70/150 and RMCTools User Manual In order to allow users to read and write registers in the RMC starting at locations other than the beginning of a

6 Communication of the controlling connection. Notice that Controlling Connection can be either a PROFINET or EtherNet/IP IO connection. Tag Name

RMC70/150 and RMCTools User Manual The Communications Statistics window provides information on open PROFINET I/O connections, including producing and

6 Communication Connection Status The PROFIBUS Connection Status register provides information on the PROFIBUS connection. This register is locat

Table of Contents Introducing the RMC Family ... 1 RMC Family Motion Controlle

RMC70/150 and RMCTools User Manual 3. Move the axis to test the gains. You can leave the Gain Calculator open while you make moves. Use the command b

RMC70/150 and RMCTools User Manual Bit Description 0 Connection Established. This bit will be set when the PROFIBUS interface is in the Data Exchange

6 Communication The station address on the RMC75P must match the station address as expected by the master. Step 3 explains how to set the statio

RMC70/150 and RMCTools User Manual up the PROFIBUS. See the topic for the mode you will be using for parameterization and configuration values. 3. Con

6 Communication 6.9.3.2. Configuring a PROFIBUS-DP Network with COM PROFIBUS Before reading this topic, you should read and understand PROFIBUS C

RMC70/150 and RMCTools User Manual o Right-click on the RMC slave device icon, and click Configure from the shortcut menu. o In the Configure: Delta

6 Communication • In the Station box, enter the station address of your master. Click OK. • On the Browse menu, click Network Properties. • In

RMC70/150 and RMCTools User Manual • On the File menu, click New. If you have multiple networks installed you will need to then select the network ty

6 Communication PROFIBUS network, but the values are not what you expect or do not make sense, return to this step and try swapping the word orde

RMC70/150 and RMCTools User Manual 1-7) (Prm_Data) Parameters (bytes 8-13) (User_Prm_Data) 00 00 00 xx* 02 20 00 00 00 xx* 02 10 00 00 00 xx* 02 08 00

6 Communication • Command Position (REAL Data Type) • FastSpeed (REAL Data Type) • SlowSpeed (REAL Data Type) • DwellTime (REAL Data Type) Th

2 Starting Up the RMC If the axis exhibits a deadband, you may need to use the Deadband parameters. Check Whether the System Exhibits a Deadband:

RMC70/150 and RMCTools User Manual 3. Bruce edits the Program Triggers to start the Cycle program when StartProgram is 1, and to start the MoveH

6 Communication 6.9.5. Using Basic/Enhanced Modes (RMC75P Only) 6.9.5.1. Basic/Enhanced PROFIBUS Modes (RMC75P Only) The RMC75P supports four a

RMC70/150 and RMCTools User Manual Required (16-bit words) consistent** I/O words consistent** I/O words + 16 consistent** Input words of 16 consiste

6 Communication values, but Delta has found several cases where it is not supported correctly or manual setup is otherwise required. Configuratio

RMC70/150 and RMCTools User Manual 6 Integer Read/Write Register Bit Bit Description 31 Read/Write 30 Read/Write Request 16-29 Reserved 15-8 R/W Addr

6 Communication Thereby, the values from the selected registers in the RMC70 can be read from and written to by writing to and reading from the I

RMC70/150 and RMCTools User Manual Issue a Single Command To issue a command, set up the contents of the first six registers of the Command Block, and

6 Communication 30 29 Action 0 0 Single Command: When both bits are zero, the command is not deferred. The command is executed normally. If the P

RMC70/150 and RMCTools User Manual • Do not change the Read/Write Request bit after a read request until you have processed the data in the Read Resp

6 Communication • Data Changes (the Command Channel Logging and Data Channel Logging boxes must be set to All in the Event Log filter for PROFIB

RMC70/150 and RMCTools User Manual Example: c. Repeat the previous step for the other command button. Enter the same velocity, acceleration, and

RMC70/150 and RMCTools User Manual Assume a value of 46.2 was written to %MD56.0 via PROFIBUS. The Event Log may look like this: Step 38 shows that t

6 Communication The Basic+ mode uses two fixed-length blocks of data: the Command Block and the Response Block. Command Block The Command block i

RMC70/150 and RMCTools User Manual 7 Float* Explicit Write Value *These registers are typically REAL data type (floating point), but in some cases m

6 Communication Registers within a consistent block are all updated at the same time. Notice that the Response Block area is divided into two co

RMC70/150 and RMCTools User Manual For example, suppose a PLC issues a command to axis 1 and then needs to wait for it to get in position. To do this

6 Communication Using the Data Blocks Issue a Single Command To issue a command, set up the contents of the first six registers of the Command

RMC70/150 and RMCTools User Manual NOTE: Until the Command Acknowledge bit matches the Command Request bit, the Input Data registers, including the

6 Communication registers in the Response Block to return the value of a read from any single register in the RMC70. When a read is requested fro

RMC70/150 and RMCTools User Manual acknowledge that the write was processed. In addition, the RMC70 also places the write value in the Read Response r

6 Communication Cmd Register, Cmd Parameter 1, Cmd Parameter 2, Cmd Parameter 3, Cmd Parameter 4, Cmd Parameter 5 Example: Assume a Move Absolute

2 Starting Up the RMC o During the constant speed portion of the move, the Actual Position parallels the Target Position. If the system begins t

RMC70/150 and RMCTools User Manual • Seven (7) contiguous registers in the RMC70 can be explicitly written or read. See Read Any Contiguous RMC70 Reg

6 Communication 17 Axis 1 Select 16 Axis 0 Select 8-15 Reserved 7-0 Command Number 1 Float Command Parameter 1 2 Float Command Parameter 2 3 Fl

RMC70/150 and RMCTools User Manual *These registers are typically REAL data type (floating point), but in some cases may be DINT or DWORD integers, s

6 Communication 14 Float* Explicit Read Data 5 15 Float* Explicit Read Data 6 *These registers are typically REAL data type (floating point), but

RMC70/150 and RMCTools User Manual • Task 1 Current Step In addition, the user would like to read some other registers occasionally. Implementation •

6 Communication 7. Wait until the Command Request bit is equal to the Command Acknowledge bit. When they are equal, the RMC70 has received the

RMC70/150 and RMCTools User Manual Registers 0-7 of the Response Block return the values from 8 registers, which must be determined when setting up th

6 Communication To further clarify the ordering, keep these basic rules in mind: • Do change the read address and Read/Write bit before toggling

RMC70/150 and RMCTools User Manual • Wait until the Read/Write Request bit is equal to the Read/Write Acknowledge bit. When they are equal, the RMC7

6 Communication • Data Channel 0 These 2 registers contain the data for reading or writing a single RMC70 register. • Data Channel 1 These 8 re

RMC70/150 and RMCTools User Manual Correct Proportional Gain The Actual Position parallels the Target Position during the constant velocity portion

RMC70/150 and RMCTools User Manual In step 43, the Element is 10 (A in hexadecimal). In step 44, the File is set to 56 (38 in hexadecimal). In step 4

6 Communication Parameters: Prm_Data (bytes 1-7): See the PROFIBUS DP specification for details. User_Prm_Data (bytes 8-14): 00 00 00 xx* 01 10 0

RMC70/150 and RMCTools User Manual 31 Read/Write 30 Read/Write Request 16-29 Reserved 15-8 R/W Address File 7-0 R/W Address Element 7 Float* Explic

6 Communication 31 Command Acknowledge 30 Read/Write Acknowledge 0-29 Axis 0 Status Bits 1 Float* Indirect Data 1 2 Float* Indirect Data 2 3 Fl

RMC70/150 and RMCTools User Manual Registers within a consistent block are all updated at the same time. Notice that the Response Block area is divid

6 Communication • Axis 0 Actual Position • Axis 1 Status Bits • Axis 1 Actual Position • Task 0 Current Step • Task 1 Current Step • The fi

RMC70/150 and RMCTools User Manual To issue a single command to the RMC70, use the following steps: 1. Wait until the Command Request bit in the Comm

6 Communication PROFIBUS command buffer are executed simultaneously. 1 0 First Deferred: This command is placed as a deferred command in the PROF

RMC70/150 and RMCTools User Manual Read Any Contiguous RMC70 Registers To read any contiguous RMC70 registers, use the Command Block register 8 and

6 Communication • Do not change the Read/Write bit, write address, or write value when the Read/Write Request bit does not match the Read/Write

2 Starting Up the RMC In many systems the Velocity Feed Forward parameter is the most important parameter for position tracking during a move. To

RMC70/150 and RMCTools User Manual the initial data showed that the Command Request bit already was 1, which explains why the command was not issued.

