Delta RMC151 Bedienungsanleitung Seite 3
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Condensed Contents
1. Introducing the RMC Family ........................................................... 1
Overview of the RMC family capabilities and applications.
2. Starting Up the RMC ....................................................................... 7
A Step-by-step guide to quickly get up and running.
3. Controller Features ...................................................................... 49
Control Types and more…
4. Using RMCTools .......................................................................... 199
Detailed information on how to use the RMCTools motion control software.
5. Programming ............................................................................. 279
A guide to programming the RMC.
6. Communications ......................................................................... 393
Serial, PROFIBUS, Ethernet.
7. System Components ................................................................... 617
RMC150 and RMC70 modules.
8. Command Reference .................................................................. 685
Detailed information on how to use each RMC command.
9. Registers .................................................................................... 843
Detailed information on all RMC registers.
10. Wiring and Installation ............................................................ 1127
Detailed wiring diagrams.
11. Troubleshooting ....................................................................... 1167
Hints and assistance. Detailed information on error codes.
12. Index ....................................................................................... 1181
deltamotion.com iii
- Condensed Contents 3
- Table of Contents 5
- Table of Contents 19
- Video Tutorials 21
- Customer Support 21
- Paper Copy of On-line Help 21
- 1.2. Basics of Operation 22
- Issuing Commands 23
- 1.3. Disclaimer 24
- Ownership 25
- 2. Starting Up the RMC 27
- • SSI Data bits - (e.g. 24) 29
- • Quadrature encoder 29
- • Resolver 29
- 2.2. Scaling 32
- Scaling Acceleration Units 35
- 2.2.6. MDT Scaling 36
- 2.2.7. SSI Scaling 39
- 2.2.8. Rotary Scaling 40
- 2.2.9. Quadrature Scaling 41
- 2.3. Tuning 43
- Tuning Wizard and Autotuning 44
- 2.3.2. Tuning Wizard 46
- Using the Tuning Wizard 47
- 2.3.3. Autotuning 48
- 2.3.5. Gain Calculator 49
- Tuning Procedure 50
- • Tuning Overview 64
- • Tuning a Position Axis 64
- Tuning Order 67
- Control 68
- 3. Controller Features 69
- 3.2. General 70
- 3.2.2. Loop Time 71
- 3.2.3. RUN/PROGRAM Mode 73
- 3.2.4. Registration 74
- 3.2.5. Homing 75
- How to Home an Axis 76
- Quadrature Homing Details 76
- Explicit Homing 78
- • Offset Position (47) 78
- • Set Target Position (48) 78
- • Set Actual Position (49) 78
- Homing SSI and Resolver Axes 78
- 3.2.6. Physical Limit Inputs 79
- 3.2.7. Feedback Resolution 81
- • Quadrature 82
- Exceeding 24 Bits 82
- 3.3. Axes 83
- 3.3.2. Defining Axes 85
- 3.3.3.1. Axis Type: Control 86
- Creating a Control Axis 87
- 3.3.4. Other Axis Types 89
- 3.3.4.3. Virtual Axes 91
- 3.3.4.7. Input Type: Custom 93
- 3.4. Halts 94
- 3.4.2. External Halt 95
- 3.4.3. Closed Loop Halt 96
