The CPU20L is the central processing module for RMC200 Lite backplanes. See also CPU40 Module (RMC200) for the central processing unit for RMC200 Standard backplanes.
Features
Supports up to 18 control axes and 48 total axes (number of control loops purchased separately and specified by Feature Key)
Integrated 24 VDC power supply
2 Ethernet ports (single IP address) supporting star, linear, and ring topologies.
High-speed USB 2.0 port (480 Mbps) for communications with RMCTools and RMCLink
Supported Ethernet Protocols (slave only)
CSP (also called DF1 over Ethernet)
FINS/UDP (Omron)
Procedure Exist (Mitsubishi)
Display screen with navigation buttons
Feature Key slot, accessible from the back of the module
SD Card Slot
Discrete I/O:
2 Outputs: solid-state relay (SSR) discrete outputs, individually isolated
2 Inputs: 12-24VDC discrete inputs, individually isolated
Unpluggable terminal block for discrete I/O
See also Comparing RMC200 Lite and Standard.
Part Number
The part number of the CPU20L is R200-CPU20L.
Specifications
|
General |
|
|
Weight |
908 g + 2 g (power connector) + 5 g (discrete I/O connector) |
|
Motion Control |
|
|
Number of Axes |
Up to 18 physical control axes (dependent on backplane size). |
|
Total Axes |
Up to 48, including virtual and reference axes. |
|
Control Loop Time |
User-selectable 125 µs, 250 µs, 500 µs, 1 ms, 2 ms, 4ms |
|
USB Monitor Port Interface |
|
|
Connector |
USB "B" receptacle |
|
Data Rate |
High-speed (480 Mbps) |
|
Ethernet Interface |
|
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Ports |
2 ports (single IP address) |
|
Supported Topologies |
Star, linear, or ring |
|
Hardware Interface |
IEEE 802.3 for 100BASE-T (twisted pair) |
|
Data Rate |
100 Mbps |
|
Duplex |
Full Duplex |
|
Features |
Auto-negotiation, Auto-crossover (MDI/MDI-X) |
|
Connectors |
RJ-45 (2) |
|
Cable |
CAT5, CAT5e or CAT6, UTP or STP |
|
Ethernet Configuration |
|
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Configuration parameters |
IP address, subnet mask, gateway address, enable/disable ports, auto-negotiation |
|
Configuration methods |
BOOTP, DHCP, or static |
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Ethernet Protocols |
|
|
Application protocols (slave only for all)
|
EtherNet/IP I/O and messaging PROFINET RT (I/O) and data records Modbus/TCP CSP (DF1 over Ethernet) FINS (Omron) Procedure Exist (Mitsubishi) DMCP (Delta Motion Control Protocol) |
|
Framing protocol |
Ethernet II |
|
Internet protocol |
IP (includes ICMP, ARP, and Address Collision Detection) |
|
Transport protocols |
TCP, UDP |
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Network management protocols |
SNMPv1, SNMPv2c, LLDP |
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Ring management protocols |
Device Level Ring (DLR), Media Redundancy Protocol (MRP) |
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Discrete Inputs (2) |
|
|
Input type |
12-24 VDC inputs, polarity independent |
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Logic polarity |
True "High" |
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Functional isolation |
500 VAC, individually isolated |
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Input "High" range |
9 to 26.4 VDC, 3 mA maximum |
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Input "Low" range |
0 to 5 VDC, <1 mA |
|
Maximum propagation delay |
100 µs Off to On 750 µs On to Off (open collector drive) |
|
Discrete Outputs (2) |
|
|
Output type |
Solid State Relays (SSR) |
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Functional isolation |
500 VAC, individually isolated |
|
Rated voltage |
max ±30 V (DC or peak AC voltage) |
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Maximum current |
±75 mA |
|
Maximum propagation delay |
1.5 ms |
|
Logic 1 (True, On) |
Low impedance (15 Ω maximum) |
|
Logic 0 (False, Off) |
High impedance (<1 nA leakage current at 30V) |
|
SD Card Slot |
|
|
Functionality |
Save and restore the entire RMC controller image Store general files (e.g machine design documents, data sheets, etc.) |
|
Supported form factor |
Standard size (32 mm × 24 mm × 2.1 mm) |
|
Supported families |
SD (SDSC) (standard capacity) and SDHC (high capacity) |
|
Supported file system |
FAT32 and FAT16 |
|
Supported capacities |
Up to 32 GB |
Power Specifications
|
Power Input |
|
|
Input Power |
28 W max (1.2 A at 24 VDC) |
|
Input Voltage |
Recommended 24Vdc ± 15% (20.4 – 27.6 V), 30 V max. Overvoltage shutdown at 36 V. |
|
Output Power |
19 W max |
|
Power Dissipation |
|
|
Max Power Dissipation |
9.0 W, including dissipation of power supply |
LEDs
The CPU20L LEDs are arranged in the following order:
|
CPU |
SD |
In0 |
|
Run |
|
In1 |
|
En |
Net |
Out0 |
|
L/A1 |
L/A2 |
Out1 |
All LEDs Flashing In Unison
If all the CPU20L LEDs are flashing in unison, a PROFINET Flash LED operation is in progress to help identify which physical device corresponds to a certain node.
