Q4 Module (RMC200)

Four (4) Quadrature Encoder Inputs with Home and Registration Inputs

The Q4 module for the RMC200 provides four incremental quadrature encoder (A, B, Z) inputs with one home input and one registration input per encoder input. LED's indicate the state of each quadrature input, each home input, and each registration input.

The Q4 has the following software configuration options:

General
Weight	372 g + 26 g (2 connectors)
Feature	Options
A and B Input Type	Set this to match your encoder. Delta always recommends RS-422 encoders for noise immunity and speed performance. 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
Z Input Type	Set this to match the Z (Index) pulse of your encoder. Delta always recommends RS-422 encoders for noise immunity and speed performance. 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 DI (Discrete Input), up to 24 Vdc signals
Counter Mode	Choose from 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)
A and B Termination	Selectable On or Off
Z Termination	Selectable On or Off
H Input Type	TTL DI (Discrete Input), up to 24 Vdc signals
R Input Type	5 V or 12-24 V
HTL Threshold	For setting the threshold level of the A, B and Z single-ended HTL option: 7 V (suitable for 12 V signals) 12 V (suitable for 24 V signals)
Homing and Registration sources	The Homing and Registration functions on the Q4 can come from any of the following inputs: For Q4 channel 0 or 1: Home0, Home1, Reg0, Reg1 For Q4 channel 2 or 3: Home2, Home3, Reg2, Reg3
Power
Max Power Dissipation	1.4 W

*The HTL single-ended threshold of these items can be set with the HTL Threshold parameter.

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.

Part Number

The part number of the Q4 module is R200-Q4.

Setting Up the Q4 Module

Wiring

See Q4 Wiring.

Axis Definitions

In order to use a Q4 quadrature input, it must be assigned to an RMC internal software axis, via the Axis Definitions Dialog.

Feedback Parameters

After a Q4 input has been assigned to an axis, the following axis parameters may need to be configured in Axis Tools:

Scale/Offset

After configuring the axis feedback parameters, the feedback value must be scaled to practical measurement units:

Quadrature Scaling

Homing and Registration

For Homing and registration events on the Q4, there are multiple options for the source input. The source input is specified by the command parameters in the in the Arm Home (50) and Arm Registration (52) commands. See the Homing and Registration topics for more details.

Specifications

Quadrature Inputs
A and B Input Types, software selectable	RS-422 (5V differential receiver for A+, A-, B+, B-) HTL differential (A+, A-, B+, B-) HTL single-ended 12V (A, B) HTL single-ended 24V (A, B) TTL single-ended (A, B)
Z Input Types, software selectable	RS-422 (Z+, Z-) HTL differential (Z+, Z-) HTL single-ended 12V (Z) HTL single-ended 24V (Z) TTL single-ended (Z) DI (discrete input) (Z)
Termination	Software selectable in RS-422 and TTL modes for A and B and for Z. Input impedance: 115 Ω or >100 kΩ
Absolute Max Input Voltage	26.2 V
Absolute Min Input Voltage	-26.2 V
Fault Voltage	The associated Fault status bit will turn on in the following cases: TTL, RS-422: Input voltage < -16V or > 16V (typical) HTL, DI: Input voltage < -16V (typical)
Home Inputs
Input Types, software selectable	TTL single-ended DI (discrete input)
RS-422 Input
Max Count Rate	12,000,000 counts per second
Min Edge Alignment	45 ns time between A edge and B edge
Min Differential Input Voltage	+/-460 mV max/min
Input Hysteresis	230 mV typical
HTL Differential Input
Max Count Rate	2,000,000 counts per second
Min Edge Alignment	60 ns time between A edge and B edge
Min Differential Input Voltage	+/-2 V max/min
Input Hysteresis	1 V typical
HTL Single-ended 12V Input
Max Count Rate	1,000,000 counts per second
Min Edge Alignment	71 ns time between A edge and B edge
Input Threshold	6 V to 8 V
Input Hysteresis	270 mV typical
HTL Single-ended 24V Input
Max Count Rate	1,000,000 counts per second
Min Edge Alignment	71 ns time between A edge and B edge
Input Threshold	11 V to 13 V
Input Hysteresis	270 mV typical
TTL Single-ended Input
Max Count Rate	1,000,000 counts per second
Min Edge Alignment	95 ns time between A edge and B edge
Input Threshold	0.8 V to 2.0 V
Input Hysteresis	530 mV typical
DI Input
Input Threshold	5.5 V to 8 V
Input Hysteresis	1.2 V typical
Max Input Current	3.3 mA
Registration Inputs
Input Characteristics	5 or 12-24 Vdc (software selectable)
Input “High” range	5 Vdc input: 3.5 to 5.5 Vdc, 7.5 mA max 12-24 Vdc input: 9 to 26.4 Vdc, 7 mA max
Input “Low” range	5 Vdc input: 0 to 1.7 Vdc, <1 mA 12-24 Vdc input: 0 to 5 Vdc, <1 mA
Maximum propagation delay	Off to On: 5 Vdc input: 0.3 µs 12-24 Vdc input: 0.3 µs On to Off: 5 Vdc input: 0.3 µs, (1.2 µs, open collector drive, 5V) 12-24 Vdc input: 0.5 µs, (11 µs, open collector drive, 24V)
Common
Functional Isolation	500 VAC

LEDs

Light Bar

State	Description
Off	No power to the RMC200 or the module was not inserted when the RMC200 powered up.
Blue	The module was recognized at power-up.

Input LEDs: In0 .. In3

Each encoder input has an associated input LED:

LED State	Description
Off	The input is not assigned to an axis.
Green	Operating normally The input is assigned to an axis and the encoder signals are in a valid range.
Red	Error The input is assigned to an axis and is not receiving valid encoder signals. This may be due to a wire break or short, or due to incorrectly configured axis feedback parameters. Transducer errors that cause an invalid value on the Q4 include: Wire break is detected. See the Encoder Status register for the wire break status bits. Input voltage fault.
Amber	Simulate mode The axis is in simulate mode. Note: The input LED may appear to be amber for certain transducer errors when the RMC is alternately seeing a valid and invalid input, and the LED is switching between red and green colors quickly enough that the LED appears to be amber.

Home LEDs Hm0 .. Hm3 and Reg LEDs Reg0 .. Reg3

State

Description

Off

Input is off

The input is currently low (inactive).

Orange

Input is on

The input is currently high (active).