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RMC150/151 Motion Controller

RMC150/151: Up to 8-Axis

The RMC150/151 delivers high-performance motion control to mid-sized hydraulic, electric servo, and pneumatic industrial applications. With powerful control modes—including dual-loop position-pressure algorithms—and connectivity to many transducer types, the RMC provides optimum control for a wide range of motion applications.

The RMC150/151 CPU module comes standard with Ethernet, supporting protocols such as EtherNet/IP, PROFINET, and Modbus/TCP, and is designed to integrate easily with your favorite PLCs, PCs and HMIs.

Equipped with excellent graphing features and easy-to-use wizards, the RMCTools software handles setup, programming, tuning and diagnostics for both the RMC200, RMC150, and RMC70 series controllers.

Flexible Multi-axis Capability Modules can be “mixed and matched” to support up to 8 control axes for tightly synchronized motion, and additional reference axes up to a total of 16 control, reference or virtual axes.

RMC200 Standard (Up to 50-Axis)       RMC200 Lite (Up to 18-Axis)       RMC75 (1 or 2-Axis)

  • Connect. Supports many sensors and communications protocols
  • Control. Autotuning, motion profiles, hydraulic-specific parameters, user programs
  • Optimize. Excellent plotting features and advanced algorithms to fine-tune any system

RMC150 Datasheet  RMC150 Startup Guide  RMC150 I/O Module Details  RMC150 Downloads  RMC150 CAD Drawings  Upgrading to RMC150

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RMC150/151: Up to 8-Axis

RMC150 High Performance Control

  • Position, Velocity, Acceleration
  • Gearing
  • Pressure, Force
  • Curves (Cams, Splines)
  • Dual-loop control
  • Active Damping
  • Bumpless transfer
  • Autotuning

...and more

RMC150 Communications

RMC150/151 motion controller is designed to integrate easily with your favorite PLCs, PCs, and HMIs.

Ethernet (Built into CPU)

10/100 Ethernet is built in to the RMC150/151 CPU module, and supports the following protocols:

  • Ethernet/IP
  • PROFINET
  • Modbus/TCP
  • CSP (Allen-Bradley)
  • Procedure Exists (Mitsubishi Q-Series and FX Series)
  • FINS (Omron)
  • DMCP (Delta Motion Control Protocol)

PROFIBUS

The -PROFI module (see "Modules" below) can be installed in the leftmost slot of the RMC. This module supports PROFIBUS-DP, with baud rates of 9.6kb to 12Mb.

Others

  • 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 -DI/O module and the -UI/O module.
  • Inter-controller Communication: The UI/O module provides bidirectional transfer of data each loop time of the controller (user-selectable, typically 1 millisecond). This can be used to tightly synchronize motion between multiple controllers. This data transfer is currently limited to one 32-bit register in each direction.
  • Serial RS-232/485: The RMC150/151 does not support serial communication, but this is available via third-party ethernet-to-serial converters.

