Communicating with RMC151 Motion Controller

We are considering the purchase of a hydraulic power unit that will use a RMC151 motion controller and an internal program for electronic flow and pressure control. This internal program will need inputs from an HMI we provide to set flow and pressure.
We would like to use NI hardware we already own, cDAQ 9139 or cRIO 9022, to communicate via HMI with the RMC151 controller and then automate tests that require pressure and flow to be adjusted throughout the life cycle of the tests automatically.
Based on this, can anyone provide some insight on how the NI hardware (and which one of the two we own might be better for the job) would communicate with the RMC151 motion controller? If there's a particular protocol we should use or if anyone has any experience implementing this, I'd love to discuss the topic.
RMC151 Info - http://deltamotion.com/products/motion/rmc150/cpu150.php
Thank You.
Michael Steward

RMC151 supports modbus. Hence, you can use it with 9022. I recommends 9022 more than 9139, since it's a real-time controller which is more suitable for control job.

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> others doing things like this but I am unsure of how to program
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