- 3.4.4. Open Loop Halt 97
- 3.4.5. Direct Output Halt 98
- 3.5. Control Modes 99
- 3.5.2. Closed Loop Control 100
- 3.5.3. Open Loop Control 101
- 3.5.5. Velocity PID 103
- 3.5.6. Gain Sets Overview 105
- 3.5.7. Ratioed Gains 106
- 3.5.8. Gain Scheduling 107
- 3.5.9. Valve Linearization 107
- Linear and Non-Linear Valves 108
- 3.5.10. Unidirectional Mode 109
- 3.5.12. Advanced 111
- 3.5.12.1. Position I-PD 111
- 3.5.12.2. Velocity I-PD 113
- 3.5.12.3. Active Damping 114
- Tuning Active Damping 116
- Effect on Control 116
- 3.5.12.5. Cascade Control 117
- 3.6. Motion 120
- 3.6.2. Using Rotary Motion 121
- • Positive: 123
- • Negative: 123
- • Nearest: 123
- • Absolute: 123
- • Current: 124
- 3.6.3. Velocity Control 128
- 3.6.4. Gearing 129
- Gear Ratio 130
- Clutching 131
- • By Rate 131
- • By Time 131
- • By Distance 131
- Transitions 131
- 3.6.5. Simulating Motion 133
- Simulating a Real System 134
- Troubleshooting 135
- 3.6.6. Step Jumps 136
- 3.6.7.1. Curves Overview 136
- Managing Curves 137
- Curve Capacity 138
- Managing Permanent Curves 139
- Managing Temporary Curves 139
- Creating and Editing Curves 139
- Step-by-Step Example 140
- Additional Tasks 141
- • Curve Delete (83) 141
- Command 142
- Example 144
- Interpolation Methods 147
- • Cubic (2) 147
- • Linear (1) 147
- • Constant (0) 147
- Interpolation Options 148
- • +2 Cyclic Curve 149
- 3.6.7.6. Curve Data Formats 151
- • (10+) Error 152
- Multiple Curve Formats 155
- • Format field 158
- Non-Volatile Memory 159
- Memory Requirement Examples 161
- Pressure/Force Limit 169
- 3.7.5. Pressure/Force Limit 174
- 3.8. Filtering/Modeling 178
- 3.8.2. Modeling 179
- 3.9. Plots 180
- Plot Commands 181
- Plot Storage Size 181
- Saving Plots 181
- 3.9.3. Triggering Plots 182
- How to Trigger a Plot 183
- • Automatic Trigger 183
- • Manual Trigger 183
- Rearming the Trigger 183
- • Automatically Rearm 183
- • Manually Rearm 184
- Reading RMC Plots with a PLC 184
- Registers 192
- 3.10. Custom Feedback 193
- Error Handling 196
- • PROGRAM Mode 197
- • Disabled 197
- Formula 200
- 3.11. Applications 203
- 3.11.2. Hydraulic Control 204
- 3.11.3. Pneumatic Control 205
- 3.12. Transducers Basics 206
- RMC70: MA axis module 207
- RMC150: MDT module 207
- Start/Stop 207
- 3.12.2. SSI Fundamentals 208
- SSI Cable Length 210
- Operation 212
- Homing Quadrature Axes 213
- How Resolvers Work 213
- 3.13. Other 214
- Image Area 217
- 4. Using RMCTools 219
- Tabbed Windows 220
- Dockable Panes 220
- 4.4. Project 222
- 4.4.1. RMCTools Project 223
- 4.4.2. RMCTools Project Pane 223
- Components 224
- 4.5. Controller 225
- 4.5.2. Connection Path 226
- 4.5.3. Go Online, Go Offline 226
- Going Online or Offline 227
- Connecting to a Controller 227
- 4.5.6. Updating Flash 228
- 4.6. Modules 229
- 4.7. Axes 230
- • Basic Tab 231
- • All Tab 231
- Hiding and Showing Columns 231
- View an Axis Definition 233
- Change an Axis Definition 233
- Rename an Axis 233
- Add or Remove an Axis 233
- 4.8. Command Tool 234
- 4.9. Plots 235
- 4.9.1. Plot Manager Overview 236
- 4.9.2. Plot Manager Elements 237
- 4.9.3. Plot Template Editor 239
- 4.9.4. Using Custom Plots 241
- Editing Trigger Settings 242
- Adding Individual Registers 243
- Adding Groups of Registers 243
