Analog (H) Module (RMC150)

Two Control Outputs and Four 16-bit Analog Inputs

The Analog (H) module for the RMC150 interfaces to analog voltage or current transducers. Providing four 16-bit resolution inputs, this module includes control outputs and is capable of controlling pressure, force, and position applications. The Analog (H) module front bezel is labeled ANLG.

The Analog (H) module can be used for position control. However, higher precision of position can typically be obtained with MDT or SSI feedback. Analog systems are often more susceptible to noise.

In addition to the Analog (H) module, the RMC150 supports the following analog modules:

Analog (G) Module
Two control outputs and two 16-bit analog voltage inputs for voltage-feedback position, velocity, pressure, or force control applications.
Analog (A) Module
A four-input 12-bit analog module with no control outputs. Used for reference inputs, or the secondary inputs of position-pressure or position-force axes.

Features

Four isolated 16-bit inputs
8 times oversampling
±10 V, ±5 V, and 4-20 mA input ranges
+10 V exciter output
Two isolated, ±10 V, 12-bit control outputs per module
Current output up to ±200 mA with VC2124 converter option
Broken wire detection

Part Number

The part number of the Analog H module is Hn, where n is the number of Analog (H) modules.

For example, RMC150E-H1 is an RMC150E with one Analog (H) module. RMC150E-H3-Q1 is an RMC150E with three Analog (H) modules and one Quadrature module.

Setting Up the H Module

To set up the H module, read the following topics:

Analog Wiring

Analog Position Scaling

Specifications

For general specifications on the RMC150, see the RMC150 Overview topic.

General
Weight	115 g + 23 g (stock connectors)
Analog Input Interface
Inputs	Four 16-bit differential
Isolation	500 VAC
Overvoltage Protection	±40 V
Input Ranges	±10 V, ±5 V and 4-20 mA (each channel independently configured via jumper)
Broken wire detection	When the input is not connected, internal biasing pulls the input voltage down to its full negative value.
Input Impedance	Voltage Input: 1 MΩ Current Input: 250 Ω
Input Filter Slew Rate	25 V/ms
Oversampling	8 times per control loop
Offset drift with temperature	0.2 LSB/°C typical (+10 V range)
Gain drift with temperature	20 ppm/°C typical (+10 V range)
Non-linearity	12 LSB (counts) typical (+10 V range)
Exciter Output	10 VDC ± 2%, 8 mA
Control Outputs
Range	±10 V @ 5 mA (2 kΩ or greater load) (For current output, use the VC2124 accessory:±10 mA to ±200 mA in 10 mA steps)
Tolerance	At 10 V: +200 mV, -100 mV At 0 V: ±50 mV At -10 V: +100 mV, -200 mV
Resolution	12 bits
Output Isolation	500 VAC
Overload Protection	One-second short-circuit duration
Overvoltage Protection	Outputs are protected by clamp diodes

LEDS

Axis 0 LED

Axis LED applies to the Drive 0 output or feedback input 0 as described below:

If Drive 0 is assigned to an axis that has an input (i.e. isn't output-only), then that axis will own the Axis 0 LED.
Otherwise, if a reference input axis (no output) uses input 0, then that axis will own the Axis 0 LED.
Otherwise, if Drive 0 is assigned to an output-only axis, then that axis will own Axis 0 LED.

Axis 1 LED

Axis 1 LED applies to the Drive 1 output or feedback input 1 or 2 as described below:

If Drive 1 is assigned to an axis that has an input (i.e. isn't output-only), then that axis will own the Axis 1 LED.
Otherwise, if a reference input axis (no output) uses input 2, then that axis will own the Axis 1 LED.
Otherwise, if a reference input axis (no output) uses input 1, then that axis will own the Axis 1 LED.
Otherwise, if Drive 1 is assigned to an output-only axis, then that axis will own the Axis 1 LED.

LED Colors

State	Description
Steady Off	No power or the output/input is not assigned to an axis or the inputs are assigned to an axis as secondary inputs.
Steady Green	The axis is either in closed loop control or is a reference axis. The axis is not halted.
Flashing Green	The output is in open loop and the axis is not halted (not possible for reference axes).
Flashing Red	A Closed Loop Halt or External Halt has occurred because an error bit is set (not possible for reference axes). The LED will not turn red due to a halt caused by a halt command.
Steady Red	An Open Loop Halt or Direct Output Halt has occurred because an error bit is set (for reference axes, any halt has occurred). The LED will not turn red due to a halt caused by a halt command.