Delta RMC200 User guide

RMC200 MOTION CONTROLLER
STARTUP
GUIDE
With wiring diagrams
Connect. Control. Optimize.

Where to Get Help
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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]

Important Information
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Important Information
Before using the RMC200 motion controller, read this Startup
Guide and relevant manuals carefully.
Installing, putting into service, using, and maintaining the RMC200
must be carried out by suitably trained personnel.
Relevant documentation:
•RMCTools User Manual: provides information on using the
RMC200 motion controller. This information is also provided
in the RMCTools software help topics.
•RMC200 Datasheet: includes full specifications of the
modules.
Maintenance: The RMC200 contains no user-serviceable parts. The
RMC200 should be repaired only by personnel authorized by Delta.
Notices used in this document:
WARNING:Identifies information about circumstances that
can lead to personal injury or death, property damage, or
economic loss.
IMPORTANT:Identifies information that is important for
successfully applying the product.

Important Information
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Important Information
WARNING:Using this product in a manner not specified by
the manufacturer may impair the protection provided by the
equipment.
WARNING:Employ safety circuits or devices external to the
motion controller to ensure the machine operates safely even
in the event of a failure in any part of the controller.
WARNING:If deemed necessary by a risk assessment, employ
an emergency stop system to avert harm or to reduce existing
hazards to persons, machinery, or work in progress.
WARNING:Use proper lock-out procedures when working on
the machine to prevent injury or machine damage.
WARNING:On hydraulic systems, use blocking valves or other
suitable methods to prevent the hydraulic system from moving
unexpectedly when working on the machine.
WARNING: Use fuses to limit any fault currents that could
cause smoke or fire due to a fault in the RMC or external
device.

Contents
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Contents
Step 1: Mount the Base .................................................. 2
Step 2: Mount the Modules............................................. 4
Step 3: Wiring ................................................................. 5
Step 4: Install RMCTools ................................................ 6
Step 5: Connect RMC to PC........................................... 7
Step 6: Start a New Project ............................................ 8
Step 7: Define the Axes ................................................ 13
Step 8: Test each Actuator ........................................... 15
Step 9: Test each Feedback Device............................. 19
Step 10: Scale and Offset............................................. 23
Step 11: Set the Output Polarity ................................... 24
Step 12: Tuning ............................................................ 25
Continuing the Motion Application ................................ 28
Diagnostic Tools ........................................................... 31
Appendix A: Wiring ....................................................... 32
Appendix B: Mounting Dimensions............................... 51
Appendix C: Agency Compliance ................................. 53
Version 1.04, March 7, 2019
Copyright © 2019, Delta Computer Systems, Inc.

RMC200 Startup Guide
2 Delta Computer Systems, Inc.
Step 1: Mount the Base
The RMC base should be mounted upright on a vertical surface, such
that the module ventilation holes are on the top and bottom.
Mounting the Base on a Panel
See Appendix B: Mounting Dimensions for more details
Clearance
The required clearance above and below for airflow
depends on the maximum ambient temperature:
Ambient Temperature
Clearance
122 - 140°F (50 - 60°C)
3 in. (7.6 cm)
Less than 122°F (50°C)
2 in. (5.1 cm)
Environment
The environment must conform to the following:
Operating ambient temperature
-4 to +140°F (-20 to +60°C)
Storage ambient temperature
-40 to +185°F (-40 to +85°C)
Ambient humidity
5-95%, non-condensing
Keep liquids and conductive particles away from the RMC200.
Clearance
Clearance

