Delta RMC151 User Manual
Rmctools software user manual
Advertising
Table of contents
Document Outline
- RMC Family Motion Controllers
- Basics of Operation
- Disclaimer
- RMC Startup Procedure
- 2.2. Scaling
- 2.3. Tuning
- RMC Controller Features
- 3.2. General
- 3.3. Axes
- 3.4. Halts
- 3.5. Control Modes
- 3.6. Motion
- Synchronizing Axes
- Using Rotary Motion
- Velocity Control
- Gearing
- Simulating Motion
- Step Jumps
- 3.6.7. Curves, Cams, and Splines
- Curves Overview
- 3.6.7.2. Managing Curves in the Curve Tool
- Creating Curves Using the Curve Add Command
- Creating Large Curves using the Curve Add Command
- Curve Interpolation Methods and Options
- Curve Data Formats
- Curve Status Error Codes
- Curve Storage Capacity
- Example: Creating a Curve using the Curve Add Command
- 3.7. Pressure and Force Control
- 3.8. Filtering/Modeling
- 3.9. Plots
- 3.10. Custom Feedback
- 3.11. Applications
- 3.12. Transducers Basics
- 3.13. Other
- Using RMCTools
- Using the RMCTools Interface
- Project and Controller Data
- 4.4. Project
- 4.5. Controller
- 4.6. Modules
- 4.7. Axes
- 4.8. Command Tool
- 4.9. Plots
- 4.10. Tuning
- 4.11. Programming
- 4.12. Curve Tool
- 4.13. Indirect Data Map
- 4.14. Shortcut Sets
- 4.15. Event Log
- 4.16. General Tools
- 4.17. Wizards
- 4.18. Menu and Toolbars
- Programming Overview
- Issuing Commands to the RMC
- Tasks
- Variables
- Program Triggers
- Downloading the Programming
- Tag Names
- Program Capacity and Time Usage
- Programming Security
- RMCTools Security Policy and Agreement
- 5.11. User Programs
- 5.12. Data Types
- 5.13. Expressions
- 5.14. Functions
- Functions Overview
- 5.14.2. Standard Functions
- Standard Functions
- ABS Function
- ACOS Function
- ADDR_OFS Function
- ASHR Function
- ASIN Function
- ATAN Function
- CEIL Function
- COPY Function
- COS Function
- COSH Function
- CRV_EXISTS Function
- CRV_FIRST_X Function
- CRV_INTERP Functions
- CRV_LAST_X Function
- DINT_TO_DWORD Function
- DINT_TO_REAL Function
- DWORD_TO_DINT Function
- EXP Function
- FILL Function
- FLOOR Function
- LENGTH Function
- LIMIT Function
- LOG Function
- LN Function
- LOG_EVENT Function
- MAX Function
- MIN Function
- MROUND Function
- POLY Function
- REAL_TO_DINT Function
- REG_REAL, REG_DINT, REG_DWORD Functions
- ROL Function
- ROR Function
- ROUND Function
- SEL Function
- SHL Function
- SHR Function
- SIGNUM Function
- SIN Function
- SINH Function
- SQRT Function
- TAN Function
- TANH Function
- TRUNC Function
- TRUNC_REAL Function
- 5.14.3. User Functions
- 5.15. Discrete I/O
- 5.16. Programming Examples and Tips
- RMC Communications Overview
- Communication Statistics
- Monitor Port — USB or RS-232
- Indirect Data Map
- Communicating with HMIs
- Discrete I/O for Communications
- Command Request and Acknowledge Bits
- 6.8. Ethernet
- Ethernet Communications Overview
- Using Ethernet with RMCTools
- Using the RMC's PLC Ethernet Emulation
- Communicating Directly over TCP
- Communicating Directly over UDP
- Ethernet Link/Act LED
- Troubleshooting RMCTools Ethernet Connection
- 6.8.8. Ethernet Setup Topics
- 6.8.9. Ethernet Informational Topics
- 6.8.10. Supported Protocols
- 6.9. PROFIBUS
- 6.10. Serial (RS-232/485) (RMC70)
- 6.11. Using Master Controllers
- Using Allen-Bradley Controllers via Message Block
- Using Allen-Bradley Controllers via EtherNet/IP I/O
- Using AutomationDirect PLCs with the RMC
- Using GE PLCs with the RMC
- Using LabVIEW with RMCs
- Using Mitsubishi PLCs with the RMC
- Using Schneider Electric (Modicon) PLCs via Modbus/TCP