6 Communication Debugging Data Channel 0 The Event Log displays the Data Channel 0 data in the following order: Read/Write Register (register 6),

RMC70/150 and RMCTools User Manual The RMC150 does not support serial RS-232 or RS-485. However, the RMC150E can communicate to serial RS-232/485 devi

6 Communication 6.10.2. Using Serial Communications Serial RS-232 or RS-485 communication is only available on the RMC75S, and the Monitor port o

RMC70/150 and RMCTools User Manual Wires 3 2 + CMN Max Length2 50-100 ft 4000 ft Note: The maximum cable lengths vary depending on the baud rate, te

6 Communication 3. Click OK. Configuration Options The following options are available under the Serial page in the serial module's Propert

RMC70/150 and RMCTools User Manual Fig. 1: Point-to-Point RS-232 Network Fig. 2: Point-to-Point RS-485 Network Figure 2 shows biasing and terminat

6 Communication Fig. 4: Two-Wire Multi-drop RS-485 Network 6.10.3.4. RS-232 Wiring for the RMC70 This topic describes the wiring of the RS-232

RMC70/150 and RMCTools User Manual A null-modem or crossover cable is typically used for RS-232 communications. The RMC70 RS-232 communications requir

6 Communication The RMC75S serial port 1 supports 2-wire RS-485. It does not support 4-wire RS-485. RS-485 uses the 8-pin connector block on the

RMC70/150 and RMCTools User Manual Correct Velocity Feed Forward The Actual Position tracks the Target Position perfectly during the latter half of

RMC70/150 and RMCTools User Manual 19,200 3750 4000 9,600 4000 4000 4,800 4000 4000 2,400 4000 4000 6.10.3.6. RS-485 Termination and Biasing Termi

6 Communication 9,600 4000 Not Required 4000 4,800 4000 Not Required 4000 2,400 4000 Not Required 4000 Cable Length Derivation The values present

RMC70/150 and RMCTools User Manual First, we calculate how much DC resistance will be between the biasing resistors. Calculating the parallel resistan

6 Communication Full-duplex DF1 is used for peer-to-peer communication. Therefore, only two devices can communicate with one another. The RMC70 o

RMC70/150 and RMCTools User Manual Switch Settings Set the intelligent function module switches for the desired serial settings. See section 4.5.2 of

6 Communication Read Count (16 bits) Register File (16 bits) Register Element (16 bits) Description: Read Count This is the number of 32-bit re

RMC70/150 and RMCTools User Manual from a Modbus slave, and the slave responds. A number of functions are defined under Modbus. The following function

6 Communication The MSG block parameters differ slightly depending on the controller and programming software. The parameters used by RSLogix 5 v

RMC70/150 and RMCTools User Manual Note: If you are also using EtherNet/IP I/O cyclic messaging, you can use the name of the name you assigned to the

6 Communication Control Block This parameter points to a block of integer-file registers (51 registers for Ethernet, 12 for serial). Set this to

2 Starting Up the RMC The Acceleration Feed Forward parameter is particularly useful for systems moving large masses with relatively small cylind

RMC70/150 and RMCTools User Manual after power-up, it is because your SLC processor and/or firmware is old. Newer SLC processors do not have this prob

6 Communication Serial Communications: To edit the parameters of the message block, select the MSG block, enter an unused MSG file in the MSG Fi

RMC70/150 and RMCTools User Manual Data Table Address: Enter the address of the first Allen-Bradley PLC register to read RMC registers into, or to wri

6 Communication Reading DWORDs from the RMC All items in the RMC have F-file addresses. Allen-Bradley defines F file data as 32-floating point va

RMC70/150 and RMCTools User Manual such as the Variable Table or Command Area, you need not set up the Indirect Data Map for the Incoming Data. Exampl

6 Communication the Variable Table, or Command Area as discussed in the Determine I/O Data Locations in the RMC section above. For example, the E

RMC70/150 and RMCTools User Manual 4. In the shortcut menu that appears, click New Module. The following dialog box will be displayed: 5. Ex

6 Communication 6. Fill in the fields in this dialog box as follows: Name: Type a valid module name for the RMC. Description: Type a descrip

RMC70/150 and RMCTools User Manual 8. Enter a Requested Packet Interval (RPI) between 2.0 and 3200.0 ms in steps of 1.0 ms. The RMC ignores fracti

6 Communication [name]:I.Data[4] Indirect Data [3] Indirect Data [4] etc. etc. etc. [Name]:O REAL[size] This is the Output Data which will be s

RMC70/150 and RMCTools User Manual Correct Acceleration Feed Forward The Actual Position tracks the Target Position well during the acceleration an

RMC70/150 and RMCTools User Manual 1. Wait Until the Sync In and Sync Out Registers Match If they do not match, then this means that another write is

6 Communication 5. Wait Until the Sync In and Sync Out Registers Match This indicates that the RMC has received the command and issued it. It is

RMC70/150 and RMCTools User Manual Use the AutomationDirect Hx-ECOM100 modules to communicate with the RMC75E or RMC150E. Refer to the AutomationDirec

6 Communication Delta provides instrument drivers for use with National Instruments LabVIEW™ software. These instrument drivers include full-fled

RMC70/150 and RMCTools User Manual 6.11.8. Using Schneider Electric PLCs via EtherNet/IP I/O Several Schneider Electric PLCs support EtherNet/IP I/O c

6 Communication 3. Set the Cyclic I/O Data Locations in the RMC In the Project pane, expand the Modules folder, double-click the CPU module,

RMC70/150 and RMCTools User Manual 4. Choose Whether to Use a Sync Register The Sync Register provides a method for the PLC to synchronize the Inp

6 Communication 3. Reserve a memory area for the Ethernet module that includes room for all the slave devices you will attach to the module. 2.

RMC70/150 and RMCTools User Manual These sections define two blocks of %MW registers, one for inputs into the PLC and one for outputs from the PLC. Re

6 Communication 6. a. • RPI: Select the desired update rate. A commonly-used RPI is 20.0 ms. Very low RPIs may flood the network and reduce

2 Starting Up the RMC Proportional Gain affects the responsiveness of the system. Low gains make the system sluggish and unresponsive. Gains that

RMC70/150 and RMCTools User Manual shows the derived variables created for the example device in the steps above: The RMC150E_rev2_deva_IN structure

6 Communication Writing to the RMC - General If you selected to not use a Sync Register, the Output Data is written to the RMC when any value in

RMC70/150 and RMCTools User Manual 4. Change the Sync Out Register The easiest way to do this is to add one to it. However, you must take care to han

6 Communication Some notes about setting up the control word for the SEND and RECV instructions for the RMC75E are given below: Word Bits 08 to 1

RMC70/150 and RMCTools User Manual Setting Up the RMC for EtherNet/IP I/O Do the following in the RMC: 1. Set the RMC's IP Address Set up the RM

6 Communication 3. Set the Cyclic I/O Data Locations in the RMC In the Project pane, expand the Modules folder, double-click the CPU module, a

RMC70/150 and RMCTools User Manual 3. If you have an existing EtherNet/IP network that you are adding the RMCs to, then do the following: a.

6 Communication rmc75e_v2.eds RMC75E 2.1 3.41.0 or newer http://www.deltamotion.com/files/eds/rmc75e_v2_eds.zip rmc150e_v1.eds RMC150E 1.x 2.20-3

RMC70/150 and RMCTools User Manual b. Right-click on the new node in the diagram, and click Change Node Address. c. Enter the RMC’s actual

6 Communication This window shows all settings that can be configured in the RMC. Notice that only the 0005 Produced Data Length and 0006 Consum

RMC70/150 and RMCTools User Manual Input Type: Pressure ...

RMC70/150 and RMCTools User Manual • Increase the Differential Gain. It may help the system track better. If it starts oscillating or chattering, dec

RMC70/150 and RMCTools User Manual a. Double-click the Communication Adapter in the network diagram (CS1W-EIP21 in our example), and click the Ta

6 Communication c. Add a single tag to the In – Consume tab: 5. i. Click the In – Consume tab. ii. At the bottom of the In – C

RMC70/150 and RMCTools User Manual iv. Click OK. Click Close if prompted to add another tag. The In – Consume tab should look like this: d.

6 Communication ii. At the bottom of the Out – Produce tab, click New. iii. In the Edit Tag dialog box, enter the Omron source tag name

RMC70/150 and RMCTools User Manual e. In the Edit Tags, window, click OK. f. When prompted to register the new Tags as Tag sets, click Yes

6 Communication There are now two tag sets that have been registered. These tag sets will be used when creating the connection in the next step.

RMC70/150 and RMCTools User Manual The RMC is listed in the Unregister Device List. In order to establish an I/O connection with this device, we must

6 Communication c. Select the RMC in the Register Device List, and click New. This opens the Edit Connection window: deltamotion.com 5

RMC70/150 and RMCTools User Manual d. Fill in the fields in this dialog box as follows: Field Value Connection I/O Type Select Input/Output. T

6 Communication Input Tag Set Leave this set to the default, Output_2 – [44Byte] in this example. Connection Type Select Point to Point connectio

2 Starting Up the RMC • If the system vibrates while in position, the gains may be too high, or the Dead Band value may need to be increased. Ho

RMC70/150 and RMCTools User Manual b. On the Network menu, click Connect. c. In the Select Connect Network Port window, select the Ethernet

6 Communication 12. Save the Network Configuration a. On the File menu, click Save. Follow the instructions to save the network configura

RMC70/150 and RMCTools User Manual 3. Write to the Command Registers Write the Command registers and all required command parameters to the Output Da

6 Communication To communicate with the RMC from RSView, you will need to add the RMC to RSLinx Enterprise as a SLC5/05 device, then create a Dev

RMC70/150 and RMCTools User Manual 10. In the Device Shortcuts area of the Communication Setup dialog, click ADD. Enter a name, such as "RMC75S&q

6 Communication Data). Make sure the Incoming and Outgoing Data areas in the Indirect Data Map do not overlap. The Outgoing Data typically inclu

RMC70/150 and RMCTools User Manual You could then set up the Outgoing Data further on in the Indirect Data Map like this: 4. Set the Cyclic I/O D

6 Communication In the Outgoing Cyclic I/O Data section, enter the starting location for the Outgoing Cyclic I/O Data. In our example, verify tha

RMC70/150 and RMCTools User Manual process, once you are planning the acyclic reads and writes the PLC will need to do. See the Using PROFINET Record

6 Communication c. Click Install and follow the instructions to install these GSD files. Click Close when done. deltamotion.com 599

RMC70/150 and RMCTools User Manual c. Repeat the previous step for the other command button, and enter a different value for the Pressure/Force.

