Delta RMC101 manuales

Delta RMC101 Manual de usuario (68 paginas)

Marca: Delta | Categoria: Sensores | Tamaño: 0.73 MB |

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Startup Guide

1

Version 2.3

2

February 25, 2010

2

Contents

3

Overview

5

Obtaining a Manual

6

Getting Started

7

The RMCWin Display

8

Index/stored

9

Command Table

9

Index/configuration/MDT

10

Index/configuration/SSI

10

Test Actuator Motion

11

deltamotion.com

12

Tuning the System

13

Step-by-Step Example

14

Communications

14

Features of the RMC100

15

S Curves

16

Splines

16

Gearing

16

Pressure Regulating Mode

17

Quick Mode

17

Programming

18

Diagnostic Tools

19

Command Log

20

Status Words

20

I/O Bit Monitor

20

Parameter Error List

20

Stored Commands

21

RMC100 Modules

23

Communications Choices

24

Profibus (-PROFI)

25

Modbus Plus (-MB+)

25

Serial (-SERIAL)

25

DI/O (-DI/O)

25

27

27

29

29

Analog Input (-An)

31

Index/ digital i/o /sensor

32

33

33

Appendix A: Wiring

35

Voltage Feedback Transducers

36

Current Feedback Transducers

36

RS422 signals

37

Index/wiring/SSI

39

Index/wiring/quadrature

39

Encoder Wiring

40

Drive Output Wiring

41

Fault Input Wiring

41

Enable Output Wiring

41

Wiring the Stepper Module

42

Stepper Output Wiring

43

Input Wiring

44

Appendix B: Tuning

45

Tuning a Position Axis

46

47

47

Tuning a Torque Motor

48

49

49

Position/Pressure Setup

50

51

51

53

53

Index/position-pressure

55

57

57

Appendix C: An Example

59

Calibration. The following

61

63

63

65

65

67

67

Delta RMC101 Manual de usuario (951 paginas)

