RMC70 Series Motion Controllers

RMC75 Features

• Position, Pressure, or Force Control
• Position-Pressure and Position-Force Control
• Full PID loop control with velocity and accelleration feed forwards
• S-Curve and Trapezoidal moves
• USB or RS-232 Monitor port for tuning and graphic display of motion

RMC75 Control Features

The RMC70 provides an extensive set of motion commands and programming capability for quick and easy yet flexible motion control for virtually every motion application.

• User Programs:
Supports execution of multiple programs simultaneously to handle axis commands and additional machine control functions. Programs consist of easy-to-understand sequences of commands.

• Program Triggers:
Cyclic task for immediate response to internal conditions or external events, such as discrete inputs, etc.

• Variables:
Recipes and other user parameters can be stored for use by user programs.

• Mathematical Expressions:
Expressions provide flexible programming capability for advanced calculations and machine control sequences.

RMC75 Control Modes

The RMC75 supports numerous control modes.

Closed Loop Control

• PID with Feed Forwards: Full PID loop control with velocity, acceleration and jerk feed forwards
• Position Control:
  • Point-to-point-moves
  • S-curves
  • Speed At Position
  • Gearing
  • Move Velocity
• Pressure Control
• Force Control: Load cell or differential force
• Position-Pressure and Position-Force: Transition seamlessly between position control and pressure or force control

Open Loop Control

• Transition: Seamless transition from open loop to closed loop and vice versa.
• Open Loop Control: Ramp the Control Output smoothly between two values, or ramp the Control Output down as the position approaches the final position, for hard-to-control systems.
• Quick Move: Move in open loop and stop in closed loop for fast, smooth motion with accurate stops.

Configurable response to fault conditions

• Closed Loop stops: Ramp speed to zero at specified rate and hold position.
• Open Loop stops: Ramp output voltage to zero at specified rate.
• Multi-axis (group) stops: A fault on one axis halts multiple axes when configured as a group.
• AutoStops: The response of axes to each fault type is easily configurable.

Axis mechanical configurations supported

• Linear: Used with any transducer type that measures linear distance, the transducer counts (value from the transducer) is not allowed to wrap back to 0.
• Rotary: Typically used with quadrature or SSI encoders, the axis can move continuously in one direction while repeating machine cycles. Currently, the RMC70 supports rotary axes using SSI encoders.

Feedback types supported

• Incremental: Inherent to quadrature encoders, the transducer reports only changes in position. Since machine position is not known at power-up, a home routine must be executed to determine position. The RMC70 supports incremental mode for SSI transducers.
• Absolute: Transducer reports absolute position and no home routine is required. MDT, SSI, and Analog transdcuers are examples of absolute encoders.

Troubleshooting & Monitoring

• Plots: Plot any register in the RMC70, up to 16 registers per plot, sampled down to the control loop resolution!
• Event Log: Speeds troubleshooting by recording events such as parameter changes, commands, errors, and communications!

Register Data Types

The RMC70 uses mostly floating-point (REAL) data type registers. A few registers are double integers (DINT) or double word (DWORD) data types.

RMC75 Communications Compatibility with Common Host Systems

This is only a partial list. The RMC75 motion controllers can communicate with the above PLCs or any other PLC using the D8 expansion. The RMC75 family 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

RMC75 Transducer Connectivity

The RMC75 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 RMC75

Easy-to-use wizards, excellent graphing, complete troubleshooting.

Handles setup, programming, tuning, and diagnostics for the RMC70, RMC150, RMC200 Standard, and RMC200 Lite.

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

RMC70 Series Firmware

Find the most recent firmware for all of your RMC70 modules here:
RMC70 Firmware

Try RMCTools Online Today

We provide access to RMCs that are available 24 hours a day, 7 days a week, via the Internet.
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RMC70 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

RMC70 Hardware Overview

The RMC70 is a modular controller, consisting of a base module and up to four expansion modules:

• Base module:
  Consists of the CPU module and the Axis module and is factory-configured.
  Each factory-installed Axis module is available with one or two control axis interfaces.
• Expansion modules:
  Up to 4 Expansion modules may be added to the RMC70, including digital I/O, analog reference, and pressure or force inputs.

RMC75 Datasheet RMC75 Startup Guide RMC75 I/O Module Details Try RMCTools Online

Base, CPU & Power Supply

The CPU portion of the RMC70 Series base module contains the communications and the central processing unit. The initial CPU offering is the RMC75, which includes firmware for one or two axes of motion, support for up to four Expansion modules, and Delta’s easy-to-use Step Editor for user programs.