RMC70/150 and RMCTools User Manual 3. Use the Hardware Catalog to find the RMC150E and/or RMC75E controllers: 4. Drag the RMC150E V1.0 or RMC75E

6 Communication In the Device name text box, enter the Device Name given to the device in RMCTools. If you have set the RMC’s IP address settin

RMC70/150 and RMCTools User Manual 7. In the Properties - PN-IO (X1) dialog box, select the IO Cycle tab: Under Update Time, select an update time

6 Communication 9. To select the length of the Output Data—which corresponds to the Incoming Cyclic I/O Data area in the RMC—expand the Output

RMC70/150 and RMCTools User Manual 10. The final module configuration will look similar to the following: Take note of the input (I) starting addres

6 Communication Within the STEP 7 program, the DPRD_DAT system function (SFC14) is used to get a consistent copy of the Input Data. The follow

RMC70/150 and RMCTools User Manual Notice that the RMC’s I and Q data should generally not be accessed directly but should instead go through the D

6 Communication This example reads 256 registers (1024 bytes) starting at %MD48.0. WRREC Example This example writes 25 registers (100 bytes) st

RMC70/150 and RMCTools User Manual Example Programs Delta provides example PLC programs to help you quickly set up the communications between your PLC

6 Communication Adding an RMC Analog Display to an InTouch Window Follow these steps to add the Axis 0 Actual Position to an InTouch window. Note

2 Starting Up the RMC 3. Change the gain. Tip: You can use the Tuning Wizard to calculate a model and use the Gain Calculator to choose gains. A

RMC70/150 and RMCTools User Manual aa 3. In an InTouch window, go to the Wizard Selection dialog, choose Value Displays, choose Analog Tagname Dis

6 Communication asdf 5. On the Device Groups tab, add a device called RMC. 6. Make sure to activate the DASMBTCP server. Adding an RMC Analog D

RMC70/150 and RMCTools User Manual 2. On the Special menu, click Tagname Dictionary, then click New, and do the following: a. In the Tagname box, ty

6 Communication 6.11.15. RMCLink ActiveX Control and .NET Assembly For communication from a PC to the RMC Tip: RMCLink has it's own help. A

RMC70/150 and RMCTools User Manual Visual J# Visual C++ (Native Code) RMCLink C++ Wrapper Class Note: Drivers for use with National Instruments LabV

6 Communication Communicating with the RMC75E and RMC150E from other devices will use one of the following four methods. Review each to determine

7. Hardware 7.1. RMC Hardware Overview The RMC motion controllers compatible with RMCTools are: RMC150E RMC75E RMC75S RMC75P Axes 2-8 1-2 C

RMC70/150 and RMCTools User Manual CPU Module Axis Module Expansion Module CPU Modules The CPU modules include the main motion control processing

7 Hardware The axis modules have one input per axis for interfacing to transducers and one Control Output per axis for interfacing to an actuator

RMC70/150 and RMCTools User Manual The following procedure may be used to tune a system that uses pressure/force control or pressure/force limit. This

RMC70/150 and RMCTools User Manual with 4 Expansion modules Varies, 2.0 lb (0.9 kg) max Environment Operating temperature +32 to +140°F (0 to +60°C) S

7 Hardware Analog Control Output AA2 2-Axis Analog Voltage or Current Inputs, Analog Control Outputs MA1 1-Axis MDT and SSI Input, Analog Control

RMC70/150 and RMCTools User Manual • Retentive Variables The RMC75E variables can be set to retentive, meaning that the Current Value will be retaine

7 Hardware Configuration Parameters IP address, subnet mask, gateway address, enable/disable autonegotiation Framing Protocol Ethernet II Interne

RMC70/150 and RMCTools User Manual Link/Act LED The Link/Act LED reflects the status of the physical Ethernet connection between the RMC and the dev

7 Hardware The RMC75S combines multiple communication protocols with RS-232 and RS-485 transceiver options to form a versatile and industrial-har

RMC70/150 and RMCTools User Manual Termination 120 Ω user selectable RS-232 Monitor Port Connector DB-9 Male Cable Null modem Protocol Allen-Bradley D

7 Hardware Receive LED This LED reflects when data is being received on the second serial port (RS-232/485). State Description Steady Off No powe

RMC70/150 and RMCTools User Manual Cable Null modem Protocol Allen-Bradley DF1 Full-Duplex, with CRC error detection Settings 38400 baud, 8 data bits,

7 Hardware Note: These are the only two LED states of the NET LED, but it is possible to have the Net LED flashing or flickering green, which ind

2 Starting Up the RMC Do not give a lot of Integral Gain, just enough to make sure it eventually gets to the Target Pressure/Force. 5. Ramp the

RMC70/150 and RMCTools User Manual • ±10 V and 4-20 mA input ranges • 8 times oversampling • One +10 V exciter output per axis • One ±10 V, 16-bit

7 Hardware Overvoltage protection Outputs are protected by clamp diodes Fault Input Input Characteristics 12-24 VDC, sinking or sourcing Logic Po

RMC70/150 and RMCTools User Manual Green Flashing Green The Fault input is inactive, and the Enable output is inactive. Steady Red The Fault input is

7 Hardware Rate Output Resolution 16 bits Note: Linear magnetostrictive SSI transducers must be of the synchronized type. This ensures that t

RMC70/150 and RMCTools User Manual Tolerance At 10 V: Currently unavailable Resolution 16 bits Output Isolation Not isolated Overload protection One-s

7 Hardware State Description Steady Off No power or the Control Output is not assigned to an axis. Steady Green The Fault input is inactive, and

RMC70/150 and RMCTools User Manual Common Mode Input Range -10V to +13.2 V Absolute Max Voltage ±25 VDC. Applying greater than ±25 V will damage the r

7 Hardware Axis LED This LED represents the input and control status for the axis. This bi-color (red/green) LED has the following states: State

RMC70/150 and RMCTools User Manual Note: It is possible to add more analog inputs than can be assigned to axes. However, it is still possible to vie

7 Hardware • Analog Reference Input Reference inputs are often used as gearing or camming masters. Reference inputs cannot be used for direct co

RMC70/150 and RMCTools User Manual Issue the commands for transitioning between position and pressure/force as you intend to do during normal machine

RMC70/150 and RMCTools User Manual The 2-axis Analog Pressure expansion module (AP2) is one of the optional expansion modules available for the RMC70

7 Hardware Offset drift with temperature 0.2 LSB/ºC typical (+10 V range) Gain drift with temperature 20 ppm/ºC typical (+10 V range) Non-lineari

RMC70/150 and RMCTools User Manual Inputs Input Characteristics 12-24 VDC, sinking or sourcing Logic Polarity True High Isolation 2500 VAC Input "

7 Hardware Features • One 5V RS-422 Quadrature input • One high-speed registration input for registration or homing Uses • Encoder Reference Inp

RMC70/150 and RMCTools User Manual Red (not possible for reference axes). The LED will not turn red due to a halt caused by halt command. Steady Red A

7 Hardware Slot # 0 1 2 3 4 5 Slot Descriptions Slot # Slot 0 Slot 1 Slot 2 Slot 3 Slot 4 Slot 5 Alternate Name Comm Slot CPU Slot Sensor Slot 1

RMC70/150 and RMCTools User Manual 7.3.2. RMC150 Part Numbering Specify RMC150 part numbers when ordering and when contacting Delta customer support.

7 Hardware modules, 1 Analog (H) module, and 1 Discrete I/O module in slot 0. RMC150E-S4 An RMC150E with 4 SSI modules. RMC150E-M2-D1-PROFI An RM

RMC70/150 and RMCTools User Manual The part numbers of the RM150E are RMC150E, or RMC151E with Pressure/Force enabled. The RMC150E or RMC151E can only

7 Hardware Logic 1 (True, On) Low impedance (50 Ω maximum) Logic 0 (False, Off) High impedance (<1 µA leakage current at 250 V) Power Voltage

2 Starting Up the RMC a. Set all the gains to zero. b. Set the Differential Gain to a small value, then issue the Hold Current Position (5) com

RMC70/150 and RMCTools User Manual State Description Steady Off PROGRAM Mode or no power Steady Green RUN Mode Communication LEDs These LEDS are locat

7 Hardware Green Off Red Green Off Off Prior to the LED test, the module will run through the loader, during which time it will have a red CPU

RMC70/150 and RMCTools User Manual Analog Input Interface Inputs Four 16-bit differential Isolation 500 VAC Overvoltage Protection ±40 V Input Ranges

7 Hardware LED Colors State Description Steady Off No power or the output/input is not assigned to an axis. Steady Green The axis is either in cl

RMC70/150 and RMCTools User Manual Analog Input Interface Inputs Four 12-bit differential Isolation 500 VAC Overvoltage Protection ±40 V Input Ranges

7 Hardware The part number of the Analog (G) module is Gn, where n is the number of Analog (G) modules. For example, RMC150E-G1 is an RMC150E wi

RMC70/150 and RMCTools User Manual Axis 1 LED applies to the Drive 1 output or feedback input 1 as described below: 1. If Drive 1 is assigned to an a

7 Hardware For example, RMC150E-M1 is an RMC150E with one MDT module. RMC150E-M3-Q1 is an RMC150E with three MDT modules and one Quadrature modul

RMC70/150 and RMCTools User Manual Overvoltage Protection Outputs are protected by clamp diodes LEDS Axis 0 LED Axis LED applies to the Drive 0 output

7 Hardware transducers. Finally, many SSI devices offer higher precision; for example, MDTs with SSI output are available with resolutions to 2µm

RMC70/150 and RMCTools User Manual • Use the Output Filter, setting it to a low value, comparable to the natural frequency of the system. • Deadband

RMC70/150 and RMCTools User Manual Count Data Length 8 to 31 bits Control Outputs Range ±10 V @ 5 mA (2 kΩ or greater load) (For current output, use t

7 Hardware 7.3.7.1. Quadrature (Q) Module (RMC150) The Quadrature module for the RMC150 interfaces to RS-422 quadrature feedback devices, both ro

RMC70/150 and RMCTools User Manual Logic Polarity True High Isolation 500 VAC Input "High" Range 3.2 to 26.4 VDC 3.5 mA minumum, 10 mA maxim

7 Hardware Axis LED applies to the Drive 0 output or feedback input 0 as described below: 1. If Drive 0 is assigned to an axis that has an input