Step 1: Mount the Base
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Enclosure
If the RMC200 is installed in an electronics enclosure, the enclosure
must be large enough to dissipate the power that is being generated
by the components in the cabinet without having the air temperature
in the cabinet exceed the rating on any of the components within the
cabinet.
To ensure sufficient convection, the enclosure should provide the
following clearances:
•At least 2” between front of RMC200 and enclosure
•At least 3” between top of RMC200 and enclosure
•At least 3” plus space for wires between bottom of RMC200
and enclosure
Grounding
IMPORTANT:Make sure to properly ground the base metal.
Mounting via steel screws to a well-grounded surface such as a
metal panel will typically suffice. To ensure a robust
connection, the grounding stud on the bottom of the base may
be used. The Case pins of each module are electrically
connected to the module chassis, which will conduct to the
base chassis.
WARNING:Electrostatic Discharge (ESD): Electrostatic
discharge can cause internal damage and affect normal
operation. When handling this equipment, follow these
guidelines:
•Touch a grounded object to discharge potential static or
wear a grounding wrist strap.
•Do not touch connectors or pins on the module boards, or
electronic components inside the modules.
•Use a static-safe workstation, if possible.
•Store modules in ESD packaging when not in use.

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Step 2: Mount the Modules
Module Locations
Modules may only be installed in compatible slots on the base.
Modules are keyed so only compatible modules mount in a given slot.
Slot
Compatible Modules
0
PS4D (B5, B7 and B11)
PS6D (B15)
1
CPU40
2+
CA4, CV8, S8, A8, Q4, D24
Install each Module
1. Tip the module up.
2. Set the upper pins
in the hooks.
3. Rotate the module down
carefully such that the
base connector engages.
4. Tighten the holddown screw
to 5 in-lbs (0.6 Nm).
Hooks
Pins
Connector
Screw

Step 3: Wiring
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Step 3: Wiring
Wire the power, actuators and feedback devices to the RMC according
to the instructions in Appendix A: Wiring on page 32.
IMPORTANT:Remove external power from the device before
wiring. Failure to do so may cause component failure.
Wiring Topic
Page
General Wiring Information
33
PS4D and PS6D: Power Supply
35
CPU40, CA4, CV8: Discrete I/O
36
CA4, CV8: Control Output ±10V, 4-20 mA, or ±20mA
37
S8: SSI
38
S8: MDT
40
S8: Quadrature Encoder
42
A8: Analog ±10V, 4-20 mA
43
Q4: Quadrature Encoder
46
D24: Discrete I/O
48

RMC200 Startup Guide
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Step 4: Install RMCTools
Download
1. Go to http://www.deltamotion.com/dloads/
2. Choose the RMC200 section, then choose the Software section.
3. Choose RMCTools, 32-bit or 64-bit, as required for your computer.
RMCTools supports the RMC70, RMC150 and RMC200 controllers.
4. Run the rmctoolsinstall32.exe or rmctoolsinstall64.exe file and
follow the instructions.
Start RMCTools
On the Windows Start menu, choose All Programs and then
RMCTools.
PC Requirements for RMCTools
Operating System*
Windows® XP/Vista/7/8/10
*Windows XP requires Service Pack 3 or newer.

Step 5: Connect RMC to PC
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Step 5: Connect RMC to PC
USB Cable
Connect an A to B USB cable to the PC and
to the RMC200 USB port.
This type of USB cable is typically used for
PC peripherals such as printers, and is
available at any store that sells electronics.
Or, use Ethernet Cable
Connect an Ethernet cable to the RMC200 and the PC
or Ethernet switch. The RMC200 supports both
straight through and crossover cables.
Setting the IP Address
The IP address need not be set before connecting via Ethernet. If the
PC is on the same physical Ethernet network as the RMC, RMCTools
can detect the RMC even if the IP address is not set.
The RMC’s IP address and subnet mask can be set via RMCTools while
connecting via Ethernet. See the next step Start a New Project for
details.
Or, set the IP address and subnet mask via the CPU display screen:
1. Using the Menu , arrow and Enter buttons, browse to:
Ethernet Change IP Address Set manually
2. Using the arrow buttons, set the IP address.
3. Press Enter for Next and set the subnet mask.
4. Press Enter for Next and use the arrow and Enter
buttons to choose whether to use a default gateway. Set it if so
desired.

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Step 6: Start a New Project
1. Start RMCTools.
In the Startup dialog, choose Create a New Project and click OK.
2. Enter the Project Name, then click Finish.
3. In the New Controller Wizard, choose Automatically Detect the
Controller Information, then click Next.