RMC100 & RMC150 Communications Compatibility with Common Host Systems

Host System: Module Compatibility:
A-B ControlLogix ENET, RMC150E: A-B# 1761-NET-ENI
PROFI: N/A
MB+: N/A
SERIAL: A-B DF1
A-B ControlLogix ENET, RMC150E: A-B# 1756-ENBT
PROFI:SST# SST-PFB_CLX
MB+:N/A
SERIAL:A-B DF1
A-B MicroLogix ENET, RMC150E: A-B# 1761-NET-ENI
PROFI: N/A
MB+: N/A
SERIAL: A-B DF1 (1500 LRP Recommended)
A-B PLC-2, PLC-3 ENET, RMC150E:N/A
PROFI:N/A
MB+:ProSoft# 3300-MBP
SERIAL:A-B DF1
A-B PLC5/x0 ENET Built-in with SLC 5/05. Others use A-B#1761-NET-ENI
PROFI:SST# SST-PFB-PLC5
MB+:ProSoft# 3300-MBP
SERIAL: A-B DF1
A-B SLC500 ENET, RMC150E:Built-in with SLC 5/05. Others use A-B# 1761-NET-ENI
PROFI:(SLC 5/03 or lateR) SST# SST-PFB-SLC
MB+:(SLC 5/02 or later) ProSoft# 3350-MBP
SERIAL:A-B DF1
A-B SoftLogix 5800 ENET Any Windows Computer with Ethernet Card
PROFI:N/A
MB+:N/A
SERIAL: A-B DF1
A-B SoftLogix 5800 ENETAny Windows Computer with Ethernet Card
PROFI:SST# 5136-PFB-PCI or 5136-PFB-ISA
MB+:N/A
SERIAL:N/A
DirectLogic DL05/06 ENET Automation Direct# H0-COM
PROFI:N/A
MB+:N/A
SERIAL:Automation Direct# D0-DCM via Modbus/RTU
DirectLogic DL205/405 ENETAutomation Direct# H2-COM, H4-COM
PROFI:N/A
MB+:N/A
SERIAL:DL250 and 260 CPUs support Modbus/RTU
DirectLogic DL05/06 ENET Automation Direct# H0-COM
PROFI:N/A
MB+:N/A
SERIAL:Automation Direct# D0-DCM via Modbus/RTU
GE Fanuc Series 90-30 ENETEthernet available on new models
PROFI:Horner Electric# HE693PBM101
MB+:N/A
SERIAL:RS-232 – Call Delta for info
GE Fanuc RX3i ENET#IC695ETM001
PROFI:N/A
MB+:N/A
SERIAL:N/A
GE Fanuc Series 90-70 ENETSST# SST-PFB-GE
PROFI:N/A
MB+:N/A
SERIAL:N/A
Mitsubishi FX2N ENETN/A
PROFI:N/A
MB+:N/A
SERIAL:Use No Protocol Mode
Mitsubishi Q-series ENETN/A
PROFI:N/A
MB+:N/A
SERIAL:Use No Protocol Mode
Modicon 800 Series (*1), other ENETN/A
PROFI:N/A
MB+:Many options available from Schneider Electric
SERIAL:Modicon Modbus/RTU
Modicon Premium ENETModicon# TSXETY110
PROFI:Modicon# TXSPBY100
MB+:Many options available from Schneider Electric
SERIAL:Modicon Modbus/RTU
Modicon TSX Momentum ENETN/A
PROFI:Modicon# 170 DNT 110 00
MB+:Many options available from Schneider Electric
SERIAL:Modicon Modbus/RTU
Modicon TSX Quantom (*2) ENETModicon# 140 NOE 211 00
PROFI:Modicon# 140 GRP 811 00
MB+:Many options available from Schneider Electric
SERIAL:Modicon Modbus/RTU
Omron C200 ENETN/A
PROFI:N/A
MB+:N/A
SERIAL:RS-422/485 – Call Delta for info
Omron CJ1, CJ1M and CS1 ENETOmron# CS1W
PROFI:N/A
MB+:N/A
SERIAL:N/A
Omron CV ENETOmron# CSV500-ETN01
PROFI:N/A
MB+:N/A
SERIAL:N/A
PC (All Varieties) ENETPC-based SCADA or control software that can communicate over Ethernet to any of the controllers in this chart may support the -ENET module. The RMCLink ActiveX Control and .NET Assembly can be used for communication via Ethernet from numerous programming languages on a PC.
PROFI:See ISA, PCI, 3U Compact PCI, PC/104, or PCMCIA
MB+:See ISA, PCI, 3U Compact PCI, PC/104, or PCMCIA
SERIAL:PC-based software that supports DF1 or Modbus/RTU
The RMCLink ActiveX Control and .NET Assembly can be used for communication via serial RS-232 from numerous programming languages on a PC.
PC (ISA) ENET See PC (All Varieties)
PROFI: SST# 5136-PFB-ISA or 5136-PBMS-ISA Lan# SMS-CIF30-PB or SMS-CIF30-DPM
MB+:Schneider Electric# SA85 Lan# SMS-CIF30-MBP
SERIAL:See PC (All Varieties)
PC (PCI) ENETSee PC (All Varieties)
PROFI:SST# 5136-PFB-PCI Lan# SMS-CIF50-PB App# Several versions
MB+:App# PCI2000MBP
SERIAL:See PC (All Varieties)
PC (3U CompactPCI) ENET See PC (All Varieties)
PROFI: App# CPCI1000PFB or CPCI-DPIO
MB+:N/A
SERIAL:See PC (All Varieties)
PC (PC/104) ENETSee PC (All Varieties)
PROFI:SST# 5136-PFB-104 Lan# SMS-CIF104-PB or SMS-CIF104-DPM App# PCI104PFB or PC104-DPI
MB+:Lan# SMS-CIF104-MBP
SERIAL:See PC (All Varieties)
PC (PCMCIA) ENETN/A
PROFI: SST# 5136-PFB-PCM Lan# SMS-CIF60-PB
MB+:N/A
SERIAL:N/A
Reliance AutoMax ENETN/A
PROFI:SST# SST-PFB-REL
MB+:N/A
SERIAL:N/A
Siemens Simatic 505 (*3), S5 ENET(505) CTI# CTI 2572
PROFI:Many options available from Siemens
MB+:N/A
SERIAL:N/A
Siemens Simatic S7-300, S7-400 ENETSiemens# Cp343/443-1
PROFI:Many options available from Siemens
MB+:N/A
SERIAL:N/A
SoftPLC ENETPC-based – Ethernet support standard
PROFI:N/A
MB+:N/A
SERIAL:N/A

This is only a partial list. The RMC100 motion controllers can communicate with the above PLCs or any other PLC using the DI/O module. The RMC100 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.

