U14 Module (RMC200)

Universal Input/Output Module with:

4 Analog Inputs
±10V, 4-20 mA, or ±20 mA
2 Analog Outputs
±10V, 4-20 mA, or ±20 mA
4 Discrete I/O
Individually configurable as input (12 to 24 Vdc) or output (solid state relay)
2 High-Speed Channels
SSI, MDT, or quadrature encoder inputs
2 High-Speed Discrete Inputs
For general-purpose inputs or for registration or index (Z) inputs associated with a high-speed channel in quadrature mode

Analog Input Features

Four differential analog inputs
Individually software selectable as ±10 V, 4-20 mA, or ±20 mA
18 bits resolution ADCs with oversampling for increased effective resolution and noise reduction
200 kHz internal sampling rate
Broken wire detection
Can be used for position, velocity, pressure, and force inputs
One LED per channel indicates the state of the respective input

Analog Output Features

Two analog outputs specifically designed for control outputs to valves, amplifiers, or drives
18 bit resolution
Individually software selectable as ±10 V, 4-20 mA, or ±20 mA. Also supports custom ranges within the ±10 V and ±20 mA ranges, such as 0-10 V, 0-5 V, 1-5 V, etc.
One LED per channel indicates the state of the respective analog output

Discrete I/O Features

4 discrete I/O, individually configurable as input or output, individually isolated
Inputs: 12 to 24 VDC, polarity independent, sinking or sourcing driver
Outputs: Solid state relay, 75 mA continuous
One LED per I/O point indicates the status of the input or output
D0 and D1 may be used as registration or homing inputs in conjunction with the high-speed channels in quadrature input mode, but are not high-speed inputs.

High-Speed Channels

Each of the two high-speed channels are independently configurable as SSI, magnetostrictive Start/Stop or PWM, or Quadrature. One LED per channel indicates the state of the respective high-speed channel, and an additional LED indicates the state of each Reg/Z input.

SSI Channels

Binary or Gray Code
Rotary encoders or linear transducers
8 to 32 bits of data
Differential RS-422 SSI interface

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

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

SSI Monitor
Each channel can be configured as to monitor the data that another SSI master is receiving from an SSI device. This makes it possible to synchronize multiple RMCs to one SSI transducer.
SSI Echo
Channel 1 can be configured to output the data from channel 0, which must be configured as an SSI input. Channel 1 will then behave as an SSI device (like a transducer or encoder). This is useful when another SSI device needs to receive the same data that the RMC is receiving, and the RMC must be in control of sending the clock to the SSI device.

MDT (Magnetostrictive Displacement Transducer) Channels

Start/Stop or PWM
Requires RS-422 signals

Quadrature Channels

Each high-speed channel is individually software-configurable as one of the following quadrature (A and B) input types:
RS-422 differential receiver (recommended)
Single-ended TTL-level input
Differential HTL (High Threshold Logic), up to 24 Vdc signals
Single-ended HTL (High Threshold Logic), 7 or 12 V threshold
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)
The Reg/Z0 and Reg/Z1 inputs can be used as high-speed registration in conjunction with quadrature inputs 0 and 1.
The Reg/Z0 and Reg/Z1 inputs can be used as an Index (Z) or Home input in conjunction with quadrature inputs 0 and 1, respectively, for homing based on the encoder's Index (Z) signal or a home signal.
Discrete I/O points D0 and D1 can be used in conjunction with quadrature inputs 0 and 1 for registration and homing, but are not high-speed inputs.
Each Reg/Z input is individually software-configurable as one of the following input types to support an index input that may be external to the encoder.
RS-422 differential receiver (recommended)
Single-ended TTL-level input
Differential HTL (High Threshold Logic), up to 24 Vdc signals
Single-ended HTL (High Threshold Logic), 7 or 12 V threshold
DI (discrete input), for 12-24 VDC signals
Termination is software-selectable for the A and B inputs, and separately for the Z inputs.

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. For new machine designs, Delta recommends RS-422.

Registration/Quad Z Inputs

The Reg/Z inputs may be used together with the high-speed channels when configured as quadrature, as described above in the High-Speed Channels section. The Reg/Z inputs are also available as general-purpose discrete inputs. When the high-speed channel is in Quadrature mode, the Reg/Z will be configurable using the Quadrature axis parameters. In all other modes, the Reg/Z will be set as a single-ended HTL input with a 12V threshold.

Part Number

The part number of the U14 module is R200-U14.

