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RMC200 Lite Motion Controller

RMC200 Lite: Up to 18-Axes

Delta’s newest and most capable motion controller, the RMC200 Lite, is designed for larger and/or more demanding industrial control and testing applications. The RMC200 Lite supports systems with up to 18 axes of motion.

RMC200 Standard (Up to 50-Axes) RMC150 (Up to 8-Axes) RMC75 (1 or 2-Axes)

The RMC200 Lite Details

18 Axes of Control

Provides all the same control features as the RMC200 Standard, with up to 18 axes of control, and supports up to 40 reference inputs.

Compact, Powerful, Fast, and Economical

Powerful motion commands and programming, with loop times down to 125μs. Integrated CPU and power supply module, with dedicated base modules, provide a more compact footprint, lower power dissipation, and lower price point than the RMC200 Standard.

EtherCAT (New for 2024)

Control electric motor drives and hydraulic valves and communicate with other EtherCAT-enabled devices.

Interchangeable Communication and I/O Modules

All the Communication and I/O modules are interchangeable between the RMC200 Lite and RMC200 Standard. The power supply modules and bases are not interchangeable.

Uses RMCTools

The RMC200 Lite uses the familiar RMCTools software, just like the RMC200 Standard, the RMC150 and the RMC75.

RMC200 Datasheet RMC200 Startup Guide RMC200 Communication Module Details RMC200 I/O Module Details RMC200 Downloads RMC200 CAD Drawings RMCTools Details

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RMC200 Lite Product Details

RMC200 Special Features

The RMC200 shares the features needed for high-performance motion control with the RMC75 and RMC150. In addition, the RMC200 has a number of special features and higher performance capabilities.

EtherCAT: EtherCAT master capability via the R200-ECAT MainDevice module provides communication with motor drives and other I/O with EtherCAT interfaces
Feature Key: The removable and field-upgradable Feature Key token in the CPU module specifies the number of customer-ordered control loops
High Analog Resolution: Increased analog input and output resolution of 18 bits
Control Loop Times: Lower control loop times, down to 125 μsec, for more axes
Correction factor: Negative correction factor for load cells
Feedback filters: More feedback filter types

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RMC200 Communication Modules

EtherCAT MainDevice

EtherCAT MainDevice capability allows control of up to 50 axes of EtherCAT electric motor drives and communication with valves, sensors and other EtherCAT-enabled devices.

RMC200 CPU Communications

Easy integration with your favorite PLCs, operator interfaces, and PCs.

Ethernet – 100 Mbps Communication Protocol

EtherNet/IP
PROFINET
Modbus/TCP
CSP (Allen-Bradley)
FINS (Omron)
Procedure Exist (Mitsubishi)
... and more

RMCTools Communication

Ethernet
USB – High-speed USB 2.0 port (480 Mbps)RMCLink ActiveX and .Net Assembly. Use RMCLink to communicate with any RMC motion controllers from your custom program

RMCTools Details

RMCLink ActiveX and .Net Assembly

Use RMCLink to communicate with any RMC motion controllers from your custom program.

RMCLink Details

RMC200 Transducer Connectivity

The RMC200 can communicate with nearly any transducer via:

SSI (Serial Synchronous Interface)
Start/Stop and PWM (Magnetostrictive)
Analog ±10V and 4-20mA
Quadrature Encode

RMCTools Software for the RMC200

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

RMC200 Firmware

Find the most recent firmware for all of your RMC200 modules here:

RMC200 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

RMC200 Cables

Pigtail cables provide a compact, convenient option for RMC200 modules. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. For long cable runs, use cables with lower resistance and better shielding. 12 foot long cables (and other lengths) are available by special order - contact Delta for prices and lead times.

Download the RMC200 Cables Overview

Cables & Accessories

Installation and wiring datasheets are available for each part number linked below.

