Delta RMC70 User guide

RMC70 MOTION CONTROLLER
STARTUP
GUIDE
With wiring diagrams
Motion Control and More

RMC70 Startup Guide
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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]

Contents
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Contents
Step 1: Add Expansion Modules .................................... 2
Step 2: Mounting............................................................. 3
Step 3: Wiring ................................................................. 4
Step 4: Install RMCTools ................................................ 5
Step 5: Connect RMC to PC........................................... 6
Step 6: Start a New Project ............................................ 7
Step 7: Define the Axes ................................................ 11
Step 8: Test an Actuator ............................................... 13
Step 9: Test Feedback Device ..................................... 16
Step 10: Scale and Offset............................................. 20
Step 11: Set the Output Polarity ................................... 21
Step 12: Tuning ............................................................ 22
Continuing the Motion Application ................................ 25
Diagnostic Tools ........................................................... 27
Appendix A: Wiring ....................................................... 28
Appendix B: Mounting Dimensions............................... 43
Appendix C: Agency Compliance ................................. 45
Version 4.00, June 1, 2017
Copyright © 2017, Delta Computer Systems, Inc.

RMC70 Startup Guide
2 Delta Computer Systems, Inc.
Step 1: Add Expansion Modules
Remove power from the RMC before adding expansion modules.
Instructions are also included with each module.
Expansion modules can be added in any order. Do not add more than
4 expansion modules. No more than two Q2 modules can be installed
per RMC75.
1. Remove 4 screws
Remove the 4 phillips-head screws
on the right side of the top and
bottom of the RMC70.
2. Install Expansion Module
3. Reinstall the 4 screws

Step 2: Mounting
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Step 2: 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 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.

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Step 3: Wiring
Wire the RMC, actuators and feedback devices according to the
instructions in Appendix A: Wiring.
For expansion module wiring, consult the wiring diagram you received
with it, or use the RMCTools help. For communications wiring, consult
the RMCTools help.
Note: Remove power from the RMC before connecting any wires.
Wiring Topic
Page
General Wiring Information
29
Power
30
MA Modules
Control Output, Enable Output, Fault Input
31
SSI Transducer
32
Start/Stop or PWM Transducer
34
AA Modules
Control Output, Enable Output, Fault Input
31
Voltage Feedback Transducer
37
Potentiometer
38
Current Feedback Transducer
38
QA Modules
Control Output, Enable Output, Fault Input
31
Quadrature Encoder (A, B, Z)
40

Step 4: Install RMCTools
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Step 4: 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
Operating System*
Windows® 7/8.1/10

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Step 5: Connect RMC to PC
RMC75E
USB Cable
Connect a standard A to B USB cable to the PC and to the RMC75E
port labeled USB Monitor.
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 RMC75E and the PC
or Ethernet switch. The RMC75E supports both
straight through and crossover cables.
RMC75S or RMC75P
Connect Serial Cable
Connect a null-modem, DB-9, female-to-female cable to the RMC75
RS-232 Monitor port, and to a serial port on the PC.
If you make your own cable, pins 2 and 3 must be crossed over, and
pin 5 must be straight-through.

Step 6: Start a New Project
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Step 6: 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.

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5. RMC75E via USB:
A. Click USB and click Next.
B. When the RMC appears in
the list, choose it and
click Next.
RMC75E via Ethernet:
A. Click Ethernet and click
Next.
B. Use the MAC
address (on the RMC75E
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.

Step 6: Start a New Project
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RMC75S or RMC75P:
Select the serial port and click
Next.
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.

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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.
IF YOU DO NOT UPDATE FLASH, CHANGES TO THE
RMC WILL BE LOST WHEN POWER IS REMOVED!
3. Repeat Often
Make sure to save and update flash 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.
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

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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.

Step 8: Test an Actuator
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Step 8: 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.
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 8: Test an Actuator
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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: 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.

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Step 9: 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 module and transducer type:
Module
Transducer Type
Page
MA1 or MA2
MDT (Start/Stop or PWM)
17
SSI
17
AA1 or AA2
Analog (±10 V or 4-20 mA)
18
QA1 or QA2
Quadrature (Encoder A, B, Z)
18
AP2 or A2
Analog (±10 V or 4-20 mA)
18
Q1
Quadrature (Encoder A, B, Z)
18

Step 9: Test Feedback Device
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MA Module–Start/Stop or PWM
1. In the Axis Parameters, on the
Setup tab, set the Feedback
Type to MDT.
2. Set the MDT Type register to
the type of MDT transducer
you have. This information is
available on the transducer
datasheet.
3. Click the Download button to apply the changes to the RMC.
4. Continue to the Verify Feedback section on page 19.
MA Module–SSI
1. In the Axis Parameters pane,
on the Setup tab, set the
Feedback Type to SSI.
2. From the information in your
SSI data sheet, set the
following parameters:
•SSI Format
•SSI Data bits (e.g. 24)
•Linear/Rotary
Note: For help on a parameter, click the cell and press F1.
3. Click the Download button to apply the changes to the RMC.
4. Continue to the Verify Feedback section on page 19.

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AA Module
1. In the Axis Parameters pane,
on the Setup tab, set the
Input Type to Voltage or
Current.
2. Click the Download button
to apply the changes to the
RMC.
3. Continue to the Verify Feedback section on page 19.
A2 or AP2 Module
1. In the Axis Parameters pane, on the Setup tab, set the Input Type
to Voltage or Current.
If the input is the primary input of the axis, the Input Type is
under the Primary Control Setup section in the Axis Parameters.
For secondary pressure or force inputs on a dual-loop axis, the
Input Type is under the Secondary Control Setup section in the
Axis Parameters.
2. Click the Download button to apply the changes to the RMC.
3. Continue to the Verify Feedback section on page 19.
QA or Q1 Module
The QA and Q1 module do not require any configuration.
1. Continue to the Verify Feedback section on page 19.