RMCTools Online Help

RMC150E/RMC151E CPU Module

RMC150E/RMC151E CPU Module

The RMC150E CPU module fits into the RMC100 backplane. The RMC150E CPU, with 10/100 Ethernet communications, supports up to 16 axes, with a maximum of 8 control axes and any number of reference axes up to a total of 16. The RMC150E requires RMCTools for setup, tuning, programming and diagnostics. The RMC150E is not supported by Delta's RMCWin software.

The RMC151E is identical to the RMC150E, but supports dual-loop Pressure/Force control. Dual-loop Pressure/Force control allows the following control combinations in a single axis:

  • Position-Pressure Control

  • Position-Force Control

  • Position-Acceleration Control

  • Velocity-Pressure Control

  • Velocity-Force Control

  • Velocity-Acceleration Control

Notice that single-loop pressure or force control does not require the RMC151E; the RMC150E supports single-loop pressure or force control applications.

Features

  • Discrete I/O

    • Two 12-24VDC Discrete Inputs

    • Two 12-24VDC Discrete Output

Part Number

The part numbers of the RM150E are RMC150E, or RMC151E with Pressure/Force enabled. The RMC150E or RMC151E can only be ordered as part of an entire controller.

Specifications

Motion Control

Supported Number of Axes

Up to 8 axes (dependent on backplane size)

Control Loop Time

User-selectable 250 s, 500 s, 1 ms, 2 ms, 4ms

Parameter Range

32-bit floating-point

Fail-safe Timers

Control outputs disabled after 16 ms (10 ms for revs older than  1.2C) with no firmware activity.

Ethernet Interface

Hardware Interface

IEEE 802.3 for 100BASE-T (twisted pair)

Isolation

Transformer

Data Rate

10/100 Mbps

Duplex

Full/Half Duplex

Features

Auto-negotiation, Auto-crossover (MDI/MDI-X)

Connector

RJ-45

Cable

CAT5, CAT5e or CAT6, UTP or STP

Configuration Parameters

IP address, subnet mask, gateway address, enable/disable autonegotiation

Framing Protocol

Ethernet II

Internet Protocol IP

IP (includes ICMP, ARP, and Address Collision Detection)

Transport Protocols

TCP, UDP

USB Monitor Port Interface

Connector

USB "B" receptacle

Data Rate

Full-speed (12 Mbps)

Discrete Inputs

Input Characteristics

2 Discrete Inputs, 12-24 VDC, sinking or sourcing

Logic Polarity

True High

Isolation

500 VAC

Input "High" Range

7 to 26.4 VDC (polarity independent)
3mA maximum

Input "Low" Range

0 to 3.5 VDC (polarity independent)
<1 mA

Maximum Propagation Delay

160 sec

Discrete Outputs

Outputs

2 Discrete Outputs, Solid State Relay

Isolation

500 VAC

Maximum voltage

30 V (DC or peak AC voltage rating of SSR)

Maximum current

75 mA (50 mA for Class I, Div 2)

Maximum propagation delay

1.5 ms

Logic 1 (True, On)

Low impedance (50 Ω maximum)

Logic 0 (False, Off)

High impedance (<1 A leakage current at 250 V)

Power

Voltage

+24 VDC 15%

Inrush Current

5A for 150 s typical

Current - 3 slots

Typical 290 mA @ 24 VDC, max 375 mA

4 slots

Typical 385 mA @ 24 VDC, max 500 mA

5 slots

Typical 485 mA @ 24 VDC, max 625 mA

6 slots

Typical 585 mA @ 24 VDC, max 750 mA

DC-DC converter isolation

500 VAC

Environment

Operating temperature

+32 to +140F (0 to +60C)

Storage temperature

-40 to +185F (-40 to +85C)

Humidity

95% non-condensing

Agency compliance

CE, UL and CUL. Class I, Division 2 optional.

LEDs

CPU LED

State

Description

Steady Off

No power.

Steady Green

Power is on.

Flashing Green

Updating Flash or a controller restart is pending.

Flashing Red

(Uniform on/off)

The RMC is in the loader. This should occur briefly when the controller is powered up. If this occurs during normal operation, an error has occurred in the controller and it must be reset. Cycle power to the RMC70 to reset it.

Causes:

  • Power Interruption
    In certain cases, a power interruption to the RMC may cause it to go into the loader. Even a very short interruption, such as 20 msec, can cause problems. This type of interruption cannot be measured with a standard multimeter. For accurate power supply verification, use an oscilloscope or similar high-speed monitoring device.

  • Firmware Bug
    Certain firmware bugs will cause the RMC to go into the loader. If this occurs, and power interruptions have been ruled out, contact Delta Technical support.

Flashing Red

(Pattern)

The LED will flash 1, 2, or 3 times, pause and then repeat the pattern. All of these patterns indicate that the RMC failed a self-test of the RAM subsystem during startup. This is a non-recoverable major fault. The module will likely need to be shipped back to Delta for repair.

Steady Red

Non-Recoverable major fault. That is, the module cannot boot at all, not even into the loader. The module will likely need to be shipped back to Delta for repair.

RUN LED

State

Description

Steady Off

PROGRAM Mode or no power

Steady Green

RUN Mode

Communication LEDs

These LEDS are located below the Controller LED on a white background. These LEDs do not convey 10/100, FDX/HDX, or Collision information. The user will have to rely on their switch's LEDs or the RMCTools Ethernet Statistics to view those Ethernet status items.

Link/Act LED

The Link/Act LED reflects the status of the physical Ethernet connection between the RMC and the device on the other end of the Ethernet cable. If this LED is not on or is not blinking when you expect it to be, see the Ethernet Link/Act LED topic for troubleshooting information.

State

Description

Off

The Ethernet link is down

Flashing Green

The Ethernet link is up, with activity

Steady Green

The Ethernet link is up, no activity

 

Net LED

State

Description

Steady Off

No power, or no IP address configured.

Steady Red

Duplicate IP Address detected.

Flashing Red

IP address configured and in use, and a controlling EtherNet/IP I/O connection has timed out and not been re-established.

Flashing Green

IP address configured and in use, no EtherNet/IP or PROFINET connections are currently established, and there is no timed-out controlling EtherNet/IP I/O connection.

Steady Green

IP address configured and in use, at least one EtherNet/IP or PROFINET connection is currently established, and there is no timed-out controlling EtherNet/IP I/O connection.

Discrete I/O LEDs

State

Description

Off

No power or input/output is off.

On

Input/output is on.

Startup LED Test

When the RMC150 powers up, the LEDs listed below goes through these states, with a 250 msec delay between each step:

CPU LED

Run LED

Net LED

Green

Off

Off

Red

Off

Off

Green

Green

Off

Green

Red

Off

Green

Off

Green

Green

Off

Red

Green

Off

Off

 

Prior to the LED test, the module will run through the loader, during which time it will have a red CPU LED. After the LED test, the firmware will continue initialization, after which time the LEDs resume their regular behaviors.

 

See Also

RMC150E Wiring


Copyright (c) 2005-2013 by Delta Computer Systems, Inc.

\n\n\n\n\n\n