- Advanced Quantities 243
- • Mean Squared Error 243
- 4.10. Tuning 244
- 4.10.2. Tuning Tools 245
- Using the Tuning Tools 246
- 4.11. Programming 248
- 4.11.3. Program Triggers 251
- First Scan Bit 253
- 4.11.4. Task Monitor 254
- 4.11.6. User Functions 257
- Managing User Functions 259
- Calling User Functions 260
- Columns 260
- 4.11.8. I/O Monitor 261
- 4.12. Curve Tool 262
- How to View a Curve 263
- How to Manage Curves 264
- 4.12.2. Curve Properties 265
- 4.13. Indirect Data Map 266
- 4.14. Shortcut Sets 268
- 4.15. Event Log 270
- 4.15.2. Event Log Filtering 271
- Filtered Items 272
- 4.16. General Tools 274
- 4.16.4. Output Window 276
- 4.16.6. Actuator View 277
- Environment Page 278
- Programming Page 278
- Communications Page 278
- 4.16.8. Communication Log 279
- 4.16.9. Keyboard Shortcuts 279
- 4.16.10. Copy and Paste 284
- 4.16.11. Find and Replace 285
- 4.17. Wizards 286
- Additional Information 287
- 4.17.4. Simulator Wizard 290
- 4.18. Menu and Toolbars 292
- 4.18.2. Standard Toolbar 296
- 4.18.4. RMCTools Status Bar 298
- 5. Programming 299
- Command Format 303
- • Command Number 303
- • Command Parameters 303
- Advanced Details 303
- 5.3. Tasks 304
- Default Axis 306
- 5.4. Variables 307
- 5.5. Program Triggers 310
- 5.7. Tag Names 314
- Entering Tag names 315
- Special Tag Names 315
- Reducing the Program Size 316
- • Offload to the PLC 316
- • Use Arrays 316
- Reducing the Time Usage 316
- 5.9. Programming Security 318
- Enable Programming Security 319
- 5.11. User Programs 321
- Expressions 323
- Disabling User Programs 323
- Basics of Editing a Step 324
- • Add a Command: 327
- • Delete a Command: 327
- • Move a Command: 327
- To Verify the User Programs 328
- Starting a User Program 328
- 5.11.6. Labeling Steps 330
- 5.11.9. Link Types 332
- 5.11.9.3. Link Type: Jump 334
- 5.11.9.4. Link Type: Delay 334
- 5.12. Data Types 338
- 5.12.2. BOOL Data Type 339
- 5.12.3. DINT Data Type 340
- 5.12.4. DWORD Data Type 340
- 5.13. Expressions 341
- Parts of an Expression 342
- Expression Color-Coding 342
- Troubleshooting Expressions 342
- Operators and Functions 342
- Assignment Expression Basics 342
- 5.13.4. Value Expressions 346
- 5.13.6. Arrays 348
- Using Variable Arrays 349
- 5.13.7. Operators 350
- 5.13.8. Keywords 352
- 5.13.9. IF Statement 352
- 5.13.10. Constants 353
- 5.13.11. Comments 354
- 5.14. Functions 356
- 5.14.2. Standard Functions 357
- 5.14.2.1. Standard Functions 357
- 5.14.2.2. ABS Function 359
- 5.14.2.3. ACOS Function 359
- 5.14.2.4. ADDR_OFS Function 360
- 5.14.2.5. ASHR Function 360
- 5.14.2.6. ASIN Function 361
- 5.14.2.7. ATAN Function 361
- 5.14.2.8. CEIL Function 362
- 5.14.2.9. COPY Function 362
- Examples 363
- 5.14.2.10. COS Function 364
- 5.14.2.11. COSH Function 365
- Parameters 366
- Return Value 366
- Remarks 366
- Returns 367
- • Gain Scheduling 367
- 5.14.2.19. EXP Function 369
- 5.14.2.20. FILL Function 370
- 5.14.2.21. FLOOR Function 371
- 5.14.2.22. LENGTH Function 372
- 5.14.2.23. LIMIT Function 372
- 5.14.2.24. LOG Function 372
- 5.14.2.25. LN Function 373
- 5.14.2.27. MAX Function 374
- 5.14.2.28. MIN Function 374
- 5.14.2.29. MROUND Function 375
- 5.14.2.30. POLY Function 375
- 5.14.2.33. ROL Function 377
- 5.14.2.34. ROR Function 377
