RMC150/151 Motion Controller

RMC150 High Performance Control

• Position, Velocity, Acceleration
• Gearing
• Pressure, Force
• Curves (Cams, Splines)
• Dual-loop control
• Active Damping
• Bumpless transfer
• Autotuning

...and more

RMC150 Communications

RMC150/151 motion controller is designed to integrate easily with your favorite PLCs, PCs, and HMIs.

Ethernet (Built into CPU)

10/100 Ethernet is built in to the RMC150/151 CPU module, and supports the following protocols:

• Ethernet/IP
• PROFINET
• Modbus/TCP
• CSP (Allen-Bradley)
• Procedure Exists (Mitsubishi Q-Series and FX Series)
• FINS (Omron)
• DMCP (Delta Motion Control Protocol)

PROFIBUS

The -PROFI module (see "Modules" below) can be installed in the leftmost slot of the RMC. This module supports PROFIBUS-DP, with baud rates of 9.6kb to 12Mb.

Others

• Discrete I/O: Discrete inputs and outputs can be used to trigger user programs in the RMC or to communicate simple data, such as errors or completion signals. Discrete I/O is available on the -DI/O module and the -UI/O module.
• Inter-controller Communication: The UI/O module provides bidirectional transfer of data each loop time of the controller (user-selectable, typically 1 millisecond). This can be used to tightly synchronize motion between multiple controllers. This data transfer is currently limited to one 32-bit register in each direction.
• Serial RS-232/485: The RMC150/151 does not support serial communication, but this is available via third-party ethernet-to-serial converters.

RMC100 & RMC150 Communications Compatibility with Common Host Systems

This is only a partial list. The RMC100 motion controllers can communicate with the above PLCs or any other PLC using the DI/O module. The RMC100 can also communicate directly to many HMIs via Ethernet, A-B DF1, or Modbus RTU or other protocols.

This list is provided for the convenience of our customers. Delta shall have no liability whatsoever for the use of this information, the accuracy or completeness of list or of the availability or suitability of any products referenced.

All registered or trademarked names are the property of their respective companies.

• A-B: Allen-Bradley
• App: Applicom
• Automation Direct
• CTI: Control Technology, Inc.
• GE Fanuc
• Hilscher
• Horner Electric APG available through Lantronix
• Lan: Lantronix (formerly Synergetic Micro Systems, Inc.)
• Mitsubishi
• Modicon or Schnieder Electric
• Omron
• Reliance
• ProSoft Technology, Inc.
• Siemens
• SoftPLC Corp
• SST

RMC150 Transducer Connectivity

• SSI (Serial Synchronous Interface)
• Analog ±10V and 4-20mA
• Start/Stop and PWM (Magnetostrictive)
• Encoders - A, B, Z (5 V differential only)
• Resolver

RMCTools Software for the RMC150

RMCTools is a powerful motion control software package for setting up, tuning, troubleshooting, programming and controlling all features of Delta's Motion Controllers.

For a full list of software features, visit:
RMCTools Details

RMC150 Series Firmware

Find the most recent firmware for all of your RMC150 modules here:
RMC150 Firmware

Try RMCTools Online Today

We provide access to RMCs that are available 24 hours a day, 7 days a week, via the Internet.
Try RMCTools Online

Quad Cables

Cables for the QA modules are available for purchase from Delta. The cables have a DB25 connector on one end and three individual pig-tailed cables for drive, encoder, and limits on the other end. Custom lengths are also available.

Cables & Accessories

Cable Drawing: RMC-CB-Quad-01

Base

Backplane sizes are from 3 to 6 slots:

• Slot 0 modules: DI/O, UI/O, PROFI
• Slot 1 modules: RMC150E, RMC151E
• Slots 2-5 modules: S, M, H, G, A, Q, R, DI/O, UI/O

Power Supply

The power supply is built into the the CPU module.
See RMC150 Datasheet for more details.

CPU

• RMC150E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs.
• RMC151E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs, and dual-loop control for position-pressure and position-force applications.

I/O Modules

Feedback & Control Modules Overview

* For valves requiring current drive, use Delta’s VC2100 or VC2124 voltage-to-current converters.