Step 6: Start a New Project
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4. Communication Method:
Via USB:
A. Choose USB and click Next.
B. The RMC200 will appear in the list as R200-CPU40. Choose
the RMC and click Next.
C. RMCTools will connect to the RMC and display it.
Verify it is correct, then click Finish.
Tip: If multiple controllers are listed, use the serial number to
identify your RMC in the list (Device ID). The serial
number is accessible on the RMC200 display screen:
1. Using the Menu , arrow and Enter
buttons, browse to:
Module Info

Slot 1 (CPU40)
2. The serial number is prefixed by SN:

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Via Ethernet:
A. Choose Ethernet and click
Next.
B. The RMC200 will appear in the list as R200-CPU40. Click the
RMC and click Next.
C. If the RMC does not have an IP address (0.0.0.0), you must set
an IP address now in order to connect via Ethernet:
a. Click Configure Device.
Tip: If multiple controllers are listed, use the MAC address to
identify your RMC in the list. The MAC address is
accessible on the RMC200 display screen:
1. Using the Menu , arrow and Enter
buttons, browse to:
Ethernet

View IP Address
2. Using the arrow buttons, scroll down to view the
MAC address.

Step 6: Start a New Project
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b. Choose Use the following IP address, set the IP Address
and Subnet Mask, then click OK.
Tip: For help on IP addressing, in the RMCTools help, in the Index tab,
type IP Address and choose that item from the list.
D. Click Next. RMCTools will connect to the RMC and display it.
Verify it is correct, then click Finish.
5. The toolbar now displays . This means RMCTools
is communicating with the controller.
Project Pane
The project pane contains all the items in the project. Use the Project
pane to navigate through the entire project.

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Saving Settings
Throughout the startup procedure, make sure to save the
configuration changes you make or they may be lost!
1. Save RMCTools Project
On the File menu, click Save.
2. Update Flash
On the Controller menu, click Update Flash.
IMPORTANT:If you do not update Flash, changes to the RMC
will be lost when power is removed!
3. Repeat Often
Make sure to save often to prevent loss of data.
Tip: On the File menu, click Save and Update Flash to perform
both operations at once.

Step 7: Define the Axes
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Step 7: Define the Axes
To use a physical input or output, it must be assigned to an internal
software axis. The RMC starts with default axis assignments which you
will likely need to change.
Make sure to define the axes at the start of the project. Major changes
to axis definitions later may result in lost axis parameters.
Example Axis Definitions
Position Control Axis
One Control Output, one position input.
Position-Force Control Axis (all part of a single axis)
One Control Output, one position input, dual- input force
Reference Axis
One position input.
Position
Feedback
Dual-input Force Feedback
Valve
Hydraulic Cylinder
Analog
Joystick
Position
Feedback
Control
Output
Position
Feedback
Valve
Hydraulic Cylinder
Control
Output

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

Step 8: Test each Actuator
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Step 8: Test each Actuator
You will now test an actuator such as a hydraulic valve or a motor. You
will use the Direct Output command to send a command signal to the
actuator. The actuator must already have been wired to the RMC.
Set the Output Type
1. In the Project tree,
double-click Axis Tools.
2. In the Axis Parameters, on the Setup tab, set the Output Type to
the correct setting for your actuator. Typically, it will be ±10V.
3. Click the Download button
to apply the changes to
the RMC.
4. In the Axis Status Registers, on the
Basic tab, look at the Control
Output.
It should be 0.
Notice that the Final Output shows
the output value in Volts or mA.

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Enable the Axis – Enable Controller (7) Command
5. In the Command Tool, in the axis
the actuator is connected to, click
the button.
6. Browse to General Commands,
click Enable Controller, then
click OK.
The Enable Controller command
enables all the axes to motion
commands can be sent to them.
7. In the Command Tool, click Send.
The axes will now be enabled, as
indicated by the EnabledStatus bit
in the Axis Status Registers.