Module:	Cable Part #:	Module Part #:	Terminal Block:	Number Required Per Module:	Cable Length:
A8	R2-CB-A8-06A	R200-A8	Terminal Block 1 or 2	2	6 ft (1.83 m)
S8	R2-CB-S8-06A	R200-S8	Terminal Block 1 or 2	2	6 ft (1.83 m)
Q4	R2-CB-Q4-06A	R200-Q4	Terminal Block 1 or 2	2	6 ft (1.83 m)
CA4	R2-CB-CA4-06A	R200-CA4	Terminal Block 1 or 2	2	6 ft (1.83 m)
CV8	R2-CB-CV8-06A	R200-CV8	Terminal Block 1 or 2	2	6 ft (1.83 m)
D24 TB1	R2-CB-D24TB1-06A	R200-D24	Terminal Block 1	1 of each Cable Assembly per R200-D24 Module*	6 ft (1.83 m)
D24 TB2	R2-CB-D24TB2-06A	R200-D24	Terminal Block 2	1 of each Cable Assembly per R200-D24 Module*	6 ft (1.83 m)
U14 TB1	R2-CB-U14TB1-06A	R200-U14	Terminal Block 1	1 of each Cable Assembly per R200-U14 Module**	6 ft (1.83 m)
U14 TB2	R2-CB-U14TB2-06A	R200-U14	Terminal Block 2	1 of each Cable Assembly per R200-U14 Module**	6 ft (1.83 m)

* The R200-D24 module requires one (1) of R2-CB-D24TB1-06A and one (1) of R2-CB-D24TB2-06A for a total of two (2) cable assemblies per R200-D24 module.
** The R200-U14 module requires one (1) of R2-CB-U14TB1-06A and one (1) of R2-CB-U14TB2-06A for a total of two (2) cable assemblies per R200-U14 module.
Contact us for additional lengths and options.

RMC200 Feature Key for Flexible Control Loops

The Feature Key is a rugged, removable and field-upgradable token that is mounted in the CPU. The Feature Key provides the user-specified control features available to the motion controller. Feature Keys are normally ordered together with the CPU module and are ordered together with specified features.

Control Loops

The control loops on the feature key define the number of control axes. When purchasing a complete motion controller, four control loops are included at no cost. The number of control loops required per axis are:

Axis Type:	Control Loops:	Description:
Single-loop	1	An axis is a single-loop axis if it controls one quantity, such as only position, or only force
Dual-loop	2	An axis that controls two quantities such as position and force
Reference	0	An axis with only an input, and no control output. Also called a half-axis
Virtual	0	A type of reference axis with no input, and no control, but provides virtual motion
Output only	0	An axis with only an analog output

RMC200 Modules

Configure your RMC200 starting with a base then choosing user-installable Power Supply, CPU, and I/O modules, allowing you to configure a motion controller that is exactly right for your application.

RMC200 Lite Overview

The RMC200 Lite consists of a base and user-installable modules, summarized below. Choose a tab on this page for more details.

Bases

B5L: 5 slots (3 I/O slots)
B7L: 7 slots (5 I/O slots)

Power Supply

Power supply: integrated into the CPU

CPU

CPU20L: RMC200 CPU20L is capable of controlling up to 18 axes, with USB, dual-port Ethernet port, display screen, 2 discrete input, 2 discrete outputs

Communication Modules

ECAT - EtherCAT: Communicates with and controls EtherCAT-enabled drives and other devices

I/O Modules

A8 - Analog Inputs: Eight Analog Inputs, supporting ±10 V or 4-20mA
S8 - SSI or MDT Inputs: Eight Synchronous Serial Interface (SSI) or Magnetostrictive Displacement Transducer (MDT) with Start/Stop or PWM signals. Supports one quadrature input
Q4 - Quadrature Encoder Inputs: Four quadrature encoder inputs, supporting RS-422, HTL, or TTL, with home and registration inputs
CA4 - Analog Outputs: Four analog outputs, supporting ±10 V, 4-20 mA, or ±20 mA, with four fault inputs and four enable outputs
CV8 - Analog Outputs: Eight analog outputs, supporting ±10 V only, with eight individually configurable discrete I/O
D24 - Discrete I/O: 24 Discrete I/O, configurable, four fixed high speed inputs for two quadrature encoder inputs or two pulse counter inputs
LC8 - Load Cell Inputs: Eight 24-bit load cell inputs, ±5 mV/V, with Sense Input
U14 - Universal I/O: Four analog inputs, two analog outputs, four discrete I/O, and two high-speed channels

RMC200 Datasheet RMC200 Manuals RMC200 Communication Module Details RMC200 I/O Module Details Try RMCTools Online

RMC200 Lite Bases

The RMC200 Lite offers a range of base modules to accommodate a wide range of applications. The table below provides a guide for the maximum number of axes per base module. If you need additional reference inputs or discrete I/O, make sure to choose a large enough base to cover your needs.

All RMC200 Lite bases include an integrated power supply and CPU slot and slots for I/O modules as shown in the table below. In all of the bases, the first I/O slot supports any I/O module or a high-speed communications module.