RMC70/150 and RMCTools User Manual Part Number The part number of the Resolver module is Rn, where n is the number of Resolver modules. For example, R

7 Hardware 1. If Drive 0 is assigned to an axis that has an input (i.e. isn't output-only), then that axis will own the Axis 0 LED. 2. Oth

RMC70/150 and RMCTools User Manual The part number of this Resolver module is RWn, where n is the number of Resolver modules. For example, RMC150E-RW1

7 Hardware 1. If Drive 1 is assigned to an axis that has an input (i.e. isn't output-only), then that axis will own the Axis 1 LED. 2. Oth

RMC70/150 and RMCTools User Manual Setting Up the DI/O Module To set up the DI/O module, read the following topics: Discrete I/O Configuration DI/O Wi

7 Hardware Analog Input Features • Two 16-bit analog inputs, ±10 V or 4-20 mA Discrete I/O Features • 6 I/O, individually configurable as input o

3. Controller Features 3.1. RMC Controller Features The RMC70 and RMC150 motion controllers provide a host of features to successfully control any m

RMC70/150 and RMCTools User Manual 2. Assign the input to an axis as described in the Defining Axes topic. 3. In the Axis Parameters Pane, for the a

7 Hardware Logic Polarity True On Maximum Voltage ± 30 V (DC or peak AC voltage rating of SSR) Maximum Current ±75 mA Maximum Propagation Delay 1

RMC70/150 and RMCTools User Manual 7.3.10.2. Configuring UI/O High-Speed Channels Each of the Universal I/O module's two RS-422 channels are inde

7 Hardware • SSI Data Bits: 8-32 Configure Channel as a Quadrature Axis Input For each channel that will be used as an input to an axis, do the

RMC70/150 and RMCTools User Manual a. In Channel 0: • Choose SSI Output mode. • Set the SSI Output Mode to Slave. • In the Source of Output Data s

7 Hardware Part Number The part number of the PROFIBUS module is -PROFI. The PROFIBUS module fits only in the left-most slot of the RMC backplane

RMC70/150 and RMCTools User Manual QA MDT (M) Quad (Q) Resolver (R) SSI (S) Configuring the Control Output The user can configure the polarity of this

7 Hardware The Enable Output will turn off when an Direct Output Halt occurs, unless the Direct Output status bit already was on. The modules lis

RMC70/150 and RMCTools User Manual Specifications For specifications, refer to the topic of the specific module containing the Enable Output. RMC70 RM

7 Hardware The Fault Input can also be used for the following: • SSI homing (RMC70 Only) • Physical Limit Inputs Advanced In addition to the us

Table of Contents Triggering Plots ...

RMC70/150 and RMCTools User Manual Position-Acceleration Velocity-Acceleration Control Output Servo Output (Voltage) High-Order Active Damping Acceler

RMC70/150 and RMCTools User Manual Use the following RMC parameters: • Output Bias • Output Scale • Output Limit 1. Set the VC2124 current range

7 Hardware VC2124 Parallel Outputs To achieve 200 mA output, wire the two channels in parallel as indicated here: VC2100 Fuse the ±15 VDC input

RMC70/150 and RMCTools User Manual VC2100 Parallel Outputs To achieve 200 mA output, wire the two channels in parallel as indicated here: 7.5.2.

7 Hardware Cable Each DB-25 connectors has three cables coming from it. Each has 24-gauge twisted pairs with an overall braided shield: • Drive

RMC70/150 and RMCTools User Manual 7.6. Agency Compliance This topic describes the requirements for compliance with various agencies. Designations C

8. Command Reference 8.1. RMC Commands Overview The RMC has a rich set of pre-programmed commands that perform anything from simple moves to complex

RMC70/150 and RMCTools User Manual F25:9 Axis 0 Parameter 9 REAL F25:10-19 Axis 1 Command Registers REAL F25:20-29 Axis 2 Command Registers REAL F25:3

8 Command Reference This is a complete list of the commands currently available on the RMC, grouped by type. Each command is represented by an in

RMC70/150 and RMCTools User Manual Time Move Relative (24) Advanced Time Move Absolute (26) Advanced Time Move Relative (27) Move Absol

8 Command Reference Enter Pressure/Force Control (Time) (45) Enter Pressure/Force Control (Rate) (46) Pressure/Force - Limit Set Pressu

3 Controller Features see the base version, plus a single-letter Configuration ID, as in ”3.30.0A”. The following chart shows the currently-used

RMC70/150 and RMCTools User Manual Arm Home (50) Disarm Home (51) Arm Registration (52) Disarm Registration (53) Learn Z Align

8 Command Reference This command is often unnecessary because motion commands will also clear the above-mentioned status and error bits, unless t

RMC70/150 and RMCTools User Manual 8.3.4. Command: Fault Controller (8) Supported Axes: All Firmware Requirement: 1.10 or newer See the Commands Ove

8 Command Reference Enable Output will be turned off, and the drive or valve will shut off. This is a good safety precaution if your transducer f

RMC70/150 and RMCTools User Manual This command puts the RMC in RUN mode. If the RMC is already in RUN Mode, nothing happens when this command is issu

8 Command Reference Direct Output Halt (3) Open Loop Direct Output (9) Open Loop Rate (10) Open Loop Absolute (11) Open Loop Relative (12) Synchr

RMC70/150 and RMCTools User Manual Firmware Requirement: 1.00 or newer See the Commands Overview topic for basic command information and how to issu

8 Command Reference The Target Generator bits in the Status Bits register indicate which portion of the move the axis is currently in. These bits

RMC70/150 and RMCTools User Manual Target Generator State A and B bits B A Description 0 0 The open loop stop is complete 0 1 reserved 1 0 reserved 1

8 Command Reference The control output, integrator, and output filter are reset, ignoring their states prior to this command being issued. This o

RMC70/150 and RMCTools User Manual Monitoring the Loop Time Use the Control Loop Time Settings Page to monitor how much of the control loop the RMC is

RMC70/150 and RMCTools User Manual Supported Axes: All Supported Control Modes: All Firmware Requirement: 1.00 or newer See the Commands Overview to

8 Command Reference This bit indicates the move is complete, which occurs when the Control Output has reached zero. Target Generator State A and

RMC70/150 and RMCTools User Manual consider what value of ramp rate your application requires. 100 V/sec may be a very abrupt stop on some systems. Wh

8 Command Reference Use this command when you want to give an Open Loop Control Output to the axis. Open Loop is good for making the axis move wh

RMC70/150 and RMCTools User Manual * These options are intended for use with rotary axes. However, all options are available on linear axes, but have

8 Command Reference If this command is used with a Requested Output of zero volts, notice after reaching position, the position will probably dri

RMC70/150 and RMCTools User Manual • The Requested Distance must be set such that the move direction in position units matches the sign of the Contro

8 Command Reference To start a synchronized move, issue the Sync Move Absolute (13) or Sync Move Relative (14) commands simultaneously to each ax

RMC70/150 and RMCTools User Manual S-Curves vs. Trapezoidal If the Requested Jerk Axis Parameter is non-zero for any of the axes in the sync group, th

8 Command Reference See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Command Param

3 Controller Features 3.2.3. RUN/PROGRAM Mode RUN and PROGRAM mode specify whether the User Programs and the Program Triggers can run. RUN or PRO

RMC70/150 and RMCTools User Manual 0 1 Acceleration 1 0 Constant Velocity 1 1 Deceleration 8.4.4.3. Command: Sync Stop (17) Supported Axes: Position

8 Command Reference 8.4.5. Point-to-Point 8.4.5.1. Command: Move Absolute (20) Supported Axes: Position Control Axes Supported Control Modes: Pos

RMC70/150 and RMCTools User Manual Special Notes Do Not Send Move Absolute Commands in Rapid Succession The Target Acceleration is reset to zero at t

8 Command Reference When using s-curves, if the move command is re-issued when the axis is decelerating, it may cause the axis to overshoot the r

RMC70/150 and RMCTools User Manual 3 Acceleration Rate (position-units/s2) >0 4 Deceleration Rate (position-units/s2) >0 5 Relative to: • Com

8 Command Reference 8.4.5.3. Command: Quick Move Absolute (15) Supported Axes: Position Control Axes Supported Control Modes: Position PID, Posit

RMC70/150 and RMCTools User Manual Special Notes Actual Velocity and/or Actual Acceleration filtering may be required. During the course of the Quick

8 Command Reference 8.4.5.4. Command: Quick Move Relative (16) Supported Axes: Position Control Axes Supported Control Modes: Position PID, Posit

RMC70/150 and RMCTools User Manual Target Generator State A and B bits B A Description 0 0 The target generator is complete 0 1 Ramping Control Output

8 Command Reference Final Velocity and Final Acceleration of the Advanced Time Move Absolute command must be set to zero to duplicate the Time Mo

RMC70/150 and RMCTools User Manual • On the toolbar, click the Controller button and choose RUN Mode or PROGRAM Mode. From a Host Controller (PLC, H

RMC70/150 and RMCTools User Manual • Command Position (0) The final Command Position is computed by adding the Requested Distance to the current Comm

8 Command Reference Command Parameters # Parameter Description Range 1 Requested Position (position-units) any 2 Final Velocity (position-units/

RMC70/150 and RMCTools User Manual The Advanced Time Move Absolute and Advanced Time Move Relative are intended for use in user programs. Typically, t

8 Command Reference 2 Final Velocity (position-units/s) any 3 Final Acceleration (position-units/s2) any 4 Time for Move (sec) >0 5 Relative T

RMC70/150 and RMCTools User Manual See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Comma

8 Command Reference • Target Position (2) Description This command is an advanced command. Do not use it unless you specifically intend to use t

RMC70/150 and RMCTools User Manual 5 Slave Point B (pu) Any REAL number 6 Endpoint Behavior • Fault (0) • Truncate (1) • Extrapolate (2) A valid in