- Using Schneider Electric PLCs via EtherNet/IP I/O
- Using Omron Controllers via the FINS Protocol
- Using Omron Controllers via EtherNet/IP I/O
- Using RSView with the RMC
- Using Siemens S7 PLCs via PROFINET
- Using Siemens S7 PLCs via PROFIBUS
- Using Wonderware with the RMC
- RMCLink ActiveX Control and .NET Assembly
- 6.11.16. Using Other Master Controllers with the RMC
- 7.1. RMC Hardware Overview
- 7.2. RMC70
- 7.3. RMC150
- 7.4. General
- 7.5. Accessories
- Agency Compliance
- RMC Commands Overview
- RMC Commands
- 8.3. General Commands
- 8.4. Motion Commands
- Motion Commands
- 8.4.2. Stops
- 8.4.3. Open Loop
- 8.4.4. Synchronized
- 8.4.5. Point-to-Point
- Command: Move Absolute (20)
- Command: Move Relative (21)
- Command: Quick Move Absolute (15)
- Command: Quick Move Relative (16)
- Command: Time Move Absolute (23)
- Command: Time Move Relative (24)
- Command: Advanced Time Move Absolute (26)
- Command: Advanced Time Move Relative (27)
- Command: Move Absolute (I-PD) (28)
- Command: Move Relative (I-PD) (29)
- 8.4.6. Gearing
- Command: Gear Absolute (25)
- Command: Gear Position (Clutch by Time) (30)
- Command: Gear Velocity (31)
- Command: Gear Position (Clutch by Rate) (39)
- Command: Gear Position (Clutch by Distance) (32)
- Command: Phasing (34)
- Command: Geared Slave Offset (35)
- Command: Advanced Gear Move (33)
- Command: Track Position (57)
- Command: Track Position (I-PD) (58)
- 8.4.7. Specialty
- Command: Speed at Position (36)
- Command: Sine Start (72)
- Command: Sine Stop (73)
- Command: Change Master (79)
- Command: Change Target Parameter (80)
- Command: Curve Add (82)
- Command: Curve Delete (83)
- Command: Curve Delete Except (84)
- Command: Curve Delete All (85)
- Command: Curve Start (86)
- Command: Curve Start Advanced (88)
- 8.4.8. Velocity
- 8.4.9. Transitions
- 8.5. Pressure/Force Control
- 8.5.1. Standard
- Command: Hold Current Pressure/Force (19)
- Command: Stop Pressure/Force (43)
- Command: Ramp Pressure/Force (Rate) (18)
- Command: Ramp Pressure/Force (S-Curve) (41)
- Command: Ramp Pressure/Force (Linear) (42)
- Command: Enter Pressure/Force Control (Auto) (44)
- Command: Enter Pressure/Force Control (Time) (45)
- Command: Enter Pressure/Force Control (Rate) (46)
- 8.5.2. Pressure/Force Limit
- 8.5.3. Specialty
- Command: Gear Absolute Prs/Frc (59)
- Command: Transition Disable Prs/Frc (63)
- Command: Transition Rate (Prs/Frc) (64)
- Command: Sine Start (Prs/Frc) (76)
- Command: Sine Stop (Prs/Frc) (77)
- Command: Change Target Parameter (Prs/Frc) (81)
- Command: Curve Start (Prs/Frc) (87)
- Command: Curve Start Advanced (Prs/Frc) (89)
- 8.5.1. Standard
- 8.6. Set Parameters
- Command: Offset Position (47)
- Command: Set Target Position (48)
- Command: Set Actual Position (49)
- Command: Set Pos/Vel Ctrl Mode (68)
- Command: Feed Forward Adjust (69)
- Command: Integrator Adjust (70)
- Command: Set Integrator Mode (71)
- Command: Set Control Direction (96)
- Command: Read Register (111)
- Command: Write Register (112)
- 8.7. System
- 8.8. Programming
- 8.9. Plots
- 8.10. Step Editor Commands
- Registers
- 9.2. Register Descriptions
- 9.2.1. Axis Status Registers
- Axis Status Registers Overview
- 9.2.1.2. Common
- 9.2.1.3. Feedback
- Actual Position
- Actual Velocity
- Actual Acceleration
- 9.2.1.3.4. Actual Jerk
- Actual Pressure/Force
- Actual Pressure/Force Rate
- Counts
- Voltage
- Current
- Raw Counts
- Channel A, B Raw Counts
- Channel A, B Current
- Channel A, B Voltage
- Channel A, B Force
- Channel A, B Acceleration
