RMC100/101 Motion Controller

RMC100 Features

The RMC100 series brings the benefits of modular, high-performance motion control to a wide range of industrial applications. Communication options—ranging from high-speed fieldbuses to discrete I/O—make these controllers an excellent choice for large and small systems. Transducer types can be combined to control any hydraulic, electric, and pneumatic system.

Powerful control modes—including:

• Position/Pressure Control
• Synchronized Moves
• Gearing
• Splines
• Teach Mode

View More Special Features

RMC100 Control Options

The RMC100 comes standard with a rich set of pre-programmed motion algorithms, which can reduce motion system implementation time by a factor of 10 or more. Motion control options extend from “Quick Moves” which allow positioning at the maximum speed possible by the physical system, to sophisticated curve-following routines and powerful force and position/pressure modes. Your choice of Motion Control Options will depend on the required performance and physical system parameters.

Expansion Modules

This is is only a partial list. Delta periodically provides new releases of RMC firmware and software incorporating field and customer driven ideas and suggestions.

This is is only a partial list. Delta periodically provides new releases of RMC firmware and software incorporating field and customer driven ideas and suggestions.

RMC100 Programming

With the RMC100 Series, motion control programming can be done in a variety of ways. It can be done entirely within the host PLC (or other host system) by issuing commands to the RMC. Or, for simple applications, programming can be done entirely within the RMC using the RMC100 256-step Event Step Table. Alternatively, fast sequences can be implemented in the Event Step Table which execute at the RMC loop time, while less time-critical functions are handled via the PLC.

RMCTools Software for the RMC100

• Handles setup, programming, tuning, and diagnostics for the RMC100
• High-speed communications with the RMC100 via Ethernet or serial cable
• Controls all features of the RMC100

RMCWin Details

RMC100 Series Firmware

Find the most recent firmware for all of your RMC100 modules here:

RMC100 Firmware

CPU Modules

• RMC100: Position and velocity control
• RMC101: Position and velocity control with pressure control.

Transducer Interface Modules

* Use Delta’s VC2124 to convert from ±10V to bipolar current, ±10mA to ±100mA.

** G module does not have 4-20mA input capability, use H or A for 4-20mA inputs.

RMC100 Datasheets RMC100 Manuals RMC100 I/O Module Details Upgrading to RMC150

RMC100 & RMC101

RMC100

Position and velocity control.

RMC101

Position and velocity control with pressure control.
This adds support for controlling both position and pressure or position and force with one actuator.

RMC100 Datasheets RMC100 Manuals RMC100 I/O Module Details Upgrading to RMC150

Communications Modules (leftmost slot)

ENET - Ethernet

Fieldbus Communications for RMC100 Motion Controllers

Ethernet is an important dedicated industrial network. The RMC100 Ethernet module connects the high-performance RMC100 motion controller family into these networks. This module includes a TCP/IP protocol stack and a variety of application protocols to support many Ethernet TCP/IP devices.

Features

• 10Mbaud data transfer
• Direct access to all RMC100 registers
• Supports a variety of Ethernet TCP/IP devices
• Scheduled I/O data through EtherNet/IP
• Supports BOOTP and DHCP dynamic configuration protocols as well as manual configuration through RMCWin
• Use the RMCENET ActiveX® Control to control the RMC100 from your Visual Basic®, Visual C++®, Java, and VBA programs

RMC Ethernet Compatibility

Delta currently supports the application protocols of the following devices:

• Allen-Bradley ControlLogix, SLC5/05, PLC-5, and SoftLogix 5
• Automationdirect.com DirectLogic DL205/405
• Modicon Quantum
• Omron SYSMAC CS1 and CV PLCs
• Siemens Simatic 505, S7-300, and S7-400
• SoftPLC Corporation's SoftPLC
• PC-based SCADA or control software that supports any of the above controllers

PROFI - PROFIBUS

Fieldbus Communications for RMC100 Motion Controllers

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 RMC100 motion controller.

The RMC100's PROFIBUS-DP interface gives the flexibility of three operating 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
• Three operating modes: Message Mode, Compact Mode with Sync, and Compact Mode without Sync

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 Profibus.com or by calling the PROFIBUS Trade Organization (PTO) at +1-602-483-2456.

SERIAL

RS-232/422/485 Communications for RMC100 Motion Controllers

Use the RMC Serial module as a cost-effective interface between the high-performance RMC motion controller and your process controller-whether a PC, PLC, or custom system.

The Serial module combines multiple communication protocols with optical isolation and software-selectable RS-232, RS-422, and RS-485 transceivers to form a versatile and industrial-hardened communication platform.

The RS-232 and RS-422 options provide full-duplex point-to-point communications, while RS-485 allows half-duplex multi-drop networking with up to 128 RMCs.

The Serial module is recommended in applications where the RMC's Event Step Table controls the majority of the process, and the communication is only needed for low-bandwidth monitoring or modifications to the process.

In applications where higher throughput is necessary, consider one of Delta's other communication modules.