8 Command Reference Truncate If the master moves past an endpoint, the slave axis' Target Position will stop at the endpoint. When the maste

RMC70/150 and RMCTools User Manual The Target Generator Done, State A and State B bits are all off during the gearing. Pri. TG SI Busy (Primary Target

8 Command Reference In this example, Axis 1 (slave) gears to Axis 0 (master) at a 1:1 ratio. Both axes start at 0 pu. The master starts moving at

3 Controller Features RMC70 QAx or RMC150 Quad RMC150 UI/O RegX/PosLim input RegY/NegLim input DI/O inputs R0and R1 RMC70 Q1 Reg input Registrati

RMC70/150 and RMCTools User Manual Example: Register address %MD8.33 is 8*4096 + 33 = 32801. Target Generator State Bits The Target Generator bits in

8 Command Reference (30) position command will not work, but the Gear Velocity command will. To gear a position to a master, use the Gear Pos (Cl

RMC70/150 and RMCTools User Manual 5 Jerk Rate (position-units/s3) Any REAL number Description This command electronically gears the axis to the reque

8 Command Reference Gear Pos (Clutch by Distance) (32) command instead. If the axis must be geared within a certain amount of time, use the Gear

RMC70/150 and RMCTools User Manual If the master axis linear, this should be Nearest (0). The other options will have no effect. If the master axis is

8 Command Reference Term Description Master Sync Position The position of the master at which the slave will be at its sync position and will be

RMC70/150 and RMCTools User Manual • Flying-Cutoff This command is designed for flying-cutoff or flying-shear type applications. See the example belo

8 Command Reference The plot shows Axis 1 (the master) moving at a constant 5 in/sec. The carriage (Axis 0) is stopped, then accelerates to catc

RMC70/150 and RMCTools User Manual the slave will remain stopped or geared at 0:1 until the master reaches the modified Master Start Position. Example

8 Command Reference In the plots below, observe the slave velocity (magenta) and the slave acceleration (green) for each class listed above. Ma

RMC70/150 and RMCTools User Manual The RMC offers homing of quadrature, incremental SSI, and incremental Resolver axes. All are described in this topi

RMC70/150 and RMCTools User Manual - Notice the sharp initial acceleration, but smooth rate of acceleration (due to zero jerk) at the sync position. T

8 Command Reference The Master Direction and Slave Direction parameters of this command are for use on rotary axes. For non-rotary axes, the dire

RMC70/150 and RMCTools User Manual This command creates a phase shift in the master position of a slave axis. The master position is shifted in relati

8 Command Reference This command allows reversing the direction of the master. If the master reverses direction before it has reached the Final M

RMC70/150 and RMCTools User Manual See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Comma

8 Command Reference This command allows reversing the direction of the master. If the master reverses directions before the master has reached th

RMC70/150 and RMCTools User Manual See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Comma

8 Command Reference with respect to the master position. Because the profile is a 5th-order polynomial, it can have multiple points of inflecti

RMC70/150 and RMCTools User Manual This command offers ultimate gearing flexibility and is useful if you need to specify an arbitrary motion profile a

8 Command Reference Timing Considerations When looping through long arrays with the Advanced Gear Move command, precise timing is often important

3 Controller Features 2 Z Trigger a Home on the Index (Z) Input. QAx Quad 3 Z And H Trigger a Home on the Index (Z) Input if the Home Input is hi

RMC70/150 and RMCTools User Manual Command Parameters # Parameter Description Range 1 Master Register Note: See Specifying a Register Address below. V

8 Command Reference axis is stopped—as defined by the axis Target Velocity being less than the Stop Threshold parameter—for more than 10 loop tim

RMC70/150 and RMCTools User Manual Target Generator State B Bit Indicates the Target Position and Target Velocity are closely matched to the Master Re

8 Command Reference command. If you do not need any velocity, acceleration, or jerk limits, consider the Gear Absolute (25) command. Specifying a

RMC70/150 and RMCTools User Manual This command specifies a profile in terms of speed versus position. The RMC compares the current Target Position wi

8 Command Reference Hardware Limitations: RMC75S: versions 2.1D or newer only RMC75P: versions 2.1E or newer only RMC75E: No limitations RMC150E:

RMC70/150 and RMCTools User Manual Amplitude The Amplitude specifies the distance from the center to the peak. The amplitude can be zero or a positive

8 Command Reference Mid-Pos The sine wave will start at the center (zero degrees) and move in the positive direction. See Mid-Pos and Mid-Neg Det

RMC70/150 and RMCTools User Manual The optional Status Block specifies the location in the Variable Table of a block of six registers that provide rea

8 Command Reference 0 Current Cycle Count REAL The number of whole cycles the sine move has completed. Each cycle begins at the location specifie

RMC70/150 and RMCTools User Manual If the axis is already retracted, the Home Input status will already be ON and the axis needs only extend as descri

RMC70/150 and RMCTools User Manual Pri. TG SI Busy (Primary Target Generator Superimposed Busy) Bit This bit will be set during the transition. The tr

8 Command Reference the quadrant after a peak and before the midpoint, then the axis will not stop on that first middle point because it could le

RMC70/150 and RMCTools User Manual Description This command immediately changes the master register of a curve that is currently in progress on the ax

8 Command Reference • Frequency (2) • Cycles (3) 2 New Value Depends on selected Parameter 3 Ramp Type • Time (0) • Cycles (1) • Rate (2) •

RMC70/150 and RMCTools User Manual Ramp Value. Rate Ramp the Amplitude linearly at the rate (units/sec) specified by the Ramp Value. Frequency The fre

8 Command Reference Hardware Limitations: RMC75S: versions 2.1D or newer only RMC75P: versions 2.1E or newer only RMC75E: No limitations RMC150E:

RMC70/150 and RMCTools User Manual Curve Data The Curve Data parameter specifies the starting address of the curve data in the Variable Table. For det

8 Command Reference • Linear (1) The curve will consist of straight-line segments between each point. Because the velocity is not continuous, a

RMC70/150 and RMCTools User Manual • Start-Once (1) Added to curve store, but will not be saved to flash. This curve will be deleted automatically as

8 Command Reference DINT External: REAL Description This command deletes curves with IDs in the range of Curve ID to Curve ID + Curve Count -1 wi

3 Controller Features Using the Home Input for SSI and Resolver Axes (Trigger Types 0 - 1) The Home input for SSI and Resolver axes is defined

RMC70/150 and RMCTools User Manual RMC75P: versions 2.1E or newer only RMC75E: No limitations RMC150E: No limitations See the Commands Overview topi

8 Command Reference Description This command starts following the position curve with the specified Curve ID. Curves can be used for splines and

RMC70/150 and RMCTools User Manual A virtual axis can be used as a curve master. It is sometimes desirable to gear to a virtual axis rather than execu

8 Command Reference Use the following equation to convert a register address to integer format, N: N = file * 4096 + element Example: Register

RMC70/150 and RMCTools User Manual Command Parameters # Parameter Description Data Type Range 1 Curve ID Internal: DINT External: REAL 0-50000 2 Maste

8 Command Reference This topic describes only the advanced features of this command. For basic information on using this command, see the Curve S

RMC70/150 and RMCTools User Manual Endpoint Behavior with Absolute Master Alignment The Endpoint Behavior options listed below apply when Absolute Mas

8 Command Reference endpoints will continue for two loop times after the master moves beyond the starting or ending point. If another motion comm

RMC70/150 and RMCTools User Manual Master Scale and Offset The Master Scale and Master Offset parameters scale or shift the curve master. The X value

8 Command Reference To run a curve backwards with a _Time master, use Absolute Master Alignment, a Master Scale of -1, and a Master Offset value

RMC70/150 and RMCTools User Manual System Identification ...

RMC70/150 and RMCTools User Manual none This is the default setting. Fault Input RMC70: The Fault Input of the axis. RMC150: The Fault Input of the ax

RMC70/150 and RMCTools User Manual This bit will be set during the transition. The transition begins when the motion command is issued, not necessaril

8 Command Reference is very important that the velocity remain constant, and the position itself is not so important, you may wish to use the Vel

RMC70/150 and RMCTools User Manual • Positive (1): Moves at a positive velocity. Speed must be positive. • Negative (-1): Moves at a negative veloci

8 Command Reference point. The axis will transition in the manner requested by the current transition mode. See the Transition Rate (56) command

RMC70/150 and RMCTools User Manual Advanced (88) and Gear Absolute (25) commands normally require that the axis be at the correct starting point. Howe

8 Command Reference that the axis will lock on to the requested profile, even if the Max Speed and Accel Rate are slower than that of the profile

RMC70/150 and RMCTools User Manual This bit will be set when the transition begins. Notice that this is when the motion command is issued, not necessa

8 Command Reference Status Bits At Pressure/Force If the Actual Pressure/Force is within the At Pressure/Force Tolerance window from the Target P

RMC70/150 and RMCTools User Manual Pressure/Force Control The Pressure/Force Control Status bit indicates that the axis is in closed-loop pressure or

8 Command Reference This command ramps the Target Pressure or Force to the requested Pressure or Force at the rate specified by the Pressure/Forc

3 Controller Features Good Practice Do not install limit sensors such that they become active close to the end of travel, but then become inact

RMC70/150 and RMCTools User Manual Supported Axes: Pressure or Force Control Axes Firmware Requirement: 1.00 or newer See the Commands Overview topi

8 Command Reference set because the commanded motion was not completed. Notice that this bit does not indicate whether the Actual Pressure or Act

RMC70/150 and RMCTools User Manual This bit indicates that pressure/force limit is enabled and the axis is limiting the pressure/force. If an axis is

8 Command Reference A Linear Ramp Type will ramp the pressure or force linearly until it reaches the Requested Pressure/Force. An S-curve Ramp Ty

RMC70/150 and RMCTools User Manual At the beginning of the plot, the position is increasing. At 0.5 seconds, the Actual Pressure starts increasing. W