Setting Up U14 Analog Outputs

Wire the analog output as described in the U14 Wiring topic.
Assign the output to an axis as described in the Defining Axes topic.
In the Axis Parameters Pane, for the axis to which the output is assigned, set the Output Type parameter to the desired range.

Setting Up U14 Analog Inputs

Wire the analog input as described in the U14 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 following parameters:

Analog Input Type to Voltage or Current.
The Analog Overflow Limit and Analog Underflow Limit define the valid range of voltage or current, but typically need not be changed.
The Analog Input Filter also applies to the U14, but typically need not be changed.

Scale the axis as described in the analog scaling topics:

Setting Up U14 Discrete I/O

Use the Discrete I/O Configuration window to configure each I/O point as an input or output.
Wire the I/O points as described in the U14 Wiring topic.

Setting Up U14 High-Speed Channels

Configure each high-speed channel as described in Configuring U14 High-Speed Channels. These channels must be configured before being assigned to axis inputs.
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 following parameters:

SSI Transducers	MDT Transducers	Quadrature Encoders
Required
SSI/MDT Feedback Type SSI Data Bits SSI Format	SSI/MDT Feedback Type MDT Type	Linear/Rotary Counter Mode AB Input Type
Application-specific
Linear/Rotary SSI Clock Rate Wire Break Detection SSI Overflow Mode SSI Termination SSI_High_Bits_to_Ignore SSI_Low_Bits_to_Ignore	MDT Blanking Period	AB Termination Z Input Type Z Termination HTL Threshold

Scale the axis as described in the following scaling topics:

Specifications

Analog Inputs

Analog Input (4 per module)
Inputs	Four 18-bit differential (higher resolution obtained by oversampling)
Functional Isolation	500 VAC
Overvoltage protection	±24 V
Nominal Input Ranges	±10 V, 4-20 mA, ±20 mA (each input independently configurable)
Max Differential Ranges	Voltage: -10.2 V to +10.2 V Current: -20 mA to +20 mA (continuous), -25 mA to +25 mA (peak)
Max Input Voltage Range	In+ or In- relative to Cmn: -14 V to +14 V typical
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: 165 Ω
Input filter slew rate	25 V/ms
Sampling frequency	200 kHz internal sampling. Provides one filtered sample per control loop (e.g. 1 msec) to CPU.
Sampling filter	250 Hz – 4 kHz, user-selectable internal low-pass sampling filter.
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)

Analog Outputs

Analog Output (2 per module)
Range	Voltage mode: ± 10 V @ 15 mA (670 Ω or greater load) Current mode: ± 20 mA @ 10 V (500 Ω or lower load)
Tolerance at full output	Voltage mode: ± 5 mV at 10 V Current mode: ± 10 mA at 20 mA
Resolution	18 bits
Hardware Output Filter	First-order filter, time constant 50 μsec
Functional Isolation	500 VAC
Overload protection	Continuous short to common
Overvoltage protection	Outputs are protected by clamp diodes

Discrete I/O

Discrete I/O
Discrete I/O points	4; each is individually configurable as inputs or outputs.
Inputs
Input Characteristics	12-24 VDC, polarity independent
Functional Isolation	500 VAC
Input "High" Range	9 to 26.4 VDC (polarity independent) 3 mA maximum
Input "Low" Range	0 to 5 VDC (polarity independent) <1 mA
Logic Polarity	True High
Maximum Propagation Delay	100 µsec, (750 µsec, open collector “Off”)
Outputs
Outputs	Solid State Relay
Load Types	DC general use, DC resistance, DC Pilot Duty
Functional Isolation	500 VAC
Maximum voltage	±30 V (DC or peak AC voltage)
Maximum current	±75 mA
Maximum propagation delay	2 ms turn-on, 0.5 ms turn-off
Logic 1 (True, On)	Low impedance (15 Ω maximum)
Logic 0 (False, Off)	High impedance (<100 nA leakage current at 30 V)

SSI Interface

SSI Interface
Data Inputs	RS-422 differential
Clock Outputs	RS-422 differential
Termination	Software selectable data input impedance: 110 Ω or >200 kΩ
Clock Frequency	User-selectable 100 kHz to 2500 kHz
Maximum Cable Length	Transducer Dependent, approx. 3-2100 ft. See the SSI Clock Rate topic for details.
Resolution	Transducer dependent
Count Encoding	Binary or Gray Code
Count Data Length	8 to 32 bits
Bit Masking	A selectable number of high or low bits may be masked
Additional Settings	Selectable overflow modes to conform to various SSI transducers Wire break detection
Functional Isolation	500 VAC

