gudutiankong,
Sorry for the slow reply. Yes, Delta RMCs can control electric drives and servo motors for servo sine, triangle, and trapezoidal signals. The RMCs have command for a sine wave, and we have user program examples for triangle and trapezoidal signals. The user program examples are here: https://forum.deltamotion.com/t/signal-generator-square-sawtooth-triangle/95
To control electric drives, the RMC sends a +/-10V command signal to the drive, so your drive must have a +/-10V analog input for a velocity command.