UI/O Module (RMC150)

Two Analog Inputs, 6 Discrete I/O, 2 Quadrature/SSI Channels with Inter-Controller Communication

The Universal I/O module for the RMC150 provides two analog inputs, six discrete I/O, and two high-speed channels that can be configured for quadrature inputs, SSI inputs, or even inter-controller communications for synchronizing axes between RMCs.

Analog Input Features

Two 16-bit analog inputs, ±10 V or 4-20 mA

Discrete I/O Features

6 I/O, individually configurable as input or output
Inputs: 12 to 24 VDC, sinking (require sourcing driver)
Outputs: Solid state relay, 50 mA continuous
Inputs 0 and 1 can be used as high-speed registration inputs in conjunction with the quadrature inputs.

High-Speed Channels

Each of the two RS-422 channels are independently configurable as Quadrature or SSI.

Quadrature Channels

A and B quadrature inputs
Requires 5 V differential (RS-422) signals
Discrete inputs 0 and 1 can be used as high-speed registration or homing inputs in conjunction with quadrature inputs 0 and 1, respectively.

SSI Channels

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

Receive SSI Input from a Transducer
This is a standard SSI input for obtaining data from an SSI transducer or encoder.

Monitor SSI Communication on Another Device
The SSI channel can monitor the data that another RMC is receiving from an SSI device. This makes it possible to synchronize multiple RMCs to one SSI transducer.
Send Data Out Via SSI (Slave)
The SSI channel behaves as a transducer or encoder and will return data to the requesting master.
Send Data between RMCs
The SSI channels can continuously send any RMC register to an SSI input on another RMC. This provides communication between RMCs. Notice that only one register can be transferred between RMCs.

Part Number

The UI/O Module can be placed in slot 0, 2, 3, 4, or 5 of the RMC150 backplane. However, because the backplane connector of slot 0 (the leftmost slot) is different from that of slots 2-5, the part number of a UI/O module for slot 0 differs from a UI/O module for slots 2-5.

If placed in slot 0, the part number is UI/O. If placed in slots 2, 3, 4, or 5, the part number is Un, where n is the number of U modules. Multiple Universal I/O modules can be placed in the same rack.

Slot

Part Number

UI/O

This must be added to the end of the part number, for example RMC150E-M1-H2-UI/O.

2-5

Un
where n is the number of UI/O modules, for example RMC150E-M1-U2.

Setting Up UI/O Analog Inputs

Wire the analog input as described in the Analog Wiring topic.
Assign the input to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, for the axis to which the input is assigned, set the Input Type parameter to Voltage or Current.
Scale the axis as described in the Analog Position Scaling topic.

Setting Up UI/O Discrete I/O

Use the Discrete I/O Configuration dialog to configure each I/O point as an input or output.
Wire the I/O points as described in the RMC150 UI/O Wiring topic.

Setting Up UI/O Quad/SSI Channels

These channels must be configured before being used for such tasks as assigning to axis inputs. See Configuring UI/O Channels for details.

Specifications

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

General
Weight	86 g + 28 g (stock connectors)
Analog Input Interface
Inputs	Two 16-bit differential
Isolation	500 VDC
Overvoltage Protection	±40 V
Input Ranges	±10 V and 4-20 mA (each input individually configurable)
Input Impedance	5 MΩ
Input Frequency	1.2 kHz
Input Filter Slew Rate	25 V/ms
Sampling Rate	60 kHz
Offset Drift with Temperature	0.2 LSB/°C typical
Gain Drift with Temperature	20 ppm/°C typical
Non-linearity	12 LSB (counts) typical over full 16-bit range
Discrete I/O - General
Discrete I/O Points	6; each is individually configurable as input or output
Isolation	500 VAC
Discrete I/O - Inputs
Input Characteristics	12-24 VDC, sinking or sourcing
Logic Polarity	True High
Input "High" Range	7 to 26.4 VDC (polarity independent), 3 mA maximum
Input "Low" Range	0 to 3.5 VDC (polarity independent), <1 mA
Maximum Propagation Delay	160µsec + filtering
Filtering	50 µsec (value stable for 7 samples @ 8 µsec interval)
Registration	Inputs 0 and 1 can be used as high-speed registration inputs in conjunction with the quadrature inputs. For this use, filtering can be set to 100 ns (max propagation delay is still 100 µsec).
Discrete I/O - Outputs
Output Characteristics	Solid State Relay
Logic Polarity	True On
Maximum Voltage	± 30 V (DC or peak AC voltage rating of SSR)
Maximum Current	±75 mA
Maximum Propagation Delay	2.0 ms
Logic 1 (True, On)	Low impedance (50 Ω maximum, 25 Ω typical)
Logic 0 (False, Off)	High impedance (<1 µA leakage current at 250 V)
High-Speed Channels
Channels	2, independently configurable
Transducer types	Magnetostrictive (with SSI output), single- or multi-turn absolute encoders, quadrature encoders. Note: Linear magnetostrictive transducers with SSI output should be of the synchronized type. Non-synchronized is not well-suited for motion control.
Modes	Quadrature input SSI Standard input – for interfacing to transducers and encoders SSI Monitor input – for monitoring SSI communication on another device SSI Slave output – emulates a transducer SSI Master output – for sending data to another controller
Input Type (Data/Clock/Quad)	RS-422 (5 V differential) (Single-ended encoders not supported due to low noise immunity)
Output Type (Clock/Data)	RS-422 (5 V differential)
Clock frequency	250 kHz, 500 kHz, or 971 kHz, user-selectable
Resolution	Transducer dependent (typically down to 2 μm or approximately 0.00008” for MDTs)
SSI Count encoding	Binary or Gray Code
SSI Count data length	8 to 32 bits
Input Impedance	16 kΩ unterminated 120 Ω terminated A and B termination is software-selectable via the Input Termination parameter.
Registration	Discrete inputs 0 and 1 can be used as high-speed registration for channels 0 and 1 respectively.
Registration Response Time	160 μs
Max Encoder Frequency	8,000,000 quadrature counts per second
Maximum Cable Length	Dependent on transducer and cable quality (Low capacitance, shielded, twisted pair computer communication cable). SSI Wire Delay compensation can allow wire lengths that exceed the transducer manufacturer's specifications.
Electrostatic Discharge (ESD)protection	15 kV (human body model)
Isolation	500 VAC