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
One 10/100 Mb/s Ethernet port
One USB Monitor Port
Supported Ethernet Protocols
CSP(also called DF1 over Ethernet)
FINS/UDP(Omron)
Procedure Exist (Mitsubishi)
Two 12-24VDC Discrete Inputs
Two 12-24VDC Discrete Output
Part Number
The part numbers of the RM150 are RMC150E, or RMC151E with Pressure/Force enabled. The RMC150E or RMC151E can only be ordered as part of an entire controller.
Specifications
See also RMC150 Mounting Instructions.
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General |
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Weight |
97 g (CPU module only) + 20 g (connector) |
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Motion Control |
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Supported Number of Axes |
Up to 8 control axes (dependent on backplane size) and any number of reference axes up to a total of 16. |
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Control Loop Time |
User-selectable 250 µs, 500 µs, 1 ms, 2 ms, 4ms |
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Parameter Range |
32-bit floating-point |
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Fail-safe Timers |
Control outputs disabled after 16 ms (10 ms for revs older than 1.2C) with no firmware activity. |
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Ethernet Interface |
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Hardware Interface |
IEEE 802.3 for 100BASE-T (twisted pair) |
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Data Rate |
10/100 Mbps |
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Duplex |
Full/Half Duplex |
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Features |
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Connector |
RJ-45 |
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Cable |
CAT5, CAT5e or CAT6, UTP or STP |
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Configuration Parameters |
IP address, subnet mask, gateway address, enable/disable autonegotiation |
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Configuration methods |
BOOTP, DHCP, or static |
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Ethernet Protocols |
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Application protocols |
EtherNet/IP, PROFINET, Modbus/TCP, CSP (DF1 over Ethernet), FINS (Omron) Procedure Exist (Mitsubishi), DMCP (Delta Motion Control Protocol) |
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Framing Protocol |
Ethernet II |
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Internet Protocol IP |
IP (includes ICMP, ARP, and Address Collision Detection) |
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Transport Protocols |
TCP, UDP |
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Other protocols |
LLDP |
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USB Monitor Port Interface |
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Connector |
USB "B" receptacle |
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Data Rate |
Full-speed (12 Mbps) |
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Discrete Inputs |
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Input Characteristics |
2 Discrete Inputs, 12-24 VDC, sinking or sourcing |
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Logic Polarity |
True High |
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Isolation |
500 VAC |
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Input "High" Range |
7 to 26.4 VDC (polarity independent) |
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Input "Low" Range |
0 to 3.5 VDC (polarity independent) |
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Maximum Propagation Delay |
160 µsec |
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Discrete Outputs |
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Outputs |
2 Discrete Outputs, Solid State Relay |
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Isolation |
500 VAC |
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Maximum voltage |
±30 V (DC or peak AC voltage rating of SSR) |
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Maximum current |
±75 mA (±50 mA for Class I, Div 2) |
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Maximum propagation delay |
2.0 ms |
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Logic 1 (True, On) |
Low impedance (50 Ω maximum) |
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Logic 0 (False, Off) |
High impedance (<1 µA leakage current at 250 V) |
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Power |
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Voltage |
+24 VDC ± 15% |
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Inrush Current |
5A for 150 µs typical |
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Current - 3 slots |
Typical 290 mA @ 24 VDC, max 375 mA |
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4 slots |
Typical 385 mA @ 24 VDC, max 500 mA |
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5 slots |
Typical 485 mA @ 24 VDC, max 625 mA |
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6 slots |
Typical 585 mA @ 24 VDC, max 750 mA |
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DC-DC converter isolation |
500 VAC |
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Environment |
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Operating temperature |
+32 to +140°F (0 to +60°C) |
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Storage temperature |
-40 to +185°F (-40 to +85°C) |
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Humidity |
95% non-condensing |
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Agency compliance |
CE, UL and CUL. Class I, Division 2 optional. |
LEDs
CPU LED
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State |
Description |
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Steady Off |
No power. |
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Steady Green |
Power is on. |
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Flashing Green |
Updating Flash or a controller restart is pending. |
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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 RMC75 to reset it. Causes:
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|
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. |
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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
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State |
Description |
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Steady Off |
PROGRAM Mode or no power |
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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 Communication 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.
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State |
Description |
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Off |
The Ethernet link is down |
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Flashing Green |
The Ethernet link is up, with activity |
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Steady Green |
The Ethernet link is up, no activity |
Net LED
|
State |
Description |
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Steady Off |
No power, or no IP address configured. |
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Steady Red |
Duplicate IP Address detected. |
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Flashing Red |
IP address configured and in use, and a controlling EtherNet/IP I/O connection has timed out and not been re-established. |
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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. |
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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
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State |
Description |
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Off |
No power or input/output is off. |
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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 |
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Green |
Off |
Off |
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Red |
Off |
Off |
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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
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