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Table of Contents
Introducing the RMC Family ......................................................................... 1
RMC Family Motion Controllers ................................................................................1
Basics of Operation ..................................................................................................2
Disclaimer ................................................................................................................4
Starting Up the RMC ..................................................................................... 7
RMC Startup Procedure ............................................................................................7
Scaling ...................................................................................................................12
Scaling Overview ...................................................................................................................................12
Analog Position Scaling .........................................................................................................................13
Analog Velocity Scaling ........................................................................................................................14
Analog Acceleration Scaling ..................................................................................................................15
Analog Pressure or Force Scaling ..........................................................................................................15
MDT Scaling ..........................................................................................................................................16
SSI Scaling .............................................................................................................................................19
Rotary Scaling ........................................................................................................................................20
Quadrature Scaling .................................................................................................................................21
Scaling Rates on a Position Axis ............................................................................................................22
Tuning....................................................................................................................23
Tuning Overview ....................................................................................................................................23
Tuning Wizard........................................................................................................................................26
Autotuning ..............................................................................................................................................28
Creating Plots for Tuning .......................................................................................................................29
Gain Calculator ......................................................................................................................................29
Tuning a Position Axis ...........................................................................................................................30
Tuning a Pressure/Force System ............................................................................................................41
Tuning a Position-Pressure or Position-Force System ...........................................................................43
Tuning a Motor in Torque Mode ............................................................................................................46
Tuning a Pneumatic System ...................................................................................................................47
Tuning Active Damping and Acceleration Control ................................................................................48
Controller Features .................................................................................... 49
RMC Controller Features ........................................................................................49
General ..................................................................................................................50
Firmware ................................................................................................................................................50
Loop Time ..............................................................................................................................................51
RUN/PROGRAM Mode ........................................................................................................................53
Registration ............................................................................................................................................54
Homing ...................................................................................................................................................55
Physical Limit Inputs .............................................................................................................................59
Feedback Resolution ..............................................................................................................................61
Axes .......................................................................................................................63
Axes Types .............................................................................................................................................63
Defining Axes ........................................................................................................................................65
Control and Reference Axes ...................................................................................................................66
Axis Type: Control.............................................................................................................................................. 66
Axis Type: Reference .......................................................................................................................................... 68
Axis Type: Cascading Outer Loop ...................................................................................................................... 68
Other Axis Types ...................................................................................................................................69
Axis Type: Rotary and Linear ............................................................................................................................. 69
Axis Type: Incremental and Absolute ................................................................................................................. 70
Virtual Axes ........................................................................................................................................................ 71
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