RMC Startup Procedure

Apply power to the RMC as described in the Wiring topics.

 

1. RMC75E, RMC150E, or RMC200:
   Connect a USB cable from the PC to the USB Monitor port on the RMC.
   
   RMC75S or RMC75P:
   Connect a null-modem cable from the PC to the RS-232 Monitor port on the RMC. See the Monitor Port topic for cable details.

2. Open RMCTools.

3. On the File menu, click New Project. In the New Project Wizard, fill in the fields and click Finish.

4. In the New Controller Wizard, type a Controller Name and choose Automatically Detect the Controller Information.

5. Click Next.

6. RMC75E or RMC150E:
   Choose USB and click OK. Choose the desired RMC and click Next.
   
   RMC75S or RMC75P:
   Choose the COM port that the RMC is connected to.

7. Click Next.

8. You may need to wait while RMCTools connects to the controller. Once it has connected, verify that the information is correct and click Finish.

 

The following hardware may require configuration before use as part of an axis:

• RMC150 UI/O Module High-Speed Channels
  The high-speed channels of the Universal Input/Output module need to be configured for use as a Quadrature axis input or SSI axis input before they can be used as an axis input. For details, see the Configuring UI/O High-Speed Channels topic.

• RMC200 S8
  The last two inputs, 6 and 7, can be configured as a single quadrature input. For details, see the S8 Module topic.

• RMC200 D24
  The high-speed inputs may be configured as one or two quadrature inputs. For details, see the D24 Module topic.

• RMC200 U14
  The high-speed channels of the Universal Input/Output module need to be configured for use as a SSI/MDT or Quadrature axis inputs before they can be used as an axis input. For details, see the Configuring U14 High-Speed Channels topic.

 

RMCTools provides full flexibility for creating axes and assigning the RMC axes to the hardware. When you create or change axes, you can choose which inputs(s) and outputs are assigned to the axis.

After the RMC powers up, it has default axis definitions. To change these definitions, do the following:

1. In the Project tree, expand the Axes folder and double-click Axis Definitions.

2. Use the dialog to view the axis definitions and change them if you would like. For more details, click the Help button in the dialog.

 

Note: This step can be done before or after step 6.

1. Important: Turn off power to the RMC and the feedback device before connecting any wires!

2. For each axis you wish to connect a feedback device to, wire it to the RMC according to the instructions in the Wiring topic.

3. After wiring, re-apply power to the RMC and the feedback device.

4. In RMCTools, in the Project pane, click the RMC controller.

5. On the RMCTools toolbar, click the Controller button and choose Go Online. Verify that the red circle around the RMC icon in the Project pane disappears, indicating that it is online with the RMC.

6. The RMC must be properly configured before it will communicate with the transducer(s). Refer to the procedure for your transducer type:

   • SSI transducer

     1. On the RMCTools toolbar, click the Axis Tools button .

     2. In the Axis Parameters pane, on the Setup tab, under the Primary Control Setup, in the Feedback Type register, select SSI.

     3. From the information in your SSI transducer data sheet, enter the correct value for each of these registers:

        • SSI Format - Binary or Gray

        • SSI Data bits - (e.g. 24)

     4. To apply the changes to the RMC, click the Download button or press Ctrl+D.

      

   • Magnetostrictive transducer with Start/Stop or PWM

     1. On the RMCTools toolbar, click the Axis Tools button .

     2. In the Axis Parameters pane, on the Setup tab, under the Primary Control Setup, in the Feedback Type register, select MDT.

     3. In the MDT Type register, select the type of MDT transducer you have. This information should be available on the MDT datasheet. The options are:

        • Start/Stop Rising Edge

        • Start/Stop Falling Edge

        • Pulse-Width Modulated

     4. To apply the changes to the RMC, click the Download button or press Ctrl+D.

      

   • Voltage or Current transducer

     1. On the RMCTools toolbar, click the Axis Tools button .

     2. In the Axis Parameters pane, on the Setup tab, under the Primary Control Setup, in the Input Type register, select Voltage or Current.

     3. To apply the changes to the RMC, click the Download button or press Ctrl+D.

      

   • Quadrature encoder

     There are no parameters required to set up in order to interface to a quadrature encoder. If your motion is rotary, see the rotary topic for details on setting the Rotary vs. Linear parameter.

      

   • Resolver
      

     1. On the RMCTools toolbar, click the Axis Tools button .

     2. In the Axis Parameters pane, on the Setup tab, under the Primary Control Setup, in the Resolver Resolution register, choose a resolution. For details, see the Resolver Resolution topic.

     3. In the Reference Frequency register, choose the frequency required for your resolver. This information should be available from the resolver data sheet.

     4. In the Reference Amplitude register, click the ellipsis button to open the dialog. Click the Help button for details on how to set the Reference Amplitude.

     5. To apply the changes to the RMC, click the Download button or press Ctrl+D.

      

7. On the RMCTools toolbar, click the Axis Tools button .

8. In the Axis Tools, in the Axis Status Registers pane, on the Basic Position tab, look at the Actual Position register. It may be changing slightly.

9. Move the axis and look for a corresponding change in the Actual Position register. If it does not change, recheck the wiring, verify that the Primary Control Setup registers in the Axis Parameters pane are correct, and check for changing Actual Position again. When it is working correctly, proceed to the next step.

   Note:
   It is important that the transducer is connected and is working properly before continuing the Start-up procedure.  

    

10. On the Controller menu, click Update Flash. This stores your changes in the RMC even in the event of a power outage.

11. Press Ctrl+S to save the project.

Note:
Read this section completely before executing any commands on the RMC.

