RMC200 Standard Motion Controller

RMC200 Standard: Up to 50-Axes

Delta’s most capable motion controller, the RMC200, is designed for larger and/or more demanding industrial control and testing applications. The RMC200 supports systems with up to 50 axes of motion and is offered in two configurations: Lite (Up to 18-Axis) and Standard (Up to 50-Axis).

RMC200 Lite (Up to 18-Axes)       RMC150 (Up to 8-Axes)       RMC75 (1 or 2-Axes)

The RMC200 Standard Details

50 Axes of Control

Provides up to 50 axes of control, and supports up to 104 reference inputs.

Powerful, Fast Control

Powerful motion commands and programming, with loop times down to 125μs.

EtherCAT (New for 2024)

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

Interchangeable Communications 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 Standard uses the familiar RMCTools software, just like the RMC200 Lite, 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

RMC200 Standard 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

Compare Controllers

RMC200 Communications Modules

EtherCAT MainDevice

EtherCAT master 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 Download RMCLink for RMC200

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 Layout

RMC200 Module Summary

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

Bases

  • B5: 5 slots (3 I/O slots)
  • B7: 7 slots (5 I/O slots)
  • B11: 11 slots (9 I/O slots)
  • B15: 15 slots (13 I/O slots)

Power Supply

  • PS4D: 24VDC-input, 35 watt power supply module for the B5, B7 and B11 bases
  • PS6D: 24VDC-input, 50 watt power supply module for the B15 base

CPU

  • CPU40: RMC200 Standard CPU for up to 50 axes, with USB, dual-port Ethernet port, display screen, 2 discrete input, 2 discrete outputs
  • Feature Key Required: The RMC200 CPU requires a Feature Key with the desired number of control loops

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 - 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 Datasheet RMC200 Startup Guide RMC200 Communication Module Details RMC200 I/O Module Details Try RMCTools Online

RMC200 Bases

The RMC200 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 Bases include 1 power supply slot, 1 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 Bases: Slots and Maximum Axes:

Base: Single Loop Axes: Dual Loop Axes with single-input prs or frc: Dual Loop Axes with differential force:
B5 8 8 4
B7 16 8 8
B11 32 24 16
B15 32 32 24

* In addition to I/O slots, each base also includes 1 power supply slot and 1 CPU slot.

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

RMC200 PS4D & PS6D Power Supply Modules

The PS4D and PS6D power supply modules require a nominal 24 Vdc supply. The PS4D is able to power a fully loaded B5, B7, or B11 base. The PS6D is able to power a fully-loaded B15 base. Both include status indicator LEDs and an unpluggable terminal block.

RMC200 PS4D Power Supply Module

RMC200 PS6D Power Supply Module

Power Supply Features

  • Input Voltage: 
    • Recommended 24Vdc ±15% (20.4-27.6 V), 30 V max.
  • Input Power:
    • PS4D: 42 W max (1.8 A at 24 Vdc)
    • PS6D: 60 W max (2.5 A at 24 Vdc)
  • Output Power:
    • PS4D: 35 W max
    • PS6D: 50 W max
  • 500 Vac functional isolation
  • Status indicator LEDs

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

RMC200 CPU40

The CPU40 is capable of controlling up to 50 axes. The CPU40 includes:

RMC200 CPU40 Module

Features

  • 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 (functionality to be added in a future release)
  • Indicator LEDs
  • Feature Key slot, accessible from the back of the module

Communication

The RMC200 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 CPU40.

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:

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 Ouputs:Four analog outputs, supporting ±10 V, 4-20 mA, or ±20 mA, with four fault inputs and four enable outputs
  • CV8 - Analog Ouputs: 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 Rack Example

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