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: +1-360-254-8688

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

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

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

PS4D (B5, B7 and B11)

PS6D (B15)

CPU40

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

PS4D and PS6D: Power Supply

CPU40, CA4, CV8: Discrete I/O

CA4, CV8: Control Output ±10V, 4-20 mA, or ±20mA

S8: SSI

S8: MDT

S8: Quadrature Encoder

A8: Analog ±10V, 4-20 mA

Q4: Quadrature Encoder

D24: Discrete I/O

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.

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