Axis Modules: Actuator & Feedback Interface for RMC70 Series

The Axis module portion of the Base module holds the actuator and feedback interfaces of the RMC70 Series motion controller. Each factory-installed Axis module is available with one or two control axis interfaces. Each axis interface includes one discrete input (fault) and one discrete output (enable).

Expansion Modules

RMC75E: Ethernet Communications

The RMC75E provides the processing power of the RMC75 series motion controllers with Ethernet communications and a USB Monitor port.

Supported 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

Features

• Auto-negotiation for 10/100Mb/s and half/full-duplex
• Auto Cross-over
• Supports DHCP and BOOTP dynamic configuration protocols as well as manual configuration through the RMCTools software package

Register Data Types

The RMC75 uses floating-point (REAL) data type registers. A handful of these registers are actually used as double integers (DINT) or double word (DWORD) data types.

RMC75 Datasheet

RMC75P: PROFIBUS Communications

The RMC75P provides the processing power of the RMC75 series motion controllers with PROFIBUS-DP communications and an RS-232 Monitor port. 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 RMC70 Series motion controller.

Up to 126 nodes can be connected to a single network spanning up to 14km. The RMC75P module supports data rates up to 12Mbaud, permitting high-speed on-the-fly downloads of positions, parameters, and commands to the RMC70 and high-speed uploads of motion profile and status information to the host controller.

The RMC75P PROFIBUS-DP interface gives the flexibility of several operating modes. Select the mode that best fits your application and PROFIBUS-DP master’s capabilities.

Register Data Types

The RMC75 uses floating-point (REAL) data type registers. A handful of these registers are actually used as double integers (DINT) or double word (DWORD) data types.

RMC75 Datasheet

RMC75S: Serial Communications

The RMC75S provides the processing power of the RMC75 series motion controllers with Serial communications and an RS-232 Monitor port.

The RMC75S combines multiple communication protocols with RS-232 and RS-485 transceiver options to form a versatile and industrial-hardened communication platform. The RS-232 option provides full-duplex point-to-point communications, while RS-485 allows half-duplex multi-drop networking with up to 128 RMC70s.

Due to limited throughput of serial communications, the RMC75S is best suited for applications where time-critical machine control functions related to motion are implemented in the RMC75S using the RMC70 User Programs. The serial communications works well for low-bandwidth monitoring or modifications to the RMC75S parameters or User Program variables. In applications where higher throughput is necessary, consider one of Delta's other RMC70 CPU/Communications choices.

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 or RS-485 transceivers
• DB-9 and 8-pin terminal block connectors included
• Allows direct access to all RMC75 registers
  • Axis status registers
  • Axis command registers
  • Axis parameters
  • Discrete I/O
  • Variables

Supported 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. The RMC75 supports Full-Duplex and Half-Duplex DF1. The RMC75 uses files F7 to F255.
• Bidirectional Protocol
  This protocol is supported by the Mitsubishi Q-Series.
• Modbus/RTU
  This protocol is supported by most Modicon PLCs and a number of third party products. The RMC75 uses holding registers 400001 to 465536.

Register Data Types

The RMC75 uses floating-point (REAL) data type registers. A handful of these registers are actually used as double integers (DINT) or double word (DWORD) data types.

RMC75 Datasheet RMC75 Startup Guide RMC75 I/O Module Details Try RMCTools Online

AA1 & AA2

Analog Inputs (± 10V, 4-20mA), Analog Control Output (± 10V)

The AA1 and AA2 Axis modules generate ± 10V analog control outputs and interface to position or pressure feedback transducers with the following characteristics:

• Voltage: ±10V
• Current: 4-20mA

The AA1 and the AA2 modules control one and two axes respectively. Each axis may be independently configured for interface to a voltage-output or current-output transducer. Each axis has a 16- bit, ±10V analog Control Output, an isolated 12-24VDC discrete Fault Input, and an isolated 12-24V SSR* Enable Output.

AAx modules can be used for position, pressure or force control. To use the AAx modules for position–pressure or position–force control, the AP2 Expansion module is also required.

Supported Control Types

• Position Control
• Pressure Control
• Force Control (single-input force)
• Force Control (dual-input, differential force)
• Velocity ReferencevIn conjunction with the AP2 Expansion module:
  • Position-pressure control
  • Position-force control (single-input force)
  • Position-force control (dual-input, differential force)

Current Control Output

If you need current Control Output instead of voltage Control Output (e.g. to drive a servo coil), use the VC2100 series voltage-to-current converters.

