Delta RMC101 - Manual (Page 29)

Step-by-Step RMC Startup 2.1
Starting Up the RMC 2-1
• Quadrature with Analog Output Configuration
• Quadrature with Stepper Output Configuration
• SSI Configuration
5. Test the Transducer and Drive Connections of Each Axis
Caution: Open loop operation, which this procedure uses, ignores all limits! Be prepared to
remove drive power. Great care must be taken to avoid accidents when starting the RMC for the
first time. The most common accident is a runaway, where the RMC tries to go to a position
beyond the physical limits of an axis.
A. Ensure that the hydraulic or motor power is off, and all drive output connectors on the RMC
are disconnected.
B. Start RMCWin and ensure it is Online with the RMC.
C. Connect the RMC100 drive output to the motor or hydraulic valve of the axis being setting
up.
D. In RMCWin, with the cursor on the axis you want to adjust, press ALT+R to restore the null.
Type 0 (zero) in the Command Value field of the axis, press ALT+SHIFT+O, and verify that
the DRIVE for the axis is 0 (zero). If the NULL DRIVE is not zero, press ALT+N to clear it.
Note: Make sure the Simulate Bit in the Config word is off. Otherwise, Open Loop
commands (ALT+SHIFT+O) will not affect output.
E. Turn on power to the motor or hydraulics for the axis being set up (the axis may drift due to
valve null errors).
F. Next, we will output 500mV to the axis drive output. Type 500 in the Command Value field,
press ALT+SHIFT+O, then type 0 (zero) in the Command Value field. Verify that the DRIVE
for the axis is 500. The axis should extend. If the axis retracts, check the drive wiring polarity,
hydraulic plumbing (if applicable), and valve null.
Note: The extend direction is defined as the direction in which the transducer counts
increase. Watch the Transducer Counts field in RMCWin to see that the counts increase. On
MDT axes, the extend direction is away from the head of the MDT. The retract direction is
opposite from the extend direction.
G. Ensure that the Command Value field is still set to 0 (zero), and press ALT+SHIFT+O, then
ALT+P to stop the axis.
H. Next, we will output -500mV to the axis drive output. Type -500 in the Command Value field,
press ALT+SHIFT+O, then type 0 (zero) in the Command Value field. Verify that the DRIVE
for the axis is -500. The axis should retract. If the axis extends, check the drive wiring
polarity, hydraulic plumbing (if applicable), and valve null.
I. Ensure that the Command Value field is still set to 0 (zero), and press ALT+SHIFT+O, then
ALT+P to stop the axis.
J. Repeat steps C through I for each axis in use.
6. Define the Position Units for Each Axis
Defining the position units is a feature often left out of other motion controllers; in those controllers,