Delta RMC200 User guide

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

Where to Get Help
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]

Important Information
iii deltamotion.com
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
deltamotion.com iv
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
deltamotion.com 1
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
deltamotion.com 3
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.

RMC200 Startup Guide
4 Delta Computer Systems, Inc.
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
deltamotion.com 5
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
6 Delta Computer Systems, Inc.
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.