8 Command Reference 8.5.1.7. Command: Enter Pressure/Force Control (Time) (45) Supported Axes: Pressure/Force Control Axes Firmware Requirement:

RMC70/150 and RMCTools User Manual command with an S-Curve Ramp Type. The axis will transition to pressure control and go to the Requested Pressure/Fo

8 Command Reference Pressure/Force Target Generator Done bit This bit indicates that the Target Pressure or Target Force has reached the Requeste

RMC70/150 and RMCTools User Manual If the Pressure/Force Accel Rate is zero, the Pressure/Force will immediately begin changing at the specified Press

8 Command Reference Exiting Pressure/Force Control To exit pressure/force control, send any open-loop command or closed-loop position command to

RMC70/150 and RMCTools User Manual modules use 16-bit Analog-to-Digital converters. The RMC150 A module uses 12-bit Analog-to-Digital converters. The

RMC70/150 and RMCTools User Manual • Negative (2)1 • Bidirectional (3)1 1Note: The Negative and Bidirectional options require firmware 3.44.0 or n

8 Command Reference Note: See the Position-Pressure and Position-Force Control topic for information on setting up a position-pressure or positio

RMC70/150 and RMCTools User Manual Pressure/Force Limit Enabled This bit indicates that pressure/force limit is enabled. If an axis is in pressure or

8 Command Reference This command sets up an absolute linear gearing relationship between the master register and the pressure/force target for th

RMC70/150 and RMCTools User Manual Note: If a superimposed transition is used, in certain cases it can cause the slave to exceed the endpoints during

8 Command Reference RMC150E: No limitations Command Parameters None. Description This command disables transitions on a pressure/force axis. When

RMC70/150 and RMCTools User Manual then these commands can be issued even though the axis is not at the correct starting point. When the pressure/forc

8 Command Reference Shown below is an example of how the various options work for one sample profile. Notice that the behavior will vary for othe

RMC70/150 and RMCTools User Manual • Auto (0) • Mid-Pos (1) • Pos Peak (2) • Mid-Neg (3) • Neg Peak (4) 6 Status Block (address) Note: See Specif

8 Command Reference frequency is the inverse of the Loop Time). For example, if the loop time is 1000 µsec, the maximum frequency is 250 Hz. Loop

3 Controller Features with SSI devices that have more than 24 bits, but you should make sure the counts will not exceed 16,777,216. These limitat

RMC70/150 and RMCTools User Manual Mid-Pos and Mid-Neg Details If the Start Location is Mid-Pos or Mid-Neg, in order to prevent a sudden jump in th

8 Command Reference Each parameter can be ramped independently, that is, each parameter can be ramped whether or not other parameters are ramping

RMC70/150 and RMCTools User Manual Frequency 5 Current Offset REAL The current offset of the sine move in pressure or force units. Specifying a Regist

8 Command Reference Command Parameters # Parameter Description Range 1 Stop Location • Next Cycle (0) • Middle (1) • Pos Peak (2) • Neg Peak

RMC70/150 and RMCTools User Manual Pressure/Force Target Generator Done bit This bit indicates the move is complete, which occurs when the target has

8 Command Reference sine move in a certain amount of time. For changing target parameters of position, Change Target Parameter (80) command. Targ

RMC70/150 and RMCTools User Manual Cycles (log) Ramp the Frequency logarithmically in the number of cycles specified by the Ramp Value. Ramping freque

8 Command Reference 1 = 1 cycle n = n cycles (up to 16 million) (0 = continuous) Description This command is identical to the Curve Start (86) co

RMC70/150 and RMCTools User Manual 7 Master Scale REAL ≠ 0 8 Master Offset REAL any 9 Status Block (address) REAL Address or none (0) Description This

8 Command Reference 8.6.2. Command: Set Target Position (48) Supported Axes: Position Control Axes Firmware Requirement: 1.00 or newer See the

RMC70/150 and RMCTools User Manual Control and Reference Axes The types of axes available in the RMC are: • Control Axis: has one Control Output and

RMC70/150 and RMCTools User Manual Firmware Requirement: 1.50 or newer See the Commands Overview topic for basic command information and how to issu

8 Command Reference This command should be issued after a move has completed. Since the new Feed Forward value is applied immediately, issuing th

RMC70/150 and RMCTools User Manual The Integral Output value is given in percent of maximum Control Output, which is normally 10V. Therefore, 0% means

8 Command Reference This command sets the Integrator Mode. Currently, only two modes are available, Always On and Always Off. This command allows

RMC70/150 and RMCTools User Manual See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Comma

8 Command Reference Note: Delta does not recommend using this command. From a PLC, you can write to any register directly without needing to send

RMC70/150 and RMCTools User Manual 1 H Falling QAx, Q1, SSI* Quad, UI/O 2 Z QAx, SSI* Quad, SSI*, Resolver* 3 Z And H QAx, SSI* Quad 4 Z And Not H QAx

8 Command Reference Firmware Requirement: 1.45 or newer See the Commands Overview topic for basic command information and how to issue commands

RMC70/150 and RMCTools User Manual 8.7.4. Command: Disarm Registration (53) Supported Axes: Quadrature Firmware Requirement: 1.45 or newer See t

8 Command Reference 2. Rotate the encoder at least one full revolution so that the Learning Z Alignment status bit turns off. This indicates tha

3 Controller Features Feedback Type Description Position-Pressure Used for controlling both position and pressure with one actuator. Typically us

RMC70/150 and RMCTools User Manual This information is not important when updating the Flash directly from RMCTools without issuing a command. # Param

8 Command Reference This command starts running the specified User Program on the specified Task. If the specified Task is currently running a Us

RMC70/150 and RMCTools User Manual You can choose a task number up to the number of task that have been made available. The default number of tasks is

8 Command Reference Description This command turns on the specified discrete output. To use this command, you must have defined a discrete I/O po

RMC70/150 and RMCTools User Manual See the Commands Overview topic for basic command information and how to issue commands from PLCs, HMIs, etc. Comma

8 Command Reference 8.8.5. Command: Toggle Discrete Output (62) Supported Axes: All Firmware Requirement: 1.20 or newer See the Commands Overvi

RMC70/150 and RMCTools User Manual The integer number for output 1 in slot 1 (the CPU slot) is: (32 x 1) + 7 = 39 The integer number for output 3 in

8 Command Reference This command stops a continuous plot capture immediately. This allows RMCTools to read up the entire plot without any gaps. P

RMC70/150 and RMCTools User Manual Supported Axes: All Firmware Requirement: 1.00 or newer See the Commands Overview topic for basic command informa

8 Command Reference 8.10. Step Editor Commands 8.10.1. Command: Expression (113) Supported Axes: All Firmware Requirement: 1.00 or newer See th

RMC70/150 and RMCTools User Manual Axis Type Control: Has a physical Control Output and zero to two inputs Reference: Has only an input Cascading Oute

RMC70/150 and RMCTools User Manual // Position plus 2.56. _Axis[0].PosOffset:= _Axis[0].ActPos + 2.56; // Calculate 6 plus half the minimum of the f

8 Command Reference • Use the Expression Editor to enter an expression in the Expression command. An expression consists of tags, operators and

9. Register Reference 9.1. Registers A register is a place in the RMC memory that stores data. The registers in the RMC are 32 bits and are any of t

RMC70/150 and RMCTools User Manual dependant. Each group listed below contains Status Registers for the specified axes. For details on the addressing

9 Register Reference is not latched and will clear if the axis speed moves back outside the At Velocity window. This bit is only used when contro

RMC70/150 and RMCTools User Manual condition exists for less than 3 loop times. After the 3rd loop time, the Input Estimated bit will turn off and the

9 Register Reference 1 1 Ramping Control Output toward 0 V Decelerating Decelerating (toward 0 velocity) Decelerating in Closed Loop Decelerating

RMC70/150 and RMCTools User Manual This bit is set when the Target Pressure/Force and the Actual Pressure/Force are at th Command Pressure/Force. Thi

9 Register Reference This bit indicates that the feedback transducer on the secondary input has no errors. This bit provides the instantaneous ge

3 Controller Features A control axis has a Control Output and controls either zero, one or two quantities, such as Position, Pressure, or Force.

RMC70/150 and RMCTools User Manual Issuing a motion command will also clear any error bits whose underlying error condition has gone away. Error Bits

9 Register Reference wire, as indicated by the A Wire Break and B Wire Break status bits. This bit is not used by the RMC150. Resolver The RMC de

RMC70/150 and RMCTools User Manual edge on the Return pulse (for PWM) after three (3) control loops. Quadrature Not used for Quadrature. Resolver Not

9 Register Reference triggered on a Resolver axis if the speeds or accelerations exceed the maximums. See the Resolver Module specifications for

RMC70/150 and RMCTools User Manual of errors that cause this bit to be set. This bit is cleared when any valid command is issued. 12 CmdMod Command Mo

9 Register Reference halting due to an overly low Noise Error Rate parameter can cause significant control problems. This bit is set when the R

RMC70/150 and RMCTools User Manual How to Find: Axes Status Registers Pane, All tab: Miscellaneous Data Type: REAL Description This status register st

9 Register Reference RMC70 Address: %MDn.9, where n = 8 + the axis number RMC150 Address: %MDn.9, where n = 8 + the axis number System Tag: _Axis

RMC70/150 and RMCTools User Manual where n is the axis number How to Find: Axes Status Registers Pane, All tab: Feedback Data Type: REAL Units: pu/sec

9 Register Reference Filtering the Jerk The Actual Jerk is filtered by default. See the Actual Jerk Filter topic for details on filtering the Act

RMC70/150 and RMCTools User Manual For details on defining axes, see the following topics: Defining Axes Axis Definitions: Dialog Axis Definitions: Ed

RMC70/150 and RMCTools User Manual Type: Axis Status Register RMC70 Address: Primary Input: %MDn.9, where n = 8 + the axis number Secondary Input: %MD

