RMC200 Motion Controller I/O Modules

A8 - Analog Inputs: 8 Analog Inputs, ±10 V or 4-20 mA

The A8 module provides eight analog inputs for ± 10 V or 4-20 mA signals, with 18 bits of resolution. The A8 module includes 10 Vdc exciter outputs intended for use with potentiometers. One LED per channel indicates the state of the respective input.

Features

• Eight 18-bit differential inputs
• Inputs individually selectable to ± 10 V or 4-20 mA
• 1 MΩ voltage impedance, 250 Ω current impedance
• 200 kHz internal sampling frequency (returns one sample per loop time)
• User-selectable low-pass sampling filter
• Exciter output 10 Vdc ± 2%, 40 mA max total per terminal block

S8 - SSI Inputs: 8 SSI or MDT Inputs

The S8 module provides eight inputs, individually software selectable as SSI, or as magnetostrictive Start/Stop or PWM inputs. One RS-422 quadrature input (A+, A-, B+, B-) may be configured in software, using inputs 6 and 7 on the S8 module.

The S8 module interfaces with both linear sensors and rotary encoders. One LED per channel indicates the state of the respective input.

Features

SSI Interface

• RS-422 differential data and clock
• Software selectable data input impedance
• Clock selectable from 100 kHz to 2500 kHz
• Up to 0.5µm resolution for magnetostrictive linear displacement transducers
• 8 to 32 bits, binary or gray code

Start/Stop and PWM Interface

• MDT with Start/Stop or PWM feedback
• RS-422 differential for external interrogation and return input
• 0.0005 in. resolution
• 440 in. maximum transducer length at 4 ms loop time

Quadrature Interface

• 5V differential (RS-422) receiver for A+, A-, B+, B-.
• Software selectable data input impedance
• Maximum 8,000,000 quadrature counts/second

Cables

Cables for the A8 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

Q4 - Quadrature Inputs: 4 Quadrature Encoder Inputs

The Q4 module provides four quadrature (A, B, Z) inputs with one home input and one registration input per quadrature input. One LED per channel indicates the state of the respective input.

Each A quad B input is individually software-configurable as one of the following input types:

• RS-422 differential receiver
• Single-ended TTL-level input
• Differential HTL (High Threshold Logic), up to 24 Vdc signals
• Single-ended HTL (High Threshold Logic), up to 24 Vdc signals

Each Z (index) input is individually software-configurable as one of the above input types, or a DI (discrete input) type, to support an index input that may be external to the encoder.

Termination is software-selectable for the A and B inputs, and separately for the Z inputs.

Delta recommends an RS-422 line driver output for quadrature encoders, as it provides the highest speed and very good noise immunity. The TTL and HTL input types are intended for retrofit applications where an existing encoder cannot easily be changed to RS-422. For new machine designs, Delta recommends RS-422.

Cables

Cables for the Q4 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

CA4 - Control Outputs: 4 Analog Outputs, ±10 V, 4-20 mA, or ±20 mA, with Fault Inputs and Enable Outputs

The CA4 module provides four analog outputs specifically designed for control outputs to valves, amplifiers, or drives. The outputs are individually software selectable as ±10 V, 4-20 mA, or ±20 mA for connection to a wide variety of actuators. The CA4 also supports custom ranges within the ±10 Vdc and ±20 mA ranges, such as 0-10 V, 0-5 V, 1-5 V, etc.

Each analog output has an associated 12-24 Vdc Fault Input and a solid state relay Enable Output. The Fault Inputs and Enable Outputs may be dedicated to the respective output, or may be used as general purpose discrete I/O.

Three LEDs per channel indicate the state of the respective analog output, Enable Output, and Fault Input.

Features

• 18 bit resolution
• Hardware output filter
• Output has overload and overvoltage protection
• Enable output is Solid State Relay, maximum ±30 V
• Enable output updates within 1.5 ms
• Fault input ±12-24 Vdc
• Fault input User selectable active High or active Low
• Fault input max Off to On delay is 100 µs

Cables

Cables for the CA4 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

CV8 - Control Outputs: 8 Analog Outputs, ±10 V only, with eight individually configurable discrete I/O

The CV8 module provides eight analog outputs specifically designed for control outputs to valves, amplifiers, or drives. The ±10 V outputs support custom ranges within the ±10 V range, such as 0-10 V, 0-5 V, 1-5 V, etc.

