Delta RMC150 User guide

RMC150 MOTION CONTROLLER
STARTUP
GUIDE
With wiring diagrams
Motion Control and More

RMC150 Startup Guide
deltamotion.com ii
Where to Get Help
Video Tutorials
In RMCTools, on the Help menu, click Video Tutorials.
RMCTools Help
In RMCTools, on the Help menu, click Help Topics.
Forum
forum.deltamotion.com
Delta Technical Support
Phone: [phone]
Email: [email protected]om

Contents
deltamotion.com 1
Contents
Step 1: Mounting............................................................. 2
Step 2: Wiring................................................................. 5
Step 3: Install RMCTools................................................ 6
Step 4: Connect RMC to PC........................................... 7
Step 5: Start a New Project ............................................ 8
Step 6: Define the Axes................................................ 12
Step 7: Test an Actuator............................................... 14
Step 8: Test Feedback Device ..................................... 18
Step 9: Scale and Offset............................................... 22
Step 10: Set the Output Polarity................................... 23
Step 11: Tuning ............................................................ 24
Continuing the Motion Application................................ 27
Diagnostic Tools........................................................... 29
Appendix A: Wiring....................................................... 30
Appendix B: Mounting Dimensions............................... 44
Appendix C: Agency Compliance................................. 45
Version 4.03, March 26, 2020
Copyright © 2020, Delta Computer Systems, Inc.

RMC150 Startup Guide
2 Delta Computer Systems, Inc.
Step 1: Mounting
The RMC should be mounted upright on a vertical surface, such that
the ventilation holes are on the top and bottom.
Mounting Options
Symmetrical DIN 3 Panel-mount
•See Discrete Input Wiring
•To turn on a discrete input, apply a voltage of the correct level. The
polarity is unimportant.
DI/O and UI/O Module
Because all the inputs share a common, all inputs on the same module
must be wired the same.
Example
RMC150E
DI/O
UI/O
Signal Levels
12-24 VDC
5-24 VDC
12-24 VDC
Max Current
Draw
3 mA max
6 mA at 5V
10 mA at 24V
3 mA max

Step 1: Mounting
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RMC150E Module
Each input has a “+” and “–” connection.
Example

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4 Delta Computer Systems, Inc.
Appendix B: Mounting Dimensions for dimensions.
Clearance
The amount of clearance above and below depends on the maximum
ambient temperature:
Ambient Temperature
Clearance
122 - 140°F (50 - 60°C)
3 in. (7.6 cm)
86 - 122°F (30 - 50°C)
2 in. (5.1 cm)
Less than 86°F (30°C)
1 in. (2.5 cm)
Grounding
Make sure to properly ground the RMC. If mounted on a DIN rail, the
RMC will conduct to the DIN rail. The RMC shell is electrically
connected to its Case pins.

Step 2: Wiring
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Step 2: Wiring
Wire the power, actuators and feedback devices to the RMC according
to the instructions in Appendix A: Wiring on page 30.
Note: Remove power from the RMC before connecting any wires.
Wiring Topic
Page
General Wiring Information
31
Power
32
Control Output (Drive)
32
SSI Inputs
33
Start/Stop and PWM Inputs (Magnetostrictive)
35
Analog Inputs
Voltage Transducer
37
Potentiometer
38
Current Transducer
38
Resolver Inputs
40
Discrete
Inputs/Outputs
Discrete Outputs
41
Discrete Inputs
43

RMC150 Startup Guide
6 Delta Computer Systems, Inc.
Step 3: Install RMCTools
Download
1. Go to http://www.deltamotion.com/dloads/
2. Choose the RMC70 or RMC150 category, then choose the
Software category.
3. Choose the RMCTools 32-bit or 64-bit version as required for your
computer.
4. Run the rmctoolsinstall32.exe or rmctoolsinstall64.exe file and
follow the instructions.
Start RMCTools
On the Windows Start menu, choose All Programs and then
RMCTools.
PC Requirements for RMCTools
Operating System
7/8.1/10

Step 4: Connect RMC to PC
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Step 4: Connect RMC to PC
USB Cable
Connect a standard A to B USB cable to the
PC and to the RMC150E USB port .
This type of USB cable is used for PC
peripherals such as printers, and is available
at any store that sells electronics.
Or, use Ethernet Cable
Connect an Ethernet cable to the RMC150E and the
PC or Ethernet switch. The RMC150E supports
both straight through and crossover cables.

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8 Delta Computer Systems, Inc.
Step 5: Start a New Project
1. Start RMCTools.
2. In the Startup dialog,
choose Create a New
Project and click OK.
3. Enter the Project Name,
then click Finish.
4. In the New Controller
Wizard, choose
Automatically Detect the
Controller Information,
then click Next.

Step 5: Start a New Project
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5. RMC150E via USB:
A. Click USB and click Next.
B. When the RMC appears in
the list, choose it and click
Next.
RMC150E via Ethernet:
A. Click Ethernet and click
Next.
B. Use the MAC
address (on the RMC150E
label) to identify the RMC
in the list, then click the
RMC.
C. If the RMC does not have
an IP address (0.0.0.0),
click Configure Device,
choose Use the following
IP address, set the IP
Address and Subnet Mask, then click OK.
D. Click Next.

