24-Point Discrete I/O Module including 4 high-speed inputs
The D24 discrete I/O module for the RMC200 contains 20 discrete I/O points that are designed for 24 VDC signals and are individually user-configurable as inputs or outputs, and 4 high-speed discrete inputs for 5 or 12-24 VDC signals for quadrature encoder, pulse counter, or general-purpose use.
General-Purpose Discrete I/O
Discrete I/O points (0-19) are general-purpose inputs:
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I/O Points |
Features |
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0-19 |
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High-Speed Discrete Input Features
The quadrature functionality of the D24 high-speed inputs is designed for single-ended and differential signals and voltages levels of 5 or 12-24 V, supports up to two quadrature encoder inputs depending on the configuration, and is not necessarily intended for RS-422 signals. The pulse counter functionality of the D24 high-speed inputs is designed for single-ended pulse train signals of 5 or 12-24 V. The D24 supports up to two pulse counters. These pulse counters can be used for feedback in a control axis.
Note:
For quadrature encoder signals, Delta always recommends the RS-422 line
driver, as it provides the highest speed and noise immunity. RS-422 quadrature
signals are supported by the Q4, U14,
and S8 modules. The D24 quadrature input is
intended for existing non-RS-422 encoders that cannot be easily changed.
The D24 high-speed inputs 20-23 support the following:
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Feature |
Options |
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Quadrature Option |
Selectable in the D24 properties dialog:
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A, B, and Z Input Type |
Hardware selectable:
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Counter Mode |
Choose from standard quadrature or a pulse counter. Pulse counters cannot detect direction.
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H Input Threshold |
Hardware selectable:
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R Input Threshold |
Hardware selectable:
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Homing, and Registration sources |
The inputs that can be used as home inputs or registration inputs, based on the selected D24 quadrature option (as selected in the D24 Properties) are as follows.
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General-Purpose Inputs
The high-speed inputs can be used a general-purpose inputs and appear in the Discrete I/O Monitor.
Quadrature Encoder Functionality
The high-speed inputs are software-configurable as one of the following options:
1 quadrature input (A, B, Z), uses inputs 20-22.
1 quadrature input with complements (A, A, B, B) and wire break detection, uses inputs 20-23.
2 quadrature inputs with A and B, uses inputs 20-23.
The quadrature inputs support the following A and B signal types:
Differential from 5V to 24V
Single-ended from 5V to 24V
Note:
The D24 does not necessarily support RS-422. The minimum RS-422 differential
is 0.200 V, whereas the D24 high-speed inputs require 3.5V to turn on.
However, some RS-422 encoders do provide enough differential voltage to
be compatible with the D24 quadrature input. Alternatively, an RS-422
signal can be wired to the D24 inputs via only one side of the RS-422
signal and a separately applied 5V supply. See the D24
Wiring topic for details.
Consider using the Q4, S8,
or U14 modules for RS-422 quadrature encoders
instead.
Pulse-counter Functionality
The high-speed inputs are software-configurable as up to two pulse counter inputs (input 20 and/or 22), with the following options:
Rising edge counter
Falling edge counter
Rising and falling edge counter
This functionality requires configuring one or two quadrature encoder inputs.
Part Number
The part number of the D24 module is R200-D24.
Setting Up the D24 Module
Wiring
See D24 Wiring.
Configuring General-Purpose Inputs and Outputs
Use the Discrete I/O Configuration to individually configure I/O points 0-19 as inputs or output, assign tag names, and define behavior when the RMC enters Program mode or Fault mode.
The high-speed inputs 20-23 also appear in the Discrete I/O Configuration and can be assigned a tag name, and will also appear in the Discrete I/O Monitor.
Configuring High-Speed Inputs
To configure quadrature encoder inputs:
In the Project Pane, expand the Modules folder.
Right-click the D24 module and choose Properties.
On the Configuration page, choose the desired quadrature configuration.
Click OK. RMCTools may prompt you that the controller will need to restart to apply the changes.
Define an axis using the D24 quadrature input.
The following axis parameters may need to be configured in Axis Tools:
Scale the axis as described in the Quadrature Scaling topic.
Specifications
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General |
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Weight |
397 g + 26 g (2 connectors) |
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General Purpose Discrete I/O |
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Discrete I/O points |
20; each is individually configurable as inputs or outputs. |
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General Purpose Inputs |
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Input Characteristics |
12-24 VDC, polarity independent |
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Functional Isolation |
500 VAC |
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Input "High" Range |
9 to 26.4 VDC (polarity independent) |
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Input "Low" Range |
0 to 5 VDC (polarity independent) |
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Logic Polarity |
True High |
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Maximum Propagation Delay |
100 µs, (750 µs, open collector “Off”) |
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General Purpose Outputs |
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Outputs |
Solid State Relay |
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Functional Isolation |
500 VAC |
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Maximum voltage |
±30 V (DC or peak AC voltage) |
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Maximum current |
±75 mA |
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Maximum propagation delay |
2 ms turn-on, 0.5 ms turn-off |
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Logic 1 (True, On) |
Low impedance (15 Ω maximum) |
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Logic 0 (False, Off) |
High impedance (<100 nA leakage current at 30 V) |
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High-Speed Inputs |
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Input Characteristics |
5 or 12-24 VDC (separate pins for 5 or 24 VDC) |
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Functional Isolation |
500 VAC |
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Input "High" Range |
5 VDC input: 3.5 to 5.5 VDC, 7.5 mA maximum 12-24 VDC input: 9 to 26.4 VDC, 7 mA maximum |
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Input "Low" Range |
5 VDC input: 0 to 1.7 VDC, <1 mA maximum 12-24 VDC input: 0 to 5 VDC, <1 mA maximum |
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Logic Polarity |
True High |
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Maximum Propagation Delay for general-purpose usage |
100 µs |
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Maximum Propagation Delay for quadrature encoder |
Off to On: 5 Vdc input: 0.8 µs 12-24 Vdc input: 0.8 µs On to Off: 5 Vdc input: 0.8 µs, (1.7 µs, open collector drive, 5V) 12-24 Vdc input: 1.0 µs, (12 µs, open collector drive, 24V) |
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Maximum Input Frequency |
5 Vdc input: 1,000 kHz, (400 kHz, open collector drive, 5V) 12-24 Vdc input: 500 kHz, (25 kHz, open collector drive, 24V) |
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Power |
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Max Power Dissipation |
1.0 W, plus 50 mW per I/O point used |
LEDs
Light Bar
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State |
Description |
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Off |
No power to the RMC200 or the module was not inserted when the RMC200 powered up. |
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Blue |
The module was recognized at power-up. |
I/O LEDs
The D24 module has 1 LED per I/O point. The LEDs reflect the state of the input.
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State |
Description |
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Off |
I/O point is off If this I/O point is configured as an input, then the input is currently low (inactive). If this I/O point is configured as an output, then the output is currently open (inactive). |
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Orange |
Input is on This I/O point is configured as an input, and the input is currently high (active). |
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Yellow |
Output is on This I/O point is configured as an output, and the output is currently closed (active). |
Note:
Forcing an input will not affect
the state of the LED. Only a physical current that turns on the input
will turn the LED on.
Forcing an output will turn the
LED on, because the output will physically be on (conducting).
See Also
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