MDT Interface

MDT Interface (Start/Stop or PWM)
Transducer interface types	MDT with Start/Stop or PWM (Pulse Width Modulated) feedback
Interrogation Outputs	RS-422 differential (transducer must be configured for external interrogation)
Return Inputs	RS-422 differential
Resolution	0.0005 in. with one recirculation
Count Rate	240 MHz
Recirculations	Supports multiple recirculations only for PWM transducers with internal recirculations.
Maximum transducer length	440 in. at 4ms (loop-time dependent)
Functional Isolation	500 VAC

Quadrature Inputs

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)
Reg/Z Input Types, software selectable	RS-422 (Reg/Z+, Reg/Z-) HTL differential (Reg/Z+, Reg/Z-) HTL single-ended 12V (Reg/Z) HTL single-ended 24V (Reg/Z) TTL single-ended (Reg/Z) DI (discrete input) (Reg/Z)
Termination	Software selectable in RS-422 and TTL modes for A and B and for Reg/Z. Input impedance: 115 Ω or >200 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)
Maximum Propagation Delay (A, B, Reg/Z inputs)	RS-422: 25 ns All others: 100 ns
RS-422 Input
Max Count Rate	8,000,000 counts per second
Min Edge Alignment	55 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	70 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	80 ns time between A edge and B edge
Input Threshold	6 V to 8 V
Input Hysteresis	270 mV typical
Max Input Current	460 µA
Max Propagation Delay	300 ns
HTL Single-ended 24V Input
Max Count Rate	1,000,000 counts per second
Min Edge Alignment	80 ns time between A edge and B edge
Input Threshold	11 V to 13 V
Input Hysteresis	270 mV typical
Max Input Current	460 µA
Max Propagation Delay	300 ns
TTL Single-ended Input
Max Count Rate	1,000,000 counts per second
Min Edge Alignment	105 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
Max Propagation Delay	300 ns
Common
Functional Isolation	500 VAC

General

Weight
Weight	401 g + 26 g (2 connectors)
Power
Max Power Dissipation	2.6 W, both analog outputs in voltage mode 3.2 W, both analog outputs in current output

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.

Analog Input LEDs: A0, A1, A2, A3

Each analog input has an associated LED:

State	Description
Off	The input is not assigned to an axis.
Green	Operating normally The input is assigned to an axis and is receiving a valid value from the transducer.
Red	Error The input is assigned to an axis and is not receiving a valid value from the transducer. This may be due to a transducer or wiring error, or due to incorrectly configured axis feedback parameters. Input errors that cause an invalid value include: The differential analog input signal is outside the user-specified Overflow/Underflow Limit parameters. One or both of the individual input signals (In+ and In-) are outside the acceptable range.
Amber	Simulate mode The axis is in simulate mode.

Analog Output LEDs: Out0, Out1

Each analog output has an associated LED:

State	Description
Off	Not assigned The output is not assigned to an axis.
Green	Operating normally The axis is operating normally with no latched errors.
Red	Error The axis has at least one error bit set that has halted the axis.
Amber	Simulate mode The axis is in simulate mode.

High-Speed Channel LEDs: S/Q0, S/Q1

Each channel has an associated LED:

LED State	Description
Off	The input is not assigned to an axis.
Green	Operating normally The input is assigned to an axis and is receiving a valid value from the transducer.
Red	Error The input is assigned to an axis and is not receiving a valid value from the transducer. This may be due to a transducer error, or due to incorrectly configured axis feedback parameters. Transducer errors that cause an invalid value on a high-speed channel include: SSI: A Wire Break condition exists and Wire Break Detection is enabled SSI: SSI Overflow Pattern was detected MDT Start/Stop or PWM: There was no start pulse detected or rising edge of the PWM response MDT Start/Stop or PWM: There was no stop pulse or falling edge of the PWM response in the required time Quadrature: A wire break condition exists Quadrature: An input voltage exceeded the allowable range
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.

Registration/Index Inputs LEDs: R/Z0, R/Z1

Each registration/index (Reg/Z) input has an associated LED.

State

Description

Off

Input is off

The input is currently low (inactive).

Orange

Input is on

The input is currently high (active).

Discrete I/O LEDs: D0, D1, D2, D3

Each discrete I/O point has an associated LED.

State	Description
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).
Orange	Input is on This I/O point is configured as an input, and the input is currently high (active).
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).