RMC75 Datasheet Voltage-to-Current Converters

MA1 & MA2

MDT or SSI Inputs, Analog Control Output (± 10V)

The MA1 and MA2 Axis modules generate ± 10V analog control outputs and interface to position feedback transducers with the following characteristics:

• Magnetostrictive Displacement Transducer (MDT):
  RS-422 Pulse Width Modulated (PWM) or Start/Stop, with programmable edge response
• Synchronous Serial Interface (SSI):
  MDT or single- or multi-turn absolute encoders with the SSI interface. MDT transducers with SSI output must be of the synchronized type. Make sure to specify synchronized SSI when ordering from your supplier.

The MA1 and MA2 Axis modules control one and two axes respectively. Each axis has a 16- bit, ±10V analog Control Output, an isolated 12-24VDC discrete Fault Input, and an isolated 12-24V SSR* Enable Output. Each axis may be independently configured for interface to either an MDT or SSI transducer. MAx modules can be used for position control. To use the MAx modules for position–pressure or position–force control, the AP2 Expansion module is also required.

Supported Control Types

• Position Control
• Rotary Motion (using SSI interface)
• Linear Motion
• In conjunction with the AP2 Expansion module:
  • Position-pressure control
  • Position-force control (single-input force)
  • Position-force control (dual-input, differential force)

Current Control Output

If you need current Control Output instead of voltage Control Output (e.g. to drive a servo valve coil), use the VC2100 series voltage-to-current converters.

*SSR = Solid State Relay

RMC75 Datasheet Voltage-to-Current Converters

QA1 & QA2

Quadrature Feedback, Analog Control Output (± 10V)

The QA1 and QA2 axis modules, with differential (RS-422) quadrature inputs and analog ±10V control outputs, allow cost-effective control of a wide variety of electric drives as well as electric and hydraulic servo motors.

The QA1 and QA2 axis modules generate analog control outputs and interface to quadrature encoders with 5V differential (RS-422) signals. Additional high-speed inputs allow for homing, registration, or positive and negative limits on a per axis basis. The QA1 and the QA2 modules control one and two axes respectively. QAx modules can be used for position control. Position–pressure or position–force control requires the AP2 Expansion module.

Take advantage of the RMC70’s superior tuning and diagnostics by operating drives and amplifiers in their simplest mode, thereby transferring control to the RMC70. Doing this can lower long term maintenance costs by avoiding obsolescence issues common to many smart drives.

Supported Control Types

• Position Control
• Rotary Motion
• Linear Motion
• In conjunction with the AP2 Expansion module:
  • Position-pressure control
  • Position-force control (single-input force)
  • Position-force control (dual-input, differential force)

RMC75 Datasheet RMC75 Startup Guide RMC75 I/O Module Details Try RMCTools Online

RMC75 Expansion Modules

• D8 - Discrete I/O: Eight Software-Configurable discrete I/O individually configurable for any combination of inputs or outputs. Inputs and outputs are 12-24 VDC rated, polarity independent, and optically isolated from controller.
• AP2 - Analog Inputs for Position-Pressure & Position-Force Control: Two differential ±10 V or 4-20 mA analog inputs for use in position–pressure or position–force control axes. Inputs are 16 bit resolution, and are optically isolated from the controller.
• A2 - Analog Reference Inputs I/O: Two differential ±10 V or 4-20 mA analog reference inputs. Inputs are 16 bit resolution, and are optically isolated from the controller.
• Q1 - Quadrature Input: Adds one 5 V differential quadrature input for position reference feedback, and a high-speed input for homing or registration. Maximum two Q1s per RMC70.

Up to four Expansion modules (Exp70) of any combination can be added to an RMC70 motion controller to bring additional capabilities to the controller.

The Exp70-D8 module adds discrete I/O functionality, the Exp70-A2 adds analog reference inputs, and the Exp70-AP2 adds analog inputs intended for use as pressure or force inputs as part of Delta’s powerful position–pressure or position–force control feature.

RMC70 Series motion controllers consist of a factory-configured Base module with one or two control axes, plus up to four field-installable Expansion modules.

Each Expansion module can be added quickly by simply plugging it into an open expansion connector and securing it with four screws.

No backplane is required—the first Expansion module plugs on to the right side of the Base module, and each subsequent Expansion module plugs into the previous Expansion module.

Each Exp70 module has its own DIN rail locking lever so the entire assembly can be securely mounted. The assembly may also be panel mounted.

RMC75 I/O Module Details RMC75 Datasheet RMC75 Startup Guide Try RMCTools Online