RMC100 Series
2 to 8-Axis Motion Controller
The RMC150 is Delta's most versatile motion control product line. The new RMC150E— is a modular, high-performance motion controller appropriate for a wide range of industrial applications for position and velocity control. The RMC151E CPU provides all the benefits of the RMC150E, plus dual-loop control for advanced control options, such as position-pressure, position-force, and active damping.
A variety of communications options makes these compact, DIN rail-mounted controllers an excellent choice for large and small systems.
The RMC's modular construction allows you to mix and match from two to eight axes of any combination of transducers. Delta will factory configure your complete RMC150 motion control module.
| Leftmost Slot |
CPU Module |
Transducer Interface Modules |
|
||
Additional Communications Modules (leftmost slot)
| Module | RMC100 | RMC150E | Communication Type |
|---|---|---|---|
| ENET |  |
* |
10 Mbps Ethernet (Slave) |
| PROFI | |
|
PROFIBUS-DP (Slave) |
| SERIAL | |
** |
Serial RS-232, RS-422, RS-485 (Slave) |
| MB+ | |
Modbus Plus (Slave) | |
| UI/O | |
SSI Inter-controller Communciation | |
| DI/O | |
|
Discrete I/O |
* The RMC150E CPU has 10/100 Ethernet built into the CPU module.
** To communicate to the RMC150E via serial RS-232/485, use third-party ethernet-to-serial converters.
Transducer Interface Modules
| Module | RMC100 | RMC150E | Axes | Feedback Interface | Drive Output (1 per axis) |
|---|---|---|---|---|---|
| M | |
|
2 | MDT (Start/Stop, PWM) | ±10V*, 12-bit analog |
| S | |
|
2 | SSI RMC150: 8-31 bits RMC100: 4-32 bits |
±10V*, 12-bit analog |
| H | |
|
2 | Analog (4 inputs, 16-bit) | ±10V*, 12-bit analog |
| G | |
|
2 | Analog (2 inputs, 16-bit)** | ±10V*, 12-bit analog |
| A | |
|
0 | Analog (4 inputs, 12-bit) | none |
| Q | |
|
2 | Quadrature 5V differential (RS-422) |
±10V*, 14-bit analog |
| QST | |
2 | Quadrature 5V differential (RS-422) |
Step and Direction | |
| R | |
|
2 | Resolver | ±10V*, 14-bit analog |
| DI/O | |
|
0 | 18 discrete inputs, 8 discrete outputs | none |
| UI/O | |
0 | Two Analog Inputs, 6 Discrete I/O, 2 Quadrature/SSI Channels | none |
* Use Delta’s VC2124 to convert from ±10V to bipolar current, ±10mA to ±100mA.
** G module does not have 4-20mA input capability, use H or A for 4-20mA inputs.
RMC100 Control Options
The RMC100 comes standard with a rich set of pre-programmed motion algorithms, which can reduce motion system implementation time by a factor of 10 or more. Motion control options extend from “Quick Moves” which allow positioning at the maximum speed possible by the physical system, to sophisticated curve-following routines and powerful force and position/pressure modes. Your choice of Motion Control Options will depend on the required performance and physical system parameters.
| Motion Control Options | Performance Characteristics |
|---|---|
| Trapezoidal Profile | Easy to synchronize. Can be changed on the fly. Edges cause discontinuities limited by drive performance |
| S-Curve Ramps | Smoother control, produces higher peak accelerations |
| Quick Mode | Fast point-to-point moves, cannot synchronize |
| Splines | Cubic splines produce smooth curves from a few points. |
| Open Loop | Controls output directly instead of using PID—useful during setup, and for jogging and special applications |
| Synchronized Moves | Axes track even if moving different distances, speed limited by slowest axis (linear interpolation). |
| Electronic Gearing | Multiple axes can track Master (often a quadrature encoder) |
| Analog Reference | Analog signal (joystick, PLC output, etc) can be Master |
| Filtered Reference | Any input type (analog, MDT, quadrature, etc.) can be used as a reference, with adjustable filtering |
This is is only a partial list. Delta periodically provides new releases of RMC firmware and software incorporating field and customer driven ideas and suggestions.
| Pressure Control Options | Performance Characteristics |
|---|---|
| Position/Pressure or Position/Differential Force | Transfer smoothly between Position Control and Pressure or Force Control |
| Pressure or Differential Force Limit | Position Control limited by Pressure or Force |
| Pressure or Differential Force | Control only by Pressure or Force |
| Pressure Regulating Mode | Control pressure or force similar to position |
This is is only a partial list. Delta periodically provides new releases of RMC firmware and software incorporating field and customer driven ideas and suggestions.
Complete Parameter Set
RMC100 motion controllers contain a full set of parameters for servo control of electric, hydraulic and pneumatic systems, including:
- Proportional, Differential, and Integral (PID) gains with provision for different gains depending on direction of travel (important for fluid power applications)
- Velocity and Acceleration Feed-forward. (Velocity Feed-forward auto-tuning takes the math out of the rod-end cylinder gain calculations)
This is is only a partial list. Delta periodically provides new releases of RMC firmware and software incorporating field and customer driven ideas and suggestions.
Programming
With the RMC100 Series, motion control programming can be done in a variety of ways. It can be done entirely within the host PLC (or other host system) by issuing commands to the RMC. Or, for simple applications, programming can be done entirely within the RMC using the RMC100 256-step Event Step Table (user programs in the RMC150). Alternatively, fast sequences can be implemented in the Event Step Table (user programs in the RMC150) which execute at the RMC loop time, while less time-critical functions are handled via the PLC.