The AA module is one of the axis modules available for the RMC75. It interfaces to analog voltage or current transducers and has 1 analog servo output per axis. The AA module is available with either 1 or 2 axes, called the AA1 and the AA2.
Features
One 16-bit voltage or current input per axis - each axis individually selectable
±10 V and 4-20 mA input ranges
8 times oversampling
One +10 V exciter output per axis
One ±10 V, 16-bit control output per axis
Broken wire detection
Current output up to ±200 mA with VC2124 converter option
Can be used