The CV8 provides eight discrete I/O points, individually configurable as inputs or outputs. These discrete I/O may be used for general purpose I/O, Fault Inputs, or Enable Outputs.

Each analog output has an associated LED, and each discrete I/O point has an associated LED.

Features

• 18 bit resolution
• Hardware output filter
• Output has overload and overvoltage protection
• Discrete outputs are Solid State Relay, maximum ±30 V
• Discrete outputs update within 1.5 ms
• Discrete inputs ±12-24 Vdc
• Discrete inputs max Off to On delay is 100 µs

Cables

Cables for the CV8 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

D24 - Discrete I/O: 24 discrete inputs and outputs

The D24 discrete I/O module contains 20 configurable discrete I/O points for 24 Vdc and 4 high-speed discrete inputs for either 5 or 24 Vdc signals.

The four high-speed inputs of the D24 module are software configurable as general-purpose inputs, or quadrature or pulse counter inputs. The D24 quadrature input supports single-ended encoders and encoders with complements, and up to 24 V signals. The D24 quadrature input is not designed for RS-422 drivers, but will function at a reduced input frequency.

Delta always recommends an RS-422 line driver output for quadrature encoders, as it provides the highest speed and very good noise immunity. RS-422 quadrature signals are best supported by the Q4 module and on the S8 module (only one input on the S8). The D24 quadrature is intended for retrofit applications where an existing encoder cannot easily be changed to RS-422. For new machine designs, use RS-422.

Features

• 20 general purpose discrete I/O points
• 24 Vdc signals
• Individually software-configurable as an input or output (solid state relay)
• Arranged in 3 isolated groups of 8, 8, and 4 I/O points
• Input ±12-24 Vdc
• Input 100 µs maximum delay
• Output max ±30 Vdc
• Output 1.5 ms maximum delay
• 4 high-speed inputs
• 5 or 24 VDC signals (separate pin for 5 or 12-24 Vdc connection)
• 0.5 µs maximum input delay
• Maximum input frequency 500 kHz for 12-24 Vdc, 1000 kHz for 5 Vdc
• 1 LED per I/O point

Cables

Cables for the D24 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

* The R200-D24 module requires one (1) of R2-CB-D24TB1-06A and one (1) of R2-CB-D24TB2-06A for a total of two (2) cable assemblies per R200-D24 module.

LC8 - Load Cell Inputs: Eight 24-bit load cell inputs, ±5 mV/V, with Sense Input

The LC8 module provides eight load cell inputs with two unpluggable terminal blocks of four inputs each. The LC8 supports sensitivities up to 5 mV/V with full Wheatstone bridge configurations. Quarter and half bridges are supported with a customer-supplied bridge completion circuit.

The 6.75 V excitation is intended to work with 350 ohm load cells. Load cells with lower resistance are supported, as long as the total excitation current per terminal block does not exceed 80 mA.

External customer-supplied excitation voltage may be used as long as the Max Differential Input (±34.25 mV) is not exceeded and the input voltage at In+ or In- relative to -Exc is within the Input Voltage Range (0.6 V to 6.15 V typical).

The LC8 supports 4 wire and 6 wire load cells. Each LC8 load cell input includes a single sense input for wire voltage drop compensation. Therefore, only the negative sense wire on a 6 wire load cell will be connected to the LC8 input. For accurate compensation with a single sense input, the excitation wires should be of the same length and gauge.

LC8 Features

• Eight 24-bit load cell inputs
• 8 kHz internal sampling rate
• ±33.75 mV input range (5 mV/V with 6.75 V excitation)
• ±24 V momentary overvoltage protection
• 6.75 V exciter output
• One LED per channel indicates the state of the respective input

Cables for the LC8 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

U14 - Universal I/O: Four analog inputs, two analog outputs, four discrete I/O, and two high-speed channels

The U14 module provides four analog inputs, two analog outputs, four discrete I/O, and two high-speed channels for SSI, MDT, or quadrature inputs, each with an extra high-speed input.