 

1. Important: Turn off power to the RMC and the actuator before connecting any wires!

2. For each axis you wish to connect an actuator to, wire it to the RMC according to the Wiring topic.

3. After wiring, re-apply power to the RMC, the feedback device, and the actuator.

Note:
To test the actuator, you will supply a Control Output voltage from the RMC to the actuator. Before doing this, make sure that the axis may safely move in either direction!

4. In RMCTools, in the Project pane, click the RMC controller.

5. On the RMCTools toolbar, click the Controller button and choose Go Online. The toolbar will indicate that RMCTools is online or .

6. On the RMCTools toolbar, click the Axis Tools button .

7. In the Axis Parameters pane, on the All tab, expand the Simulate section and verify that Simulate Mode is unchecked. If you make changes, you must click the Download button or press Ctrl+D to apply the changes to the RMC.

8. RMC200 Only: On the toolbar, click and choose Program Mode.

9. Enable the axis: In the Command Tool, in the Cmd box, type "Enable", then choose Enable Controller (7) from the list. Click Send.

10. In the Axis Tools, in the Axis Status Registers pane, on the Basic tab, verify that the Control Output for the axis is 0 (zero).

11. Turn on power to the motor or hydraulics for the axis being set up. Note that after starting, it is normal for the axis to drift slowly.

12. In the Command Tool, do the following steps to apply 0.1 V to the axis Control Output:

    Caution: Use the Direct Output command with caution! It disables the safety features of the RMC!

    • Double-click the Cmd box, type "D" and choose the Direct Output (9) command.

    • Set the Output to 0.1 V.

    • Set the Ramp Rate to 100 V/s.

    • Click Send Command.

    • Enter 0 in the Output box. This will allow you to quickly issue a Direct Output Command with 0 drive in the next steps.

13. Verify that the Control Output register for the axis is at 0.1 V.

14. Observe the Actual Position register (on the Basic Position tab) and note whether it is increasing or decreasing. One of three things could have happened at this point:

    • The actuator moved and the Actual Position increased.
      In this case you are ready to go to the next section and set the Scale.

    • The actuator moved and the Actual Position decreased.
      In this case, first verify that the wiring is correct. If it is not, fix it and repeat the process. If it is, invert the Output Polarity to reverse the direction:

      1. In the Axis Parameters pane, select the Setup tab and expand the Primary Control Setup section.

      2. Double-click the Invert Output Polarity register in the axis you are using. The Invert Output Polarity box should now have a checkmark in it.

      3. Click the Download button or press Ctrl+D to apply the changes to the controller.

      4. Repeat the process again: Issue the Direct Output command again, observe the Actual Position, and see which of the three things happened.

    • The actuator does not move.
      In this case, you may need to increase the Control Output. First, verify the following:

      1. Check that the physical Control Output voltage really is 0.1 volts.

      2. Check that the actuator is enabled.

      If these items check out fine, repeat the process above with a larger Output. Some systems may require much more than 0.1 volt to move.

    Note:
    It is essential that the Actual Position increase when a positive output voltage is specified with Direct Output command.  If this condition is not met, you will not be able to control the axis in closed loop.

15. In the Command Tool, enter 0 in the Output box and click Send Command, or press Alt + S, to turn the Control Output voltage off.

16. In the Command tool, enter -0.1 in the Output box and click Send Command, or press Alt + S. The Control Output register should change to  -0.1 and the axis should move in the opposite direction.

Once the actuator moves fine, you are ready to go to the next step.

 

The Scale and Offset parameters convert the Counts from the transducer into meaningful measurement units. In order to do so, the Scale and Offset must first be configured correctly.

Set the Scale and Offset:

1. In the Axis Tools, in the Axes Parameters pane, select the Setup tab. Note that the first two registers under the Primary Control Setup section are Position Scale and Position Offset. These are the parameters you will configure.

2. To calculate what the scale and offset should be, you will need to refer to the Scaling topic.

3. When you have determined what value the scale or offset parameter should be, type the new value in the cell in the Axis Parameters pane. Then click the Download button or press Ctrl+D to apply the changes to the controller.

4. Move your axis and verify that the positions are correct.

5. On the Controller menu, click Update Flash. This stores your changes in the RMC even in the event of a power outage.

6. Press Ctrl+S to save the project.

 

Set the Display Units:

1. In the Axis Tools, in the Axes Parameters pane, select the Setup tab.

2. In the Primary Control Setup section, locate the Display Units parameter. From the drop-down list, select a unit.
   If you wish to use units not listed, choose Custom, then type up to 4 characters in the Custom Units parameter.

3. For dual-loop axes, repeat this in the Secondary Control Setup section.

4. Click the Download button to apply the changes.

 

In order to control an axis in closed-loop control, it must first be tuned. Refer to the online help for the tuning procedure:

1. In RMCTools, on the Tools menu, click Tuning Tools. This pane provides everything you need for tuning the axes.

2. Follow the instruction in the Tuning topic to tune the system.

 

If your RMC will be communicating with an external controller, such as a PLC, PC, or other device, you must set up the communication. Refer to one or more of the following topics for details on configuring the communication type of your RMC controller:

• Ethernet Overview

• PROFIBUS-DP

• Serial Overview

 

Make sure to save your settings! You must do the following:

1. Save your RMCTools project
   To save the project, on the File menu, click Save. Before doing this, make sure the project data is the same as the controller data, by either downloading or uploading.

2. Save the RMC data to non-volatile memory
   On the Controller menu, click Update Flash.

 

Tip: To do both these steps at once, on the File menu, choose Save and Update Flash.