Features

• 9600-115200 baud data transfer
• Supports 7 or 8 data bits
• Supports odd, even, or no parity
• Optically-isolated signals
• Software-select RS-232, RS-422, or RS-485 transceivers
• DB-9 and 6-pin terminal block connectors included
• Allows direct access to all RMC registers
• Axis status registers
• Axis command registers
• Axis parameters
• Discrete I/O status registers
• Event Step Table
• Input-to-Event Table
• Axis graph

Supported Serial Protocols

Serial ports are capable of communicating in a wide variety of protocols. The RMC Serial module currently supports the following protocols:

• Allen-Bradley DF1
  This protocol is supported by most Allen-Bradley PLCs and HMIs including the PLC-5, SLC 5/05, and ControlLogix. Allen-Bradley ControlLogix, SLC5/05, PLC-5, and SoftLogix 5
• Modicon Modbus/RTU
  This protocol is supported by most Modicon PLCs and a number of third party products
• No Protocol Mode
  The RMC100 uses this custom protocol to communicate with the Mitsubishi FX2N

UI/O - Universal I/O

2 Analog Inputs, 6 Discrete I/O, 2 Quadrature/SSI Channels

The Universal I/O module for the RMC150 provides two analog inputs, six discrete I/O, and two high-speed channels that can be configured for quadrature inputs or SSI inputs or outputs.

Analog Input Features

Two 16-bit analog inputs, ±10V or 4-20mA

Discrete I/O Features

• 6 discrete I/O, individually configurable as input or output
• Inputs: 12 to 24VDC, sinking (requires sourcing driver)
• Outputs: Solid state relay, 50mA continuous
• Inputs 0 and 1 can be used as high-speed registration inputs in conjunction with the quadrature inputs

High-Speed Channels

Each of the two RS-422 channels are independently configurable as Quadrature or SSI.

Quadrature Channels

• A and B quadrature inputs
• Requires 5V differential (RS-422) signals
• Discrete inputs 0 and 1 can be used as high-speed registration or homing inputs in conjunction with quadrature inputs 0 and 1, respectively

SSI Channels

The SSI channels can be configured to do the following tasks:

• Receive SSI Input from a Transducer
  This is a standard SSI input for obtaining data from an SSI transducer or encoder
• Send Data Out Via SSI (Slave)
  The SSI channel behaves as a transducer or encoder and will return data to the requesting master
• Synchronize Multiple RMCs to One Transducer
  The SSI channel can monitor the data that another RMC is receiving from an SSI device. This makes it possible to synchronize multiple RMCs to one SSI transducer

MB+ - Modbus Plus

Fieldbus Communications for RMC100 Motion Controllers

Modbus Plus is Schneider Electric's proprietary network designed for industrial control applications. A variety of third-party vendors build Modbus Plus devices. The network enables programmable controllers to communicate with remote devices such as the RMC100 controller.

With its high data rate of 1Mbaud, Modbus Plus is excellent for transferring position, parameter, command, and graphing data between the programmable controller and the RMC100.

Features

• Allows up to 32 devices to be connected directly to a network cable up to 1500 feet in length. (Repeater devices are available to extend the network in both distance and device count.)
• Modbus Plus masters can access all of the RMC's 64k, 16-bit holding registers
• Up to 100 registers can be read from or written to the RMC in a single operation
• Supports Modbus Plus Global Data

Modbus Plus Masters

The following platforms either support Modbus Plus or can have Modbus Plus added to them. See the datasheet for more information.

• Allen-Bradley 1746 (SLC 5/05 or later)
• Allen-Bradley 1771 (PLC 2, 3, or 5)
• Modicon PLCs
• PC (ISA)

DI/O - Discrete I/0

Discrete I/O Communications for RMC100 Motion Controllers

The RMC100 DI/O module can be used to connect directly to switches in standalone applications or to connect to any PLC in applications that do not require large amounts of data transfer.

This module is also available as a Sensor DI/O module, which adds discrete I/O capabilities to the RMC with any communications option. The module consists of eight discrete outputs and eighteen discrete inputs. With an RMC100 CPU, the Discrete I/O module includes either an edge or quadrature counter.

Communication Modes

The communication modes are supported by the RMC100 only.

• Input to Event Mode: This mode can be used either with a PLC or switches. Each of the DI/O's first sixteen inputs can be used to trigger programmable event sequences on any number of axes on the RMC. The outputs can be configured to indicate in-position and error status or can be program controlled.
• Parallel Event Mode: This mode uses 9 inputs per axis for up to two axes to select any programmable event sequence. The outputs can be configured to indicate in-position and error status or can be program controlled.
• Parallel Position Mode: In this mode, the PLC sends 16-bit positions or open-loop drive values to the DI/O module, and at the same time, uses three other inputs to select the axis and motion profile. Outputs indicate in-position and error status.
• Command Mode: This flexible mode allows a PLC to send 32-bit commands to the RMC and request any 16-bit status word from the module. This includes actual position, drive, status bits, etc.

RMC100 Datasheets RMC100 Manuals RMC100 I/O Module Details Upgrading to RMC150

• M - Magnetostrictive Displacement Transducer (MDT): Start/Stop, PWM)
• S - Synchronous Serial Interface (SSI)
• H - Analog Interface Module: 4 inputs, 16-bit
• G - Analog Interface Module: 2 inputs, 16-bit
• A - Analog Interface Module: 4 inputs, 12-bit
• Q - Quadrature Encoder Interface Module (RS-422)
• QST - Stepper Motor Interface Module (RS-422)
• R - Resolver Interface Module
• DI/O - Discrete I/O Module

RMC100 I/O Module Details