Light Bar
|
State |
Description |
|
Off |
No power to the RMC200 or the module was not inserted when the RMC powered up. |
|
Blue |
The module was recognized at power-up. |
|
State |
Description |
|
Off |
No power |
|
Steady Green |
Device operational |
|
Flashing Red(1 sec period) |
Minor fault The device has detected a recoverable minor fault. The CPU screen display can be used to view and clear or acknowledge the faults. Examples of faults:
|
|
Flashing Red (Slower than 1 sec period) |
Continuous Reset Due to Watchdog Timeout The controller is resetting due to a watchdog timeout. This is likely a fatal error which requires the CPU20L be sent to Delta. However, it is possible that it is a firmware fault that can be fixed in the field. In this condition the LED will flash slower than the normal 1 second period, and the OLED display will not turn on when the keypad buttons are pressed. The other LEDs will likely be off. Possible recovery method: press and hold both the up and down arrows on the keypad for about 10 seconds. If the cause was a firmware fault, the OLED display will turn on and display a message indicating the controller is running in recovery mode. From the keypad, the controller can be reset to defaults, or from RMCTools, new firmware can be downloaded (even though RMCTools will not fully go online). |
|
Steady Red |
Major fault The device has detected a non-recoverable fault. This occurs if the controller cannot load firmware or the loader. |
|
State |
Description |
|
Off |
PROGRAM Mode |
|
Green |
RUN Mode |
|
State |
Description |
|
Off |
Disabled Mode |
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Green |
Program or Run Mode |
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State |
Description |
|
Off |
No SD card
|
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Steady Green |
SD Card Present A compatible card (SDSC or SDHC) is present, and the card is inactive and safe to remove. |
|
Flashing Green |
Read or Write Active - Do Not Remove The controller is reading from or writing to the SD card. Do not remove the SD card while the LED is flashing. |
|
Steady Red |
Incompatible SD Card A card is present, but is not compatible. Make sure the card is SD (SDSC) or SDHC and has been formatted with a valid file system (FAT32 or FAT16). |
|
State |
Description |
|
Off |
No power, or no IP address is configured
|
|
Flashing Green |
No Connection Established EtherNet/IP mode: The device has a valid IP address, and has no CIP connection established (I/O or messaging) and no currently timed-out I/O connections. PROFINET mode: The device has a valid IP address, but has no PROFINET I/O connection established nor was there a fault that closed the last I/O connection. |
|
Steady Green |
Connection established EtherNet/IP mode: The device has a valid IP address, and has at least one CIP connection established (I/O or messaging) and no currently timed-out I/O connections. PROFINET mode: The device has a valid IP address and has a PROFINET I/O connection established. |
|
Flashing Red |
I/O Connection faulted EtherNet/IP mode: An Exclusive Owner I/O connection has timed out. PROFINET mode: An I/O connection was closed abnormally, including a timeout or alarm received from the IO controller. |
|
Steady Red |
Duplicate IP address The device has detected a duplicate IP address on this network. |
L/A1, L/A2 (Link/Activity) LEDs
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 |
Link down
|
|
Flashing Green |
Link up, activity The Ethernet link is up, and activity is detected. |
|
Steady Green |
Link up, idle The Ethernet link is up, but no activity is detected. |
|
Flashing Amber |
Link up, collision The Ethernet link is up, but there was a collision. |
|
Steady Amber |
Port disabled The user has disabled this port. |
|
Steady Red |
Major port fault There was a major fault initializing the port. |
In0 and In1 LEDs
|
State |
Description |
|
Off |
Off The input is inactive (low). |
|
Orange |
On The input is active (high). |
Out0 and Out1 LEDs
|
State |
Description |
|
Off |
Off The output is inactive (low). |
|
Yellow |
On The output is active (high). |
Power LEDs
|
LED |
Function |
|
Vin |
Input voltage level indicator: Green: Normal range (20.4 – 27.6 Vdc) Orange: Voltage high or low, still operating Steady Red: Under- or over-voltage (outside of 18 – 36 V), or reverse voltage, not operating |
|
On |
Output power indicator: Off: Not providing power to base Green: Providing power to base |
|
Flt |
Faults indicator: Orange: Temperature high or power draw high, still operating Flashing Red: Under- or over-voltage, over power, or over temperature, output shut down Flashing Green/Red: Module not plugged into base, output shut down |
See Also
RMC200 Overview | CPU40 | Comparing RMC200 Lite and Standard | Display Screen | Using the SD Card
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