9 Register Reference Quadrature Inputs: The Counts register accumulates encoder counts. The direction of the accumulation depends on the sign of

RMC70/150 and RMCTools User Manual Input Range Formula Saturates No Transducer Transducer Overflow RMC70 ±10V RawCounts x 10.125 V / 32,768 counts at

9 Register Reference 9.2.1.3.10. Raw Counts Type: Axis Status Register RMC70 Address: Primary Input: %MDn.12, where n = 8 + the axis number Sec

RMC70/150 and RMCTools User Manual 9.2.1.3.11. Channel A, B Raw Counts Type: Axis Status Register RMC70 Address: Primary Input: Channel A: %MDn.12, wh

9 Register Reference System Tag: _Axis[n].CurrentA, where n is the axis number _Axis[n].CurrentB, where n is the axis number How to Find: Axes St

RMC70/150 and RMCTools User Manual Units: counts Description These Voltage registers hold the voltage feedback from each channel's analog transdu

9 Register Reference The Channel A Force is the calculated force from input 0 of a dual-input (differential) force input. The Channel B Force is

RMC70/150 and RMCTools User Manual Current Input: Channel A Acceleration = (Channel A_Current + Channel A Offset) * Channel A Scale Channel B Acceler

9 Register Reference Transducer Data Type: DWORD Description The Custom Error Bits register is a collection of bits that provide a summary of the

3 Controller Features Position 1 MDT, SSI, Analog, Quadrature, Resolver Velocity 1 Analog Voltage or Current Pressure 1 Analog Voltage or Current

RMC70/150 and RMCTools User Manual 9.2.1.5. Primary Control 9.2.1.5.1. Position Error Type: Axis Status Register RMC70 Address: %MDn.35, where n = 8

9 Register Reference 9.2.1.5.3. Proportional Output Term Type: Axis Status Register RMC70 Address: %MDn.37, where n = 8 + the axis number RMC15

RMC70/150 and RMCTools User Manual The Double Differential Output Term is the portion of the PFID Output contributed by the Double Differential Gain i

9 Register Reference System Tag: _Axis[n].AccFFwdTerm, where n is the axis number How to Find: Axes Status Registers Pane, All tab: Control Data

RMC70/150 and RMCTools User Manual Type: Axis Status Register RMC70 Address: %MDn.45, where n = 8 + the axis number RMC150 Address: %MDn.45, where n =

9 Register Reference 4 Position I-PD 5 Velocity PID 6 Velocity I-PD Any motion command that switches the control mode will affect this register

RMC70/150 and RMCTools User Manual Force Input: _Axis[n].FrcError, where n is the axis number How to Find: Axes Status Registers Pane, All tab: Contro

9 Register Reference System Tag: Pressure Input: _Axis[n].PrsIntGainTerm, where n is the axis number Force Input: _Axis[n].FrcIntGainTerm, where

RMC70/150 and RMCTools User Manual How to Find: Axes Status Registers Pane, All tab: Control Axes Status Registers Pane, All tab: Pressure/Force Contr

9 Register Reference The Command Position is the requested position with travel limits applied. If the requested position is outside the Positive

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RMC70/150 and RMCTools User Manual A rotary axis is typically used for rotary feedback devices such as encoders. The RMC supports rotary feedback for

RMC70/150 and RMCTools User Manual When an axis is stopped, the Target Position should be the same as the Command Position unless an error or halt has

9 Register Reference Type: Axis Status Register RMC70 Address: %MDn.58, where n = 8 + the axis number RMC150 Address: %MDn.58, where n = 8 + the

RMC70/150 and RMCTools User Manual The Command Pressure or Force is the requested pressure or force. For Pressure or Force Limit, this will hold the r

9 Register Reference Type: Axis Status Register RMC70 Address: %MDn.62, where n = 8 + the axis number RMC150 Address: %MDn.62, where n = 8 + the

RMC70/150 and RMCTools User Manual This status register stores the "registration position 1" obtained by a registration event. This value wi

9 Register Reference the RMC70 QAx and Q1 and RMC150 UI/O modules. 0=No break 1=Break Detected In the Axis Tools, the A Input status bit and the

RMC70/150 and RMCTools User Manual Z Wire Break (bit 1) Z Input (bit 0) Value of ZIn Tag Description 0 0 0 Z Input On 0 1 1 Z Input Off 1 0 2 Wire Bre

9 Register Reference 10 HomeLatched Home Latched This bit is set when a Home event has been triggered. Once the home event occurred, this bit wil

RMC70/150 and RMCTools User Manual RMCTools, this will automatically be done for you. This does not apply if the parameter is being changed with a com

9 Register Reference 9.2.2.2.2. Position Offset Type: Axis Parameter Register RMC70 Address: %MDn.1, where n = 12 + the axis number RMC150 Addr

3 Controller Features • Position with MDT or analog feedback • Velocity • Acceleration • Pressure • Force The following feedback types can

RMC70/150 and RMCTools User Manual • Resolver Scaling 9.2.2.2.3. Velocity Scale Type: Axis Parameter Register RMC70 Address: %MDn.0, where n = 12 +

9 Register Reference Data Type: REAL Units: Volts or mA Range: any Default Value: 0 Description This parameter is used on velocity input axes to

RMC70/150 and RMCTools User Manual 9.2.2.2.6. Acceleration Scale Type: Axis Parameter Register RMC70 Address: %MDn.18, where n = 12 + the axis number

9 Register Reference Default Value: 0 Description This parameter is used on acceleration inputs together with the Acceleration Scale parameter to

RMC70/150 and RMCTools User Manual Description These parameters are used together with the Channel A Acceleration Offset and Channel B Acceleration Of

9 Register Reference Actual Acceleration = Acceleration Scale x ((Voltage or Current) + Acceleration Offset) Changing this Parameter Because this

RMC70/150 and RMCTools User Manual Changing this Parameter Because this parameter affects motion, the axis must be disabled or in Direct Output before

9 Register Reference Type: Axis Parameter Register RMC70 Address: %MDn.11, where n = 12 + the axis number RMC150 Address: %MDn.11, where n = 24 +

RMC70/150 and RMCTools User Manual positive end of travel would add 409,600 counts resulting in a value of 16,970,842, which is greater than the maxim

9 Register Reference Type: Axis Parameter Register Bit Parameter RMC70 Address: %MDn.9.0, where n = 12 + the axis number RMC150 Address: %MDn.9.0

RMC70/150 and RMCTools User Manual Once the virtual axis has been set up, you can issue closed-loop motion commands to it as to any position axis.

RMC70/150 and RMCTools User Manual If an axis is considered stopped when the velocity is exactly zero, it would be impossible for it to ever be consid

9 Register Reference The Noise Error Rate applies to all axes types. However, the Noise Error Rate units for each axis type may differ. The follo

RMC70/150 and RMCTools User Manual Example 2: On a position-force feedback axis, the user selects in for the primary feedback and lbs for the secondar

9 Register Reference Valid Characters The characters listed here may be used in the Custom Units parameter. !"#$%&'()*+,-./01234567

RMC70/150 and RMCTools User Manual Parameter Tag Bit(s) Rotary vs. Linear Rotary 0 Positive Limit Input PosLimitIn 4-7 Negative Limit Input NegLimitIn

9 Register Reference 9.2.2.2.20.2. Velocity Filter Type Type: Axis Parameter Register RMC70 Address: %MDn.9.13-14, where n = 12 + the axis number

RMC70/150 and RMCTools User Manual RMC70 Address: %MDn.3, where n = 12 + the axis number RMC150 Address: %MDn.3, where n = 24 + the axis number System

9 Register Reference • Filtering makes the plots look cleaner. • Filtering can be used to "smooth" the velocity of a reference input.

RMC70/150 and RMCTools User Manual See the Primary Input Bits Register for details about the register containing these bits. 9.2.2.2.20.5. Actual Ac

9 Register Reference Filtering increases the phase delay in the filtered value. By default, filtering is applied to the Velocity and Acceleration

3 Controller Features Notice that it is not possible to calculate resultant force on the rod with only one pressure transducer because the pre

RMC70/150 and RMCTools User Manual The filter frequency range is limited to greater than 0.01 due to inaccuracies in the calculations for lower values

9 Register Reference Type: Axis Parameter Register RMC70 Address: Primary Input: %MDn.5, where n = 12 + the axis number Secondary Input: %MDn.23,

RMC70/150 and RMCTools User Manual Data Type: DINT Range: Zero (0), First (1), Second (2), Undefined (255) Default Value: Undefined (255) Description

9 Register Reference System Tag: _Axis[n].ModGainPos, where n is the axis number How to Find: Axes Parameters Pane, All tab: Feedback → Filtering

RMC70/150 and RMCTools User Manual RMC70 Address: %MDn.161, where n = 12 + the axis number RMC150 Address: %MDn.161, where n = 24 + the axis number Sy

9 Register Reference The Time Constant must be greater than or equal to the control loop time: Control Loop Time Minimum Time Constant 0.5ms 0.00

RMC70/150 and RMCTools User Manual 2ms 125Hz 4ms 62.5Hz 9.2.2.2.20.15. Model Damping Factor Type: Axis Parameter Register RMC70 Address: Position: %

9 Register Reference Default Value: 20 Description This parameter specifies the rate at which the model is updated to match the position feedback

RMC70/150 and RMCTools User Manual These parameters are used together with the Channel A Force Offset and Channel B Force Offset parameters to calcula

9 Register Reference Changing this Parameter Because this parameter affects motion, the axis must be disabled or in Direct Output before writing

RMC70/150 and RMCTools User Manual Custom feedback refers to feedback that is continuously calculated by the user, such as with a user program. Custom

RMC70/150 and RMCTools User Manual Data Type: REAL Units: Pr or Fr Range: any Default Value: 0 Description The Pressure Offset or Force Offset paramet