- Custom Counts
- Custom Error Bits
- 9.2.1.4. Output
- 9.2.1.5. Primary Control
- Position Error
- Velocity Error
- Proportional Output Term
- Integral Output Term
- 9.2.1.5.5. Double Differential Output Term
- Differential Output Term
- 9.2.1.5.7. Triple Differential Output Term
- Acceleration Feed Forward Term
- Velocity Feed Forward Term
- Jerk Feed Forward Term
- PFID Output
- Current Control Mode
- Next Pos/Vel Control Mode
- 9.2.1.6. Secondary Control
- 9.2.1.7. Target
- 9.2.1.8. Home/Registration
- 9.2.2. Axis Parameter Registers
- Axis Parameter Registers Overview
- 9.2.2.2. Feedback
- Position Scale
- Position Offset
- Velocity Scale
- Velocity Deadband
- Velocity Offset
- Acceleration Scale
- Acceleration Offset
- Channel A, B Acceleration Scale
- Channel A, B Acceleration Offset
- Position Unwind
- Count Unwind
- Count Offset
- Absolute/Incremental
- Linear/Rotary
- Stop Threshold
- Noise Error Rate
- Display Units
- Custom Units
- Primary Input Bits Register
- 9.2.2.2.20. Filtering/Modeling
- Actual Position Filter
- Velocity Filter Type
- Actual Velocity Filter
- Acceleration Filter Type
- Actual Acceleration Filter
- Actual Jerk Filter
- Actual Pressure/Force Filter
- Actual Pressure/Force Rate Filter
- Model Order
- Model Gain Positive
- Model Gain Negative
- Model Gain (Pressure or Force)
- Model Time Constant
- Model Natural Frequency
- Model Damping Factor
- Model Response
- 9.2.2.2.21. Pressure & Force
- 9.2.2.2.22. Limit Inputs
- 9.2.2.2.23. Transducer Specific
- 9.2.2.2.23.1. Feedback Type (MA Modules)
- MDT Type
- MDT Blanking Parameter
- SSI Format
- SSI Data Bits
- SSI Clock Rate
- 9.2.2.2.23.7. SSI Clock Mode
- SSI Termination Parameter
- SSI Wire Delay
- SSI Home Source
- SSI Overflow Mode
- Wire Break Detection
- Analog Input Type
- Input Termination Parameter
- Filter Reg Input Parameter
- Index (Z) Home Location
- Resolver Resolution
- Reference Amplitude
- Reference Frequency
- Analog Feedback Configuration Register
- MDT/SSI Configuration Register
- Quadrature Feedback Register
- Resolver Configuration Register
- 9.2.2.2.24. Custom
- 9.2.2.3. Simulator
- Simulate Mode
- System Gain (Simulator)
- Natural Frequency (Simulator)
- Damping Factor (Simulator)
- Positive Physical Limit (Simulator)
- Negative Physical Limit (Simulator)
- Output Deadband (Simulator)
- Output Null (Simulator)
- Weight (Simulator)
- Maximum Force (Simulator)
- Maximum Compression (Simulator)
- Simulator Configuration Register
- 9.2.2.4. Position/Velocity Control
- In Position Tolerance
- Position Error Tolerance
- At Velocity Tolerance
- Velocity Error Tolerance
- Integrator Mode
- Proportional Gain
- Integral Gain
- Differential Gain
- Velocity Feed Forward
- 9.2.2.4.10. Velocity Feed Forward (Positive)
- 9.2.2.4.11. Velocity Feed Forward (Negative)
- Acceleration Feed Forward
- Jerk Feed Forward
- Double Differential Gain
- Active Damping Proportional Gain
- Triple Differential Gain
- Active Damping Differential Gain
- Gain Sets
- Symmetrical/Ratioed
- High-Order Control
- Default Pos/Vel Control Mode
- Primary Control Configuration Register
- 9.2.2.5. Pressure/Force Control
- 9.2.2.6. Output
- 9.2.2.7. Target
- 9.2.2.8. Halts
- 9.2.3. Communication Registers
- 9.2.4. Axis Definitions
- 9.2.5. Task Registers
- 9.2.6. Controller Registers
- 9.2.1. Axis Status Registers
- 9.3. Address Formats
- RMC70 Register Map
- 9.5. RMC150 Register Map
- Wiring Guidelines
- 10.2. RMC70
- 10.3. RMC150
- Troubleshooting Overview
- 11.2. Error Codes
- Technical Support