RMC70 DatasheetRMC75 Motion Controller
1 or 2-Axis Motion Controller
The RMC70 product complements Delta’s flagship RMC100 multi-axis series and expands Delta markets by offering even more value for one and two axis applications. The following is a list of the currently available features. More options will be available in future releases.
RMC70 Hardware
The RMC70 is a modular controller. The Base module — consisting of the CPU and the Axis module — is factory-configured. Each factory-installed Axis module is available with one or two control axis interfaces. Up to 4 expansion modules may be added to the RMC70, including digital I/O, analog reference and pressure or force inputs.
| Base Module | Expansion Modules | |
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| CPU Module |
Axis Module |
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Click Photo for High Resolution Version |
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| CPU Module |
Communication Type | Monitor Port |
|---|---|---|
| RMC75E | Ethernet (Slave) Modbus/TCP, CSP, EtherNet/IP Explicit Messaging and I/O, PROFINET |
USB |
| RMC75P | PROFIBUS-DP (Slave) | RS-232 |
| RMC75S | Serial RS-232, RS-485 (Slave) Allen-Bradley DF1, Modbus/RTU |
RS-232 |
| Axis Module |
# Axes | Feedback Interface* | Control Output* |
|---|---|---|---|
| AA1 | 1 | Analog (16 bits), ±10V or 4-20mA | Analog: ±10V, 16-bit** |
| AA2 | 2 | Analog (16 bits), ±10V or 4-20mA | Analog: ±10V, 16-bit** |
| MA1 | 1 | MDT (Start/Stop or PWM), SSI | Analog: ±10V, 16-bit** |
| MA2 | 2 | MDT (Start/Stop or PWM), SSI | Analog: ±10V, 16-bit** |
| QA1 | 1 | Quadrature (5 V differential) | Analog: ±10V, 16-bit** |
| QA2 | 2 | Quadrature (5 V differential) | Analog: ±10V, 16-bit** |
*one per axis
**Use Delta’s VC2124 voltage-to-current converter to provide a current output.
| Expansion Module | Description |
|---|---|
| EXP70-D8 | Discrete I/O Eight 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. |
| EXP70-AP2 | Analog Inputs with Pressure Control and Pressure Limit 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. |
| EXP70-A2 | Analog Inputs Two differential ±10 V or 4-20 mA analog reference inputs. Inputs are 16 bit resolution, and are optically isolated from the controller. |
| EXP70-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. |
RMC70 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. - PreScan Table
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.
RMC70 Control Modes
The RMC70 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
- 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 and 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!