RMC150 Startup Guide
10 Delta Computer Systems, Inc.
6. RMCTools will connect to the
RMC and display it.
Verify it is correct, then click
Finish.
7. The toolbar now displays . This means RMCTools is
communicating with the controller.
Project Pane
The project pane contains all
the items in the project. Use the
Project pane to navigate
through the entire project.

Step 5: Start a New Project
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Set Up Universal I/O Channels
If your RMC includes a Universal I/O module, you must first set up the
high-speed channels before using them as part of an axis.
1. In the Project pane, expand the Modules folder and double-click
the UI/O module.
2. On the Quad/SSI page, choose the desired Mode for each
channel. Typically, this will be Quadrature Input or SSI Axis Input.
For more details, refer to the UI/O module topic in the RMCTools
help.
Saving Settings
Throughout the startup procedure, make sure to save the
configuration changes you make or they may be lost!
1. Save RMCTools Project
On the File menu, click Save.
2. Update Flash
On the Controller menu, click Update Flash.
IF YOU DO NOT UPDATE FLASH, CHANGES TO THE
RMC WILL BE LOST WHEN POWER IS REMOVED!
3. Repeat Often
Make sure to save often to prevent loss of data.
Tip: On the File menu, click Save and Update Flash to perform
both operations at once.

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12 Delta Computer Systems, Inc.
Step 6: Define the Axes
To use a physical input or output, it must be assigned to an internal
software axis. The RMC starts with default axis assignments which you
will likely need to change.
Note: It is important to define the axes at the start of the project.
Major changes to axes later may result in lost axis parameters.
Example Axis Definitions
Position Control Axis
One Control Output, one position input.
Position-Force Control Axis (all part of a single axis)
One Control Output, one position input, dual-input force
Reference Axis
One position input.
Control
Output
Position
Feedback
Dual-input Force Feedback
Valve
Hydraulic Cylinder
Analog
Joystick
Position
Feedback
Control
Output
Position
Feedback
Valve
Hydraulic Cylinder

Step 6: Define the Axes
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View Axis Definitions
1. In the Project tree, expand the
Axes folder and double-click
Axis Definitions.
2. The Axis Definitions dialog
opens:
The list displays the
software axes. To see
the assigned hardware,
click an axis in the list.
The hardware assigned
to that axis will be
highlighted in the
image.
Edit Axis Definitions
Use the Axis Definitions dialog to change the axis definitions:
•Click New to add an axis.
•Click Change to edit the selected axis.
•Click to remove an axis.
If you need to make significant changes to the axis definitions, first
delete all the axes, then create new ones.
For more details, click the Help button.

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Step 7: Test an Actuator
You will now test an actuator such as a hydraulic valve or a motor. You
will use the Direct Output command to send a voltage to the actuator.
The actuator must already have been wired to the RMC.
USE THE DIRECT OUTPUT COMMAND WITH CAUTION! IT
DISABLES THE SAFETY FEATURES OF THE RMC!
Fault Controller Button
If the motion causes problems, be prepared to quickly stop the axis by
clicking the Fault Controller button on the toolbar, or pressing Ctrl + K
on the keyboard.
1. Check the machine and make sure that the axis may safely move
in both directions.
2. In the Project tree, double-click
Axis Tools.

Step 7: Test an Actuator
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3. In the Axis Status Registers, on
the Basic tab, look at the
Control Output.
It should be 0.

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5. In the Command Tool, in the axis the actuator is connected to,
click the button.
6. Browse to Motion Commands,
then Open Loop.
Choose the Direct Output
command and click OK.
7. For the Direct Output command
parameters, enter the following:
•Output: 0.1
•Ramp Rate: 100
When you send the command in the
next step, the Control Output voltage
will ramp to 0.1 V at a rate of 100
V/sec.

Step 7: Test an Actuator
deltamotion.com 17
8. In the Command Tool, click Send.
The axis should move, and the Control
Output (in the Axis Status Registers)
should be 0.100.
9. If the axis did not move, resend the
command with a larger Output until the axis moves.
Note: For the Quad module, if you are using the Enable
Output for enabling the actuator, such as a motor
drive, then you first need to set the Enable Output
before trying to move the actuator. For details, see the
Set Enable Output (67) Command topic in the
RMCTools help.
10. Now stop the axis:
In the Command tool, enter 0 in the
Output box and click Send.
11. Repeat these steps to move the axis in the other direction. In the
Direct Output command, use a negative Output.
Move the axis back and forth through the entire travel range to
make sure the machine is operating properly.

RMC150 Startup Guide
18 Delta Computer Systems, Inc.
Step 8: Test Feedback Device
Now that you have connected and tested an actuator, you will connect
and verify a feedback device. The device must already have been
wired to the RMC.
Configure Feedback
In Axis Tools, in the Axis Parameters pane, on the Setup tab, you will
configure certain parameters depending on the type of input you are
using.
Refer to the procedure for your transducer type and module:
Transducer Type
Module
Page
Start/Stop or PWM
(Magnetostrictive)
MDT (M)
19
SSI
(linear or rotary)
SSI (S),
Universal I/O (UI/O)
19
Analog
(Voltage or Current)
ANLG (H), ANALOG INPUTS (A),
ANLG2 (G),
Universal I/O (UI/O)
20
Quadrature Encoder
(A, B, Z)
QUAD (Q),
Universal I/O (UI/O)
20
Resolver
RESOLVER (R)
20