Quadrature (Q) Module (RMC150)

The Quadrature module for the RMC150 interfaces to RS-422 quadrature feedback devices, both rotary encoders and linear transducers. The Quad module allows cost effective control of a wide variety of electric drives as well as electric and hydraulic servo motors.

The 2-axis Quad module generates analog control outputs and interfaces to quadrature encoders with 5V RS-422 differential signals. Additional high-speed inputs allow for homing, registration, or positive and negative limits on a per axis basis.

See the Quadrature Fundamentals topic for details on how quadrature feedback works.

Features

Two axes of 5 V RS-422 differential quadrature feedback per module
Phase A and B (A, A, B, B)
Index Z (Z, Z)
4,000,000 counts/second maximum
High-speed dedicated Home position input
50 µs response to home input
Positive and negative travel limit inputs
Digital noise filters on all inputs
Status LEDs
Two isolated, ±10 V, 14-bit control outputs per module
Current output up to ±200 mA with VC2124 converter option
1 Fault input per axis
1 Enable output per axis

2 Inputs per axis for Travel Limits or Registration Inputs
All discrete inputs are isolated

Part Number

The part number of the MDT module is Qn, where n is the number of Quad modules.

For example, RMC150E-Q1 is an RMC150E with one Quad module. RMC150E-Q3-H1 is an RMC150E with three Quad modules and one Analog H module.

Setting Up the Quad Module

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

Quad Wiring

Quadrature Scaling

Specifications

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

General
Weight	135 g
Quadrature Interface
Encoder Inputs	5 V RS-422 differential receiver Quadrature A, B, Z
Input Impedance	215 Ω termination
Max. Encoder Frequency	4,000,000 quadrature counts/second
ESD Protection	15 kV
RegX/PosLim, RegY/NegLim, Home and Fault Inputs
Input Characteristics	5-24 VDC, sinking (sourcing driver)
Logic Polarity	True High
Isolation	500 VAC
Input "High" Range	3.2 to 26.4 VDC 3.5 mA minumum, 10 mA maximum
Input "Low" Range	0 to 2 VDC <1 mA
Max Propagation Delay	50 µs
Enable Output
Output Type	Solid State Relay
Logic Polarity	User selectable to Active Open or Active Closed
Rated Voltage	12-24 V, max ±30 V (DC or peak AC voltage)
Maximum Current	±75 mA (±50 mA for Class I, Div 2)
Maximum Propagation Delay	1.5 ms
Closed	Low impedance (50 Ω maximum)
Open	High impedance (<1 µA leakage current at 250 V)
Fault Input
Input Characteristics	5-24 VDC, Sinking (sourcing driver)
Logic Polarity	True High
Input "High" Range	3.2 to 26.4 VDC (polarity independent) 10 mA maximum
Input "Low" Range	0 to 2 VDC (polarity independent) <1 mA
Maximum Propagation Delay	50 µs
Control Outputs
Range	±10 V @ 5 mA (2 kΩ or greater load) (For current VC2124, use the VC2100 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	14 bits
Output Isolation	500 VAC
Overload Protection	One-second short-circuit duration
Overvoltage Protection	Outputs are protected by clamp diodes

Using the Quadrature Module Features

See the following topics for details on the various features of the Quadrature module:

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 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 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.
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.