Analog Input Features

• Four differential analog inputs
• Individually software selectable as ±10 V, 4-20 mA, or ±20 mA
• 18 bits resolution ADCs with oversampling for increased effective resolution and noise reduction
• 200 kHz internal sampling rate
• Can be used for position, velocity, pressure, and force inputs
• One LED per channel indicates the state of the respective input

Analog Output Features

• Two analog outputs specifically designed for control outputs to valves, amplifiers, or drives
• 18 bit resolution
• Individually software selectable as ±10 V, 4-20 mA, or ±20 mA. Also supports custom ranges within the ±10 V and ±20 mA ranges, such as 0-10 V, 0-5 V, 1-5 V, etc.
• When an axis is in the disabled state, the associated U14 output is connected to Cmn through a solid state relay (2 Ohm)
• One LED per channel indicates the state of the respective analog output

Discrete I/O Features

• 4 discrete I/O, individually configurable as input or output, individually isolated
• Inputs: 12 to 24 VDC, polarity independent, sinking or sourcing driver
• Outputs: Solid state relay, 75 mA continuous
• One LED per I/O point indicates the status of the input or output
• D0 and D1 may be used as registration or homing inputs in conjunction with the high-speed channels in quadrature input mode, but are not high-speed inputs

High-Speed Channels

Each of the two high-speed channels are independently configurable as SSI, magnetostrictive Start/Stop or PWM, or Quadrature. One LED per channel indicates the state of the respective input.

SSI Channels

• Binary or Gray Code
• Rotary encoders or linear transducers
• 8 to 32 bits of data
• Differential RS-422 SSI interface

The SSI channels can be configured to do the following tasks:

SSI Input

• This is a standard SSI input for obtaining data from an SSI transducer or encoder.

SSI Monitor

• Each channel can be configured as to monitor the data that another SSI master is receiving from an SSI device. This makes it possible to synchronize multiple RMCs to one SSI transducer.

SSI Echo

• Channel 1 can be configured to output the data from channel 0, which must be configured as an SSI input. Channel 1 will then behave as an SSI device (like a transducer or encoder). This is useful when another SSI device needs to receive the same data that the RMC is receiving, and the RMC must be in control of sending the clock to the SSI device.

MDT (Magnetostrictive Displacement Transducer) Channels

• Start/Stop or PWM
• Requires RS-422 signals

Quadrature Channels

Each high-speed channel is individually software-configurable as one of the following quadrature (A and B) input types:

• RS-422 differential receiver (recommended)
• Single-ended TTL-level input
• Differential HTL (High Threshold Logic), up to 24 Vdc signals
• Single-ended HTL (High Threshold Logic), 7 or 12 V threshold

Counter mode options include standard quadrature or a pulse counter. Pulse counters cannot detect direction.

• A Quad B (standard incremental quadrature encoder)
• A Rising Edge (pulse counter)
• A Falling Edge (pulse counter)
• A Both Edges (pulse counter)

The Reg/Z0 and Reg/Z1 inputs can be used as high-speed registration in conjunction with quadrature inputs 0 and 1.

The Reg/Z0 and Reg/Z1 inputs can be used as an Index (Z) or Home input in conjunction with quadrature inputs 0 and 1, respectively, for homing based on the encoders Index (Z) signal or a home signal.

Discrete I/O points D0 and D1 can be used in conjunction with quadrature inputs 0 and 1 for registration and homing, but are not high-speed inputs.

Each Reg/Z input is individually software-configurable as one of the following input types to support an index input that may be external to the encoder.

• RS-422 differential receiver (recommended)
• Single-ended TTL-level input
• Differential HTL (High Threshold Logic), up to 24 Vdc signals
• Single-ended HTL (High Threshold Logic), 7 or 12 V threshold
• DI (discrete input), for 12-24 VDC signals

Termination is software-selectable for the A and B inputs, and separately for the Z inputs.

Delta recommends an RS-422 line driver output for quadrature encoders, as it provides the highest speed and very good noise immunity. The TTL and HTL input types are intended for retrofit applications where an existing encoder cannot easily be changed to RS-422. For new machine designs, Delta recommends RS-422.

Registration/Quad Z Inputs

The Reg/Z inputs may be used together with the high-speed channels when configured as quadrature, as described above in the High-Speed Channels section. The Reg/Z inputs are also available as general-purpose discrete inputs. When the high-speed channel is in Quadrature mode, the Reg/Z will be configurable using the Quadrature axis parameters. In all other modes, the Reg/Z will be set as a single-ended HTL input with a 12V threshold.

Cables

Cables for the U14 module are available for purchase from Delta. These cables are for short distances between the RMC200 and terminal blocks within the same cabinet. See RMC200 Cables Overview for ordering details for all RMC200 cables.

* The R200-U14 module requires one (1) of R2-CB-U14TB1-nnA and one (1) of R2-CB-U14TB2-nnA for a total of two (2) cable assemblies per R200-U14 module.