Marca: Delta | Categoria: Sensores | Tamaño: 5.34 MB |

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Version 2.30.4

1

August 9, 2012

1

Condensed Contents

3

Contents

5

Disclaimer

21

1.1 RMC100 Overview

23

1.2 Principle of Operation

25

2 Starting Up the RMC

28

2.2 Setup Details

32

2.2.2 Advanced Scaling

33

2.2.3 Tuning

33

2.2.3.6.1 Open Loop Moves

45

2.2.3.6.2 Closed Loop Moves

45

3 Using RMCWin

50

3.2 Screen Layout

51

3.2.2 Command Area

52

3.2.3 Parameter Area

53

3.2.4 Plot Time Area

54

3.2.5 Status Area

54

3.2.6 Status Bar

55

3.2.7 Toolbar

55

3.3 Connecting to an RMC

56

3.3.4 Working Offline

60

3.3.7 Communication Drivers

63

3.4 Basic Topics

71

3.4.7 Using Pop-up Editors

76

3.4.9 Using the Command Log

77

3.4.12 Using Stored Commands

80

3.4.14 Using Multiple RMCs

82

3.4.15 File Types

82

3.5 Using Plots

93

3.5.2 Opening a Plot Window

94

3.5.8 Printing a Plot

97

3.5.9 Plot Time

98

3.6 Table Editors

99

3.7 Step Table Editor

103

3.8 LCD Screen Editor

108

3.8.2 Editor Window Elements

109

3.8.4 Using Screens

121

3.8.5 Using Fields

124

3.9 Curve Tool

130

3.9.2 Screen Elements

132

3.9.2.5 Curve Tool: Toolbar

136

3.9.3 Using the Curve Tool

138

3.9.4 Using the Graph View

143

3.9.6 Using Curves

155

3.9.7 Using Points

169

3.10 Address Tool

177

Foreground

179

3.11 Advanced Topics

180

3.11.3 Options: Preferences

181

3.11.5 Using Look-only Mode

183

3.11.6 Using PC Mode

183

3.11.7 Command-Line Options

183

4 Controller Features

186

4.2 Flash Memory

188

4.3 Gearing Axes

189

4.4 LED Indicators

193

4.5 Reference Axis Filtering

196

4.6 Speed Control

201

4.7 Rotational Mode

203

4.8 Spline Overview

204

4.9 Synchronizing Axes

212

4.10 Teach Mode Overview

213

Converters

214

5 Communications

250

5.1.2 Digital I/O Wiring

251

5.1.2.3 CPU Inputs

253

5.1.2.4 DI/O Inputs

253

5.1.3 Using Counters

256

5.1.4 CPU Digital I/O

257

5.1.5 Sensor Digital I/O

258

5.1.6.3 Using Command Mode

263

• DI/O

280

5.2 Ethernet

298

5.2.4 Ethernet Setup Topics

301

5.2.6.4 Modicon Quantum

370

Register Description

371

5.2.6.8 Siemens S7

417

5.3 Modbus Plus

429

5.4 PROFIBUS-DP

458

5.4.2 PROFIBUS Configuration

459

PROFIBUS

462

Configuration

464

5.4.6 Compact Mode

467

5.4.7 Message Mode

473

5.5 Serial (RS-232/422/485)

485

5.5.3 RMC SERIAL Protocols

500

Communications 5-263

513

BIDIN Instruction:

513

5.6 RMC CPU RS232 Port

515

5.6.3 RS232 Wiring

517

5.7 LCD420 Terminal

520

5.8 Status Map

525

5.9 Communication Tasks

528

5.9.3 Parameter Error Values

541

6.1 Analog

544

6.1.7 Setup Details

554

6.1.8 Usage Details

560

6.2 MDT

564

6.2.2 MDT Wiring

565

6.2.3 MDT Configuration

568

6.2.4 MDT LED Indicators

569

6.2.5 MDT Specifications

570

6.2.6 MDT Scaling

571

6.3.2 Quadrature Wiring

577

6.3.7 Quadrature Scaling

585

6.4.2 Stepper Wiring

592

6.4.3 Stepper Configuration

594

6.4.4 Stepper LED Indicators

595

6.4.5 Stepper Specifications

596

6.4.6 Stepper Scaling

597

6.4.7 Stepper Compensation

602

6.5 Resolver

603

6.5.2 Resolver Wiring

605

6.5.3 Resolver Configuration

607

6.5.6 Resolver Scaling

610

6.6 SSI

611

6.6.2 SSI Wiring

612

6.6.3 SSI Configuration

614

6.6.4 SSI LED Indicators

618

6.6.5 SSI Specifications

619

6.6.6 SSI Scaling

620

7.1 Warranty

624

7.2 Troubleshooting

624

7.2.2 Error Handling

625

7.2.3 RMC Module Problems

625

7.3 Technical Support

630

7.4 Parameter Errors

631

7.4.33 Invalid command value

638

7.4.38 Invalid scale value

639

Download Area

641

7.4.61 SSI transducer noise

644

A.1 General ASCII Commands

653

A.1.4 MulDiv Command

655

A.1.5 Add Command

658

A.1.6 Function Command

659

A.1.7 Subtract Command

661

A.1.8 Poll Command

662

A.1.9 Arm Home Command

666

A.1.15 Start Events Command

669

A.1.18 Go Command

671

A.1.19 Halt Command

672

A.1.22 Relative Move Command

673

A.1.24 Limit Drive Command

673

A.1.26 Set Mode Command

674

A.1.29 Open Loop Command

675

A.1.31 Quit Events Command

677

A.1.39 Teach Step Command

681

A.1.40 Update Flash Command

681

A.1.44 Reference Command

683

A.1.47 Start a Graph Command

686

A.1.50 Reset Outputs Command

687

A.1.51 Set Outputs Command

688

A.1.54 Sine Move Command

690

A.2.1 Set Bias Drive Command

699

A.2.2 Start Events Command

700

A.2.3 Set Mode Command

700

A.2.4 Open Loop Command

701

A.2.5 Set Parameters Command

702

A.2.6 Quit Events Command

703

A.2.8 Set Pressure Command

704

A.3.6 Set Parameter Commands

715

A.3.7 Set Profile Commands

717

A.3.8 ASCII Commands

722

A.3.11 Get Profile Commands

726

A.3.15 LINK TYPE/NEXT

738

A.3.16 Diagnostics Command

739

B.1 Position Command Fields

749

B.1.3 Acceleration

754

B.1.4 Deceleration

756

B.1.5 Speed

756

B.1.6 Command Value

756

B.1.7 COMMAND

758

B.2.1 Mode (Pressure/Force)