Discrete I/O Module Overview

Universal I/O Module Overview

RMC150 Datasheet RMC150 Manuals RMC150 I/O Module Details Upgrading to RMC150 Try RMCTools Online

RMC150E & RMC151E CPUs (Slot 1)

High-Performance Industrial Motion Control

The RMC150/151 CPUs bring the 32-bit software interface and advanced user programs of RMCTools to the multi-axis RMC100 Series, making them Delta’s most powerful 8-axis motion controllers. These controllers combine the new RMC150E CPU with proven RMC100 axis modules. The RMC150E CPU features a built-in 10/100 Mb/s Ethernet port with support for all of the most common industrial protocols, including EtherNet/IP, and is designed to integrate easily with your favorite PLCs and HMIs.

RMC150 Datasheet RMC150 Upgrade RMC150 Manuals

There are two RMC150 CPU modules to choose from:

• RMC150E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs.
• RMC151E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs, and dual-loop control for position-pressure and position-force applications.

RMC150E & RMC151E

• Two to eight axes of position or speed control with synchronization
• Supports motion and pressure profile changes on-the-fly
• Full PID loop control with velocity and acceleration feed forwards
• USB diagnostic port for tuning and graphic display of motion
• Flash memory allows program upgrades and parameter storage
• Class I Div 2 approval available on all modules except for UI/O (-U) and 16bit/2in/2out (-G) analog

RMC151E Only

• Transition between position and pressure or force while in motion

Ethernet Communications

The RMC150E provides built-in Ethernet communications and a USB Monitor port.

Supported Ethernet Protocols

• Modbus/TCP
• CSP (a.k.a. DF1 over Ethernet)
• EtherNet/IP (I/O and Explicit Messaging)
• Procedure Exists (Mitsubishi Q-Series and FX Series)
• FINS (Omron)
• PROFINET

Required Software

• RMCTools

RMC150 I/O Module Details Try RMCTools Online

RMC 150 I/O Modules

Feedback & Control Modules Overview

• SSI - Serial Synchronous Interface: Two Binary or Gray Code, 8-31 bits inputs and two ±plusmn;10 V, 12-bit drive outputs
• MDT - Magnetostrictive Displacement Transducers: Two Start/Stop or PWM and two ±10 V, 12-bit drive outputs
• H - Analog Inputs: Four isolated 16-bit inputs, ±10V or 4-20mA and two ±10 V, 12-bit drive outputs
• G - Analog Inputs: Two analog ±10V only, 16-bit
• A - Analog Inputs: Four inputs, supporting ±10V, 4-20mA
• R - Resolver Interface Module:Two axes of resolver feedback per module
• Q - Quadrature Encoder Feedback: Two (A+, A-, B+, V- Z+, Z-) 5V differential only and two ±10 V, 12-bit drive outputs
• D - Discrete I/O: 18 inputs, eight outputs, 5-24 VDC
• U - Universal I/O: Two analog inputs, six discrete I/O, two SSI or Quadrature channels
• PROFI: PROFIBUS communications

RMC150 I/O Module Details

Communication Modules (Slot 0) - PROFI

PROFIBUS is a vendor independent, open fieldbus standard for a wide range of applications in manufacturing and factory automation.This high-speed fieldbus was designed especially for communicating between programmable controllers and distributed I/O such as the RMC150 motion controller.

The RMC150's PROFIBUS-DP interface gives the flexibility of structured operating modes, or simple input data and output data modes (IO modes). You can select the mode that best fits your application and the PROFIBUS master's capabilities.

Features

• Allows connection of up to 126 nodes to a single network spanning up to 14km
• Supports data rates up to 12Mbaud:
  • high-speed, on-the-fly downloading of positions and parameters to the RMC module
  • high-speed uploading of motion profile and status information to the host controller

PROFIBUS-DP Masters

This is a partial list of the platforms which either are PROFIBUS-DP masters or for which a master can be purchased:

• Allen-Bradley 1746 (SLC 5/03 or later)
• Allen-Bradley 1771 (PLC 5)
• GE Fanuc Series 90-30
• Modicon TSX Momentum
• Modicon TSX Quantum
• PC (PCI)
• PC (PC/104)
• PC (PCMCIA)
• Reliance AutoMax PLC
• Siemens SIMATIC PLCs (505, S7-300, S7-400, S5)
• VME Bus

A complete list of vendors of PROFIBUS products can be obtained at http://www.profibus.com or by calling the PROFIBUS Trade Organization (PTO) at 602-483-2456.

RMC150 Datasheet RMC150 Manuals RMC150 I/O Module Details Upgrading to RMC150 Try RMCTools Online