- 5.14.2.35. ROUND Function 378
- 5.14.2.36. SEL Function 378
- 5.14.2.37. SHL Function 379
- 5.14.2.38. SHR Function 379
- 5.14.2.39. SIGNUM Function 380
- 5.14.2.40. SIN Function 380
- 5.14.2.41. SINH Function 381
- 5.14.2.42. SQRT Function 381
- 5.14.2.43. TAN Function 381
- 5.14.2.44. TANH Function 382
- 5.14.2.45. TRUNC Function 382
- 5.14.3. User Functions 383
- 5.14.3.1. User Functions 383
- • Input/Output 384
- Editing a User Function 384
- Functions 386
- 5.15. Discrete I/O 389
- 5.15.2. Using Discrete I/O 391
- Application Tips 395
- Other Examples 395
- • _SysMS 405
- • _SysTicks 405
- 5.16.7. Example: Time-out 406
- • Issue the move 407
- General Considerations 410
- • Blocking Valve 410
- RUN/PROGRAM Mode 411
- Configuring Discrete Outputs 411
- 6. Communication 413
- 6.4. Indirect Data Map 418
- 6.5. Communicating with HMIs 420
- Requirements of the HMI 421
- • Command Request Bit (REQ) 424
- 6.8. Ethernet 425
- • PLC Ethernet Emulation 426
- • Direct over TCP or UDP 426
- Writing Data to the RMC 431
- Reading Data from the RMC: 432
- Register Addresses 433
- DMCP Response Codes 433
- Protocol Overview 435
- 6.8.6. Ethernet Link/Act LED 439
- 6.8.8. Ethernet Setup Topics 442
- TCP/IP Layers Overview 443
- Supported Protocols 444
- • 10.0.0.0 - 10.255.255.255 447
- • 172.16.0.0-172.31.255.255 447
- IP Address 448
- Subnet Mask 448
- Default Gateway 449
- 6.8.10. Supported Protocols 450
- 6.8.10.1. Modbus/TCP 450
- 6.8.10.2. CSP 451
- 6.8.10.3. FINS/UDP 451
- • Network Address 452
- • Node Number 452
- • Unit Number 452
- Addressing: 452
- Configuring the Q-Series 457
- 6.8.10.5. DMCP 463
- 6.8.10.6. EtherNet/IP 463
- Input Data 467
- Output Data 467
- Configuration Data 468
- Using a Generic EDS File 468
- Quality of Service (QoS) 469
- Advanced Multicast Settings 470
- Using Input Data in the PLC 471
- Using the Event Log 477
- • Initial Data 478
- • Data Changed 478
- • Request Made 478
- • Input Only 479
- • Listen Only 479
- 6.8.10.7. PROFINET 487
- • Troubleshooting PROFINET 488
- Cyclic and Acyclic Data 488
- Handling Broken Connections 494
- Fixed Data Records 495
- Custom Data Records 495
- 6.9. PROFIBUS 498
- 6.9.3. Configuration 500
- • RMC75P: DELT07E1.GSD 501
- • RMC150E: DELT0AC6.GSD 501
- PROFIBUS 503
- Profibus Configuration 504
- 6.9.4. Using I/O Modes 507
- Using the I/O Modes 508
- • Axis 0 Status bits 508
- • Axis 0 Actual Position 508
- • Task 0 Status 508
- • Task 0 Current Program 508
- Data Blocks 513
- Configuring the Data 514
- • Data Changes 519
- • A Request is Made 519
- • Command Area 519
- • Data Channel 0 519
- Using the Data Blocks 525
- Features 529
- • Task 1 Current Step 534
- • Data Channel 1 539
- • Axis 0 Status Bits 544
- Changing Serial Settings 554
- Multi-Drop 556
- Connectors 557
- Cabling 557
- Cable Length 558
- The Termination Concept 560
- The Biasing Concept 561
- General 562
- Writing to the RMC75S 564
- Reading from the RMC75S 564
- RMC70 Support for Modbus/RTU 565
- • Click OK 568
- EtherNet/IP I/O 573
- Performing Communications 579
- Example Programs 581
- Modbus/TCP 583
- Click OK 599
- Click OK 603
- • Fixed Data Records 626
- • Custom Data Records 626
- Communicating with the RMC 628
- Using the DASABCIP Server 628