9 Register Reference modules only. This is the PosLim input on the module. general input RMC70: any input from a D8 module, but only from the fir

RMC70/150 and RMCTools User Manual System Tag: _Axis[n].PriInputBits.NegLimitIn How to Find: Axes Parameters Pane, All tab: Feedback Data Type: bits D

9 Register Reference 4 %IX0 5 %IX1 6 %IX2 7 %IX3 8 %IX4 9 %IX5 10 %IX6 11 %IX7 12 %IX8 13 %IX9 14 %IX10 15 %IX11 The slot numbering starts with

RMC70/150 and RMCTools User Manual Type: Axis Parameter Register RMC70 Address: %MDn.10/8, where n = 12 + the axis number RMC150 Address: not availabl

9 Register Reference • St/St Rising The MDT feedback is Start/Stop, measured on the rising edge. • St/St Falling The MDT feedback is Start/Stop

RMC70/150 and RMCTools User Manual states of the axis. When changing this parameter from RMCTools, the software will automatically do this for you. Th

9 Register Reference Data Type: Bits - see below Description This parameter is valid only on axes with SSI feedback. It tells the RMC how many da

RMC70/150 and RMCTools User Manual Because this parameter affects motion, the axis must be disabled or in Direct Output before writing to this paramet

9 Register Reference RMC150 UI/O Module Bit 11 Bit 10 SSI Clock Rate 0 0 250 kHz 0 1 500 kHz 1 0 971 kHz See the MDT/SSI Configuration Register

3 Controller Features • If the axis is part of a Halt Group, it starts the same level of halt on all axes in the group. See the Halt Group Numbe

RMC70/150 and RMCTools User Manual The SSI Termination parameter applies to axes with SSI feedback on an RMC150 Universal I/O (UI/O) Module. The UI/O

9 Register Reference Excessive Delay The timing diagram below shows an SSI system with a time delay of more then one clock period. On the first

RMC70/150 and RMCTools User Manual 0 none 1 Fault Input 2 - 3 - 4 %IX0 5 %IX1 6 %IX2 7 %IX3 8 %IX4 9 %IX5 10 %IX6 11 %IX7 12 %IX8 13 %IX9 14 %IX10 15

9 Register Reference This section is primarily for addressing the SSI Overflow Mode parameter when communicating with the RMC from an external de

RMC70/150 and RMCTools User Manual RMC70 Address: Primary Input: %MDn.10/0-2, where n = 12 + the axis number Secondary Input: %MDn.28/0-2, where n = 1

9 Register Reference RMC150 Address: %MDn.10, bit 1, where n = 24+ the axis number System Tag: _Axis[n].QuadCfg.Term, where n is the axis number

RMC70/150 and RMCTools User Manual How to Find: Axes Parameters Pane, All tab: Feedback Data Type: Bit Range: A Leading (0), A Trailing (1) Default Va

9 Register Reference A Trailing The home is triggered on the trailing edge of the A pulse after the leading edge of the Z pulse. 'Leading

RMC70/150 and RMCTools User Manual Because this parameter affects motion, the axis must be disabled or in Direct Output before writing to this paramet

9 Register Reference accuracy and the signal-to-noise ratio will be reduced. Contact Delta Computer Systems, Inc. to discuss options for your app

RMC70/150 and RMCTools User Manual If the halt was caused by an Auto Stop, you should first make sure the error condition that caused it has been reso

RMC70/150 and RMCTools User Manual System Tag: Primary Input: _Axis[n].AnalogCfg Secondary Input: _Axis[n].SecAnalogCfg where n is the axis number How

9 Register Reference Because this parameter affects motion, the axis must be disabled or in Direct Output before writing to this register. The En

RMC70/150 and RMCTools User Manual Input Termination Term 1 Filter Reg Input RFilt 2 9.2.2.2.23.23. Resolver Configuration Register Type:

9 Register Reference How to Find: See individual parameters listed below Data Type: DWORD - see below Description The Custom Feedback Configurati

RMC70/150 and RMCTools User Manual be used in cases where the Custom Counts register is being modified from an external device, such as a PLC. The N

9 Register Reference RMC150 Address: %MDn.117, where n = 24 + the axis number System Tag: _Axis[n].SystemGain, where n is the axis number How to

RMC70/150 and RMCTools User Manual where A = area of the piston (in2) mass = the mass moved by the system (lb) volume = the volume of trapped oil in t

9 Register Reference updated. At this point, the new simulator model will be calculated and the simulator model will be activated. When the simul

RMC70/150 and RMCTools User Manual When the simulator is first enabled, the position is set to the average of the Positive and Negative Physical Limit

9 Register Reference Type: Axis Parameter Register RMC70 Address: %MDn.125, where n = 12 + the axis number RMC150 Address: %MDn.125, where n = 24

3 Controller Features (29), the Target Position will stop immediately. Otherwise, the velocity will ramp down from the current velocity to zero a

RMC70/150 and RMCTools User Manual If the Positive and Negative Physical Limits are both zero, the spring force is not simulated and this parameter is

9 Register Reference RMC150 Address: %MDn.116, where n = 24 + the axis number System Tag: _Axis[n].SimulationBits, where n is the axis number How

RMC70/150 and RMCTools User Manual 9.2.2.4.2. Position Error Tolerance Type: Axis Parameter Register RMC70 Address: %MDn.57, where n = 12 + the axis

9 Register Reference 9.2.2.4.4. Velocity Error Tolerance Type: Axis Parameter Register RMC70 Address: %MDn.59, where n = 12 + the axis number R

RMC70/150 and RMCTools User Manual Format Details This section is primarily for addressing the Integrator Mode when communicating with the RMC from an

9 Register Reference The Differential Gain controls how much the PFID Output is adjusted based on the change in the Actual Position or Actual Ve

RMC70/150 and RMCTools User Manual General This gain helps compensate for changing system dynamics, such as varying loads, and often aids the axis in

9 Register Reference with a deadband, this avoids ratcheting the axis back and forth around the deadband. See the Output Deadband topic for more

RMC70/150 and RMCTools User Manual and help the axis track during acceleration and deceleration. On torque drives, the differential gain is essential

9 Register Reference Gain Set #2: %MDn.132, where n = 24 + the axis number System Tag: Gain Set #1: _Axis[n].VelFFwd Gain Set #2: _Axis[n].VelFFw

RMC70/150 and RMCTools User Manual The Open Loop Halt will ramp the Control output to zero, but will not remove the axis from pressure/force limit. Th

RMC70/150 and RMCTools User Manual Type: Axis Parameter Register RMC70 Address: Gain Set #1: %MDn.65, where n = 12 + the axis number Gain Set #2: %MDn

9 Register Reference If either Feed Forward is set to zero, or they are identical, the gain ratio will be one. Otherwise, for the direction of th

RMC70/150 and RMCTools User Manual All the gains of the axis are ratioed by the Positive Negative Velocity Feed Forwards. Once the Positive and Negati

9 Register Reference RMC70 Address: Gain Set #1: %MDn.66 Gain Set #2: %MDn.133 where n = 12 + the axis number RMC150 Address: Gain Set #1: %MDn.6

RMC70/150 and RMCTools User Manual Address: System Tag: _Axis[n].JerkFFwd, where n is the axis number How to Find: Axes Parameters Pane, Tune tab: Pos

9 Register Reference Velocity control: %/(pu/sec3) % = percent of maximum Control Output (default is 10V) Range: ≥ 0 Default Value: 0 Description

RMC70/150 and RMCTools User Manual RMC70 Address: Gain Set #1: %MDn.69 Gain Set #2: %MDn.136 where n = 12 + the axis number RMC150 Address: Gain Set #

9 Register Reference Dn = Active Damping Proportional Term at sample n [% of maximum Control Output] F = Force [Fr] A = Acceleration [pu/sec2] KA

RMC70/150 and RMCTools User Manual The Triple Differential Gain units are: Percent of the maximum Control Output per position units per second cubed (

9 Register Reference Using Acceleration Input, Filter, or Model Dn = - (JActualn - JActualn-1) x KADD Using Force Input Dn = - (ΔFActualn - ΔFAct

3 Controller Features • Via Auto Stops. After a Halt has Occurred If the halt was caused by an Auto Stop, you should first make sure the error c

RMC70/150 and RMCTools User Manual 9.2.2.4.19. Symmetrical/Ratioed Type: Axis Parameter Register RMC70 Address: %MDn.60/4, where n = 12 + the axis num

9 Register Reference Bit 4 Control Mode 0 Ratioed 1 Symmetrical See the Primary Control Register topic for details about the register containin

RMC70/150 and RMCTools User Manual 9.2.2.4.21. Default Pos/Vel Control Mode Type: Axis Parameter Register RMC70 Address: %MDn.43, where n = 12 + the

9 Register Reference Parameter Tag Name Bit Number(s) Integrator Mode IntMode 0-3 Symmetrical/Ratioed Symm 4 Pressure/Force Orientation PFOrienta

RMC70/150 and RMCTools User Manual System Tag: Pressure Axis: _Axis[n].PrsErrorTolerance, where n is the axis number Force Axis: _Axis[n].FrcErrorTole

9 Register Reference Mathematical Definition Pressure/Force PID Dn = (PTargetn - PActualn) x KP Pressure/Force I-PD Dn = (PActualn - PActualn-1)

RMC70/150 and RMCTools User Manual In pressure/force I-PD, this gain is the most important gain for pressure/force I-PD control. This gain must be non

9 Register Reference In Pressure/Force I-PD, the Pressure/Force Differential Gain adjusts the Control Output based on the change in the Actual Pr

RMC70/150 and RMCTools User Manual 9.2.2.5.7. Pressure/Force Rate Feed Forward Type: Axis Parameter Register RMC70 Address: Primary Control Axis: %MDn

9 Register Reference Range: Same (0), Opposite (1), Bidirectional (2) Default Value: Same (0) Description This register defines the orientation o