RMC200 Lite Base Slots

Base:	Physical I/O Slots:
B5L	3
B7L	5

* In addition to I/O slots, each base also includes an integrated power supply and CPU slot.

RMC200 Datasheet RMC200 Manuals RMC200 I/O Module Details Try RMCTools Online

RMC200 Lite Power Supply

Integrated 24Vdc-input, 28 Watt power supply. No power supply module required. Power supply is integrated into the CPU.

RMC200 Datasheet RMC200 Manuals RMC200 I/O Module Details Try RMCTools Online

RMC200 CPU20L

The CPU20L is capable of controlling up to 18 axes. The CPU20L includes:

Features

Integrated 24Vdc-input, 28 Watt power supply
2 Ethernet ports (see Communication section below)
High-speed USB 2.0 port (480 Mbps) for communications with RMCTools and RMCLink
Two 12-24 Vdc discrete inputs, individually isolated
Two solid state relay (SSR) discrete outputs, individually isolated
Display screen with navigation buttons
SD card slot
Indicator LEDs
Feature Key slot, accessible from the back of the module

Communication

The RMC200 Lite motion controller is designed to integrate easily with your favorite PLCs, PCs and HMIs.

Ethernet

Ethernet (100 Mbps), built-in on CPU. Dual ports (single IP address) supporting star, linear, and ring topologies.

EtherNet/IP
PROFINET
Modbus/TCP
CSP (Allen-Bradley)
FINS (Omron)
Procedure Exist (Mitsubishi)
DMCP (Delta Motion Control Protocol)
RMCLink and LabView (for PCs and HMIs)

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 D24 module and the CPU40L.

USB Port

The High-speed USB 2.0 port (480 Mbps) is for use with the RMCTools software and RMCLink ActiveX and .Net assembly.

RMC200 Datasheet RMC200 Manuals RMC200 I/O Module Details Try RMCTools Online

RMC200 Communication Modules

We offer a Communication Module to support EtherCAT:

ECAT - EtherCAT: EtherCAT MainDevice with Redundancy Port

RMC200 Communication Module Details

RMC200 I/O Modules

We offer an I/O Module to meet the needs of any system:

A8 - Analog Inputs: Eight Analog Inputs, supporting ±10 V or 4-20mA
S8 - SI or MDT Inputs: Eight Synchronous Serial Interface (SSI) or Magnetostrictive Displacement Transducer (MDT) with Start/Stop or PWM signals. Supports one quadrature input
Q4 - Quadrature Encoder Inputs: Four quadrature encoder inputs, supporting RS-422, HTL, or TTL, with home and registration inputs
CA4 - Analog Outputs:Four analog outputs, supporting ±10 V, 4-20 mA, or ±20 mA, with four fault inputs and four enable outputs
CV8 - Analog Outputs: Eight analog outputs, supporting ±10 V only, with eight individually configurable discrete I/O
D24 - Discrete I/O: 24 Discrete I/O, configurable, four fixed high speed inputs for two quadrature encoder inputs or two pulse counter inputs
LC8 - Load Cell Inputs: Eight 24-bit load cell inputs, ±5 mV/V, with Sense Input
U14 - Universal I/O: Four analog inputs, two analog outputs, four discrete I/O, and two high-speed channels

RMC200 I/O Module Details

RMC200 Module Design Overview

Modules Rock In, Rock Out

The RMC200 modules are designed to be user-installable and removable. The modules rock in and out, rotating around a pivot point. Modules may be installed and removed without being damaged while the RMC200 is powered. The pivot action ensures the electrical pins engage the base pins in a certain order, preventing damage to the module. Note: this is not hot-swapping in the sense of removing modules while equipment is operating.

Materials & Construction

An aluminum base and modules composed of 22 gauge nickel-plated steel sheet metal and UL 94V1 rated PC/ABS plastic provide a long-lasting industrial controller. Indicator LEDs on each module aid troubleshooting, and doors make for a clean appearance. The top of the modules are angled downward to help ensure space for airflow, and to allow the modules to be removed while remaining within the footprint of the base.

Module Hold-down Screws

Each module is secured to the base via a captive screw, which extends toward the front of the module for easy screwdriver access.

Unpluggable Terminal Blocks

Wiring connections are made via unpluggable terminal blocks to facilitate the removal of modules in the field. The terminal blocks latch into place and the push-in wire capture style facilitates efficient and reliable wiring. A wire hold-down clip and cable tie points help keep wiring organized.

RMC200 Datasheet RMC200 Manuals RMC200 I/O Module Details Try RMCTools Online Try RMCTools Online