- Using the DASMBTCP Server 630
- Using RMCLink 634
- Ethernet 634
- 7. Hardware 637
- Optional Expansion Modules 639
- Common Specifications 639
- 7.2.2. RMC70 Part Numbering 640
- 7.2.3. CPU Modules 641
- 7.2.3.2. RMC75E 642
- 7.2.3.3. RMC75S CPU Module 644
- 7.2.3.4. RMC75P CPU Module 647
- 7.2.4. Axis Modules 649
- 7.2.4.2. AA Module 649
- 7.2.4.3. MA Axis Module 652
- Setting Up the MA Module 653
- Specifications (per axis) 653
- 7.2.4.4. QA Axis Module 655
- 7.2.5. Expansion Modules 657
- 7.2.5.3. A2 Expansion Module 658
- • Analog Reference Input 659
- • Input for a Control Axis 659
- Part Number 659
- Specifications 659
- 7.2.5.5. D8 Expansion Module 661
- 7.2.5.6. Q1 Expansion Module 662
- 7.3. RMC150 664
- Module Descriptions 665
- 7.3.2. RMC150 Part Numbering 666
- 7.3.4. Analog Modules 671
- 7.3.5. MDT Module 676
- Supported Transducers 677
- Setting Up the MDT Module 677
- 7.3.6. SSI Module 678
- 7.3.7. Quadrature Module 680
- 7.3.8. Resolver Module 683
- 7.3.9. DI/O Module 687
- 7.3.10. UI/O Module 688
- Setting Up UI/O Discrete I/O 690
- 7.3.11. PROFIBUS Module 694
- 7.4. General 695
- 7.4.2. Enable Output 696
- 7.4.3. Fault Input 698
- 7.5. Accessories 699
- • Output Bias 700
- • Output Scale 700
- • Output Limit 700
- 7.5.2. Quadrature Cable 702
- • Drive (3 pair): 703
- • Encoder (4 pair): 703
- • Limits (3 pair): 703
- Wire Colors 703
- 7.6. Agency Compliance 704
- 8. Command Reference 705
- 8.2. RMC Commands 706
- 8.3. General Commands 710
- Command Parameters 711
- 8.4. Motion Commands 714
- 8.4.2. Stops 715
- Target Generator State Bits 717
- Status Bits 719
- 8.4.3. Open Loop 721
- 8.4.4. Synchronized 726
- • From RMCTools 728
- • From a User Program 728
- 8.4.5. Point-to-Point 731
- Special Notes 732
- • Command Position (0) 740
- • Actual Position (1) 740
- • Target Position (2) 740
- 8.4.6. Gearing 745
- • Fault (0) 746
- • Truncate (1) 746
- • Extrapolate (2) 746
- Gear Ratio Details 760
- Rotary Motion 760
- • Position 766
- • Gear Ratio 766
- • Gear Ratio Rate 766
- 8.4.7. Specialty 773
- Stopping a Sine Move 778
- Ramping Sine Move Parameters 778
- Sine Move Status 778
- • Pos Peak 781
- • Neg Peak 781
- • Next Peak 781
- • Offset (0) 782
- • Amplitude (1) 782
- • Standard (0) 787
- • Start-Once (1) 788
- • Complete-Once (2) 788
- • Permanent (3) 788
- • Time-Based 791
- • Master-Based 791
- Starting a Curve 791
- Cycles Status 792
- Completing a Curve 792
- Endpoint Behavior 795
- Curve Scale and Offset 797
- Master Scale and Offset 798
- Status Block 798
- Running a Curve Backwards 798
- 8.4.8. Velocity 800
- 8.4.9. Transitions 802
- • Seek (0) 804
- • Reach (1) 804
- • Superimposed (2) 804
- 8.5. Pressure/Force Control 806
- • Linear (0) 812
- • S-curve (1) 812
- 8.5.2. Pressure/Force Limit 819
- 8.5.3. Specialty 822
- • Sine Start (Prs/Frc) (76) 835
- Sine Start Parameters 835
- 8.6. Set Parameters 838
- • Positive (1) 843
- • Negative (-1) 843
- 8.7. System 845
- • Pause (0) 849
- • Resume (1) 849
- 8.8. Programming 850
- What is a Task? 852
- Valid Task Numbers 852
- I/O Point 853
- 8.9. Plots 856
- Details 858
- 8.10. Step Editor Commands 859
- Entering an Expression 860
- Data Types 861
- Order of Execution 861
- Logging Results 861