RMC150 Transducer Connectivity

  • SSI (Serial Synchronous Interface)
  • Analog ±10V and 4-20mA
  • Start/Stop and PWM (Magnetostrictive)
  • Encoders - A, B, Z (5 V differential only)
  • Resolver

RMCTools Software for the RMC150

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

RMC150 Series Firmware

Find the most recent firmware for all of your RMC150 modules here:
RMC150 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

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

Part Number Length
RMC-CB-QUAD-01-06 6 ft
RMC-CB-QUAD-01-10 10 ft
RMC-CB-QUAD-01-15 15 ft

Cable Drawing: RMC-CB-Quad-01

RMC150 Modules

The RMC150 modules can be mixed and matched for control of up to 8-axis (totaling 8 drive outputs).

RMC150 Layout

Base

Backplane sizes are from 3 to 6 slots:

  • Slot 0 modules: DI/O, UI/O, PROFI
  • Slot 1 modules: RMC150E, RMC151E
  • Slots 2-5 modules: S, M, H, G, A, Q, R, DI/O, UI/O

Power Supply

The power supply is built into the the CPU module.
See RMC150 Datasheet for more details.

CPU

  • RMC150E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs.
  • RMC151E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs, and dual-loop control for position-pressure and position-force applications.

I/O Modules

Feedback & Control Modules Overview

Module: Inputs: Drive Outputs:* Application:
S 2 Serial Synchronous Interface (SSI), Binary or Gray Code, 8-31 bits 2 ±10 V, 12-bit Absolute Position, Linear or Rotary
M 2 Start/Stop or PWM for Magnetostrictive Displacement Transducers (MDT) 2 ±10 V, 12-bit Absolute Position
H 4 Analog ±10V or 4-20mA, 16-bit 2 ±10 V, 12-bit Absolute Position, Velocity, Pressure, or Force
G 2 Analog ±10V only, 16-bit 2 ±10 V, 12-bit Absolute Position, Velocity, Pressure, or Force
A 4 Analog ±10V or 4-20mA, 12-bit 2 none Absolute Position, Velocity, Pressure, or Force
Q 2 Quadrature Encoder, (A+, A-, B+, V- Z+, Z-) 5V differential only 2 ±10 V, 12-bit Incremental Position
R 2 Resolver (sine and cosine, reference) 14 or 16-bit 2 ±10 V, 12-bit Absolute Single Turn Encoders

* For valves requiring current drive, use Delta’s VC2100 or VC2124 voltage-to-current converters.

Discrete I/O Module Overview

Module: Discrete Inputs: Discrete Outputs:
D 18 5-24 VDC, 0.6 ms propagation delay 8 ±30 VDC±75 mA, solid state relay, 1.5 ms propagation delay

Universal I/O Module Overview

Module: Analog Inputs: Discrete I/O: High-Speed Channels:
U 2 Universal I/O Module, ±10 V or 4-20 mA 6 I/O, 12-24VDC (individually configurable as in or out) 2 SSI or Quadrature A+, A-, B+, B-

RMC150 Datasheet RMC150 Manuals RMC150 I/O Module Details Upgrading to RMC150 Try RMCTools Online

RMC150E & RMC151E CPUs (Slot 1)

High-Performance Industrial Motion Control

The RMC150/151 CPUs bring the 32-bit software interface and advanced user programs of RMCTools to the multi-axis RMC100 Series, making them Delta’s most powerful 8-axis motion controllers. These controllers combine the new RMC150E CPU with proven RMC100 axis modules. The RMC150E CPU features a built-in 10/100 Mb/s Ethernet port with support for all of the most common industrial protocols, including EtherNet/IP, and is designed to integrate easily with your favorite PLCs and HMIs.

RMC150 Datasheet RMC150 Upgrade RMC150 Manuals


There are two RMC150 CPU modules to choose from:

  • RMC150E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs.
  • RMC151E: Motion controller CPU with USB port, 10/100 Ethernet, 2 discrete inputs, 2 discrete outputs, and dual-loop control for position-pressure and position-force applications.
CPU: Position/Pressure Control:
RMC150 X
RMC151 ✔

RMC150E & RMC151E

  • Two to eight axes of position or speed control with synchronization
  • Supports motion and pressure profile changes on-the-fly
  • Full PID loop control with velocity and acceleration feed forwards
  • USB diagnostic port for tuning and graphic display of motion
  • Flash memory allows program upgrades and parameter storage
  • Class I Div 2 approval available on all modules except for UI/O (-U) and 16bit/2in/2out (-G) analog

RMC151E Only

  • Transition between position and pressure or force while in motion

Ethernet Communications

The RMC150E provides built-in Ethernet communications and a USB Monitor port.

Supported Ethernet 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

Required Software

RMC150 I/O Module Details Try RMCTools Online

RMC 150 I/O Modules

Feedback & Control Modules Overview

RMC150 I/O Module Details

Communication Modules (Slot 0) - PROFI

Module:
PROFI PROFIBUS Module, PROFIBUS-DP communications

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 RMC150 motion controller.

The RMC150's PROFIBUS-DP interface gives the flexibility of structured operating modes, or simple input data and output data modes (IO 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

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 http://www.profibus.com or by calling the PROFIBUS Trade Organization (PTO) at 602-483-2456.

RMC150 Datasheet RMC150 Manuals RMC150 I/O Module Details Upgrading to RMC150 Try RMCTools Online