761

B.2.3 Pressure Set A

763

B.2.4 Pressure Set B

764

B.2.6 Command Value

765

B.2.7 COMMAND

767

C.1.1 Configuration Word

771

C.1.7 Scale

777

C.1.8 Offset

778

C.1.9 Extend Limit

778

C.1.10 Retract Limit

779

C.1.11 Proportional Gain

779

C.1.12 Integral Gain

780

C.1.13 Differential Gain

780

C.1.14 Extend Feed Forward

781

C.1.15 Retract Feed Forward

783

C.1.18 Dead Band Eliminator

783

C.1.19 In Position

784

C.1.20 Following Error

785

C.1.21 Auto Stop

785

C.1.22 Auto Stop Bit Map

787

C.2.1 Configuration Word

789

C.2.4 Scale

794

C.2.5 Coord. Limit

794

C.2.6 Extend Limit

795

C.2.7 Retract Limit

795

C.2.8 Proportional Gain

796

C.2.9 Integral Gain

796

C.2.10 Differential Gain

797

C.2.11 Extend Feed Forward

798

C.2.12 Retract Feed Forward

799

C.2.15 Dead Band Eliminator

800

C.2.16 In Position

801

C.2.17 Following Error

801

C.2.18 Auto Stop

801

C.2.19 Auto Stop Bit Map

803

C.3.1 Configuration Word

805

C.3.4 Coord. Limit

810

C.3.5 Extend Limit

810

C.3.6 Retract Limit

811

C.3.7 Comp. Rate

811

C.3.8 Comp. Timeout

811

C.3.9 Steps/Rev

812

C.3.10 Pos Units/Rev

812

C.3.11 Quad Cnts/Rev

813

C.3.12 Max Steps/MSec

813

C.3.13 Comp. Window

814

C.3.14 In Position

814

C.3.15 Following Error

814

C.3.16 Auto Stop

815

C.3.17 Auto Stop Bit Map

817

C.4.1 Configuration Word

818

C.4.4 Coord. Limit

823

C.4.5 Extend Limit

823

C.4.6 Retract Limit

824

C.4.7 Comp. Rate

824

C.4.8 Comp. Timeout

824

C.4.9 Steps/Rev

825

C.4.10 Pos Units/Rev

825

C.4.11 SSI Counts/Rev

826

C.4.12 Max Steps/MSec

827

C.4.13 Comp. Window

827

C.4.14 In Position

827

C.4.15 Following Error

828

C.4.16 Auto Stop

828

C.4.17 Auto Stop Bit Map

830

C.5.15 At Pressure

843

C.5.16 Pressure Window

843

C.5.17 Auto Stop

843

C.5.18 Auto Stop Bit Map

845

C.6.1 Configuration Word

847

C.6.4 Scale

851

C.6.5 Offset

852

C.6.6 Extend Limit

852

C.6.7 Retract Limit

853

C.6.12 In Position

857

C.6.13 Following Error

858

C.6.14 Auto Stop

858

C.6.15 Auto Stop Bit Map

860

D.1 Valid 16-Bit Positions

863

D.2 Position Status Fields

864

D.2.3 Actual Position

865

D.2.4 COUNTS

865

D.2.8 DRIVE

882

D.2.9 Actual Speed

883

D.2.10 NULL DRIVE

884

D.2.11 STEP

884

D.2.12 LINK VALUE

884

D.3.1 Command Pressure/Force

885

D.3.2 Target Pressure/Force

885

D.3.3 Actual Pressure/Force

885

D.3.6 DRIVE

889

E.2 Link Next

893

E.3 Commanded Axes

893

E.4 System-wide Link Types

894

E.4.3 Link Type - Delay

896

E.4.8 Link Type - Loop

905

E.4.12 Link Type - Timer

911

E.5 Current Axis Link Types

917

E.6 Selected Axis Link Types

921

F.1 RMC100 Specifications

925

Appendix G: Glossary

929

Appendix H: ASCII Table

933

Delta RMC101 Manual de usuario (9 paginas)

Marca: Delta | Categoria: Sensores | Tamaño: 0.16 MB |

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User Guide

1

DMCP Characteristics

2

DMCP Format

3

UDP Considerations

4

Function Code List

4

Description

5

Request

5

Response

5

Example

5

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