- 9. Register Reference 863
- 9.2.1.2. Common 864
- • No Transducer 868
- • Transducer Overflow 868
- Error Bits 870
- • Positive Mode: 875
- • Negative Mode: 875
- • Bidirectional Mode: 875
- 9.2.1.3. Feedback 876
- • Position Feedback Axes 877
- • Velocity Feedback Axes 877
- • Triple Differential Gain 879
- 9.2.1.4. Output 889
- 9.2.1.5. Primary Control 890
- 9.2.1.6. Secondary Control 895
- 9.2.1.7. Target 898
- 9.2.1.8. Home/Registration 903
- 9.2.2.2. Feedback 908
- Setting the Offset 909
- • MDT Scaling 909
- • SSI Scaling 909
- • Analog Position Scaling 909
- • Resolver Scaling 910
- Setting the Velocity Scale 910
- Why bother? 910
- • Low-Pass 925
- • Model 925
- Changing this Parameter 932
- • Active High 943
- • Active Low 943
- • St/St Rising 945
- • St/St Falling 945
- • Binary 946
- • Gray 946
- 24-Bit Limitation 947
- Address Format Details 947
- Choosing the SSI Clock Rate 948
- • Standard Mode 949
- • Monitor Mode 949
- • ±10V 954
- • 4-20 mA 954
- • 14 bits 957
- • 16 bits 957
- 9.2.2.3. Simulator 964
- • Always Active 973
- • Always Held 973
- Mathematical Definition 975
- Special Conditions 976
- • Within Deadband Window 976
- Definition 978
- • None 991
- • Acceleration Control 991
- • Active Damping 991
- 9.2.2.6. Output 1000
- Control Modes 1001
- Description 1002
- Why Bother? 1003
- How it Works 1004
- Pressure and Force Control 1011
- Format Details 1011
- Tag Names and Bits 1012
- • None (0) 1013
- • Single-Point (1) 1013
- 9.2.2.7. Target 1014
- 9.2.2.8. Halts 1018
- Tag Name and Bits 1019
- 9.2.3.1. Ethernet Status 1022
- 9.2.4. Axis Definitions 1025
- 9.2.5. Task Registers 1029
- 9.2.5.1. Task Status 1029
- 9.2.5.2. Current Program 1029
- 9.2.5.3. Current Step 1030
- 9.2.5.4. Current Axis 1030
- 9.2.6. Controller Registers 1032
- 9.2.6.1. Controller Tags 1032
- 9.2.6.2. Controller Status 1032
- 9.2.6.3. Loader Command 1033
- 9.3. Address Formats 1034
- 9.3.2. DF1 Addressing 1035
- Addressing Individual Bits 1036
- Discrete I/O 1036
- 9.3.3. IEC-61131 Addressing 1037
- 9.3.4. FINS Addressing 1038
- Low Address Range 1039
- FINS Address Sections 1039
- 9.3.5. Modbus Addressing 1040
- Modbus Address Sections 1041
- 9.4. RMC70 Register Map 1042
- Usage Notes 1089
- 9.5. RMC150 Register Map 1109
- Tag Names 1131
- 10. Wiring and Installation 1147
- 10.2. RMC70 1148
- 10.2.2. RMC75E Wiring 1150
- 10.2.3. RMC75S Wiring 1150
- 10.2.4. RMC75P Wiring 1151
- 10.2.5. AA Wiring 1151
- Voltage Feedback Transducers 1152
- Current Feedback Transducers 1152
- 10.2.6. MAx Wiring 1153
- 10.2.7. QAx Wiring 1156
- Encoder Wiring 1157
- 10.2.8. A2 Wiring 1158
- 10.2.9. AP2 Wiring 1159
- 10.2.10. D8 Wiring 1160
- Discrete Outputs 1161
- Discrete Inputs 1162
- 10.2.11. Q1 Wiring 1163
- Pin-Out 1164
- 10.3. RMC150 1165
- 10.3.4. RMC150 MDT Wiring 1168
- Signals 1169
- 10.3.5. RMC150 SSI Wiring 1170
- Typical Wiring Diagram 1177
- DI/O Module Outputs 1178
- DI/O Module Inputs 1180
- 10.3.10. RMC150 UI/O Wiring 1181
- UI/O Discrete Inputs 1183
- UI/O Quadrature Channel 1184
- UI/O SSI Channels 1185
- 11. Troubleshooting 1187
- 11.2. Error Codes 1188
- 11.3. Technical Support 1198
- RMC Return for Repair 1199
- 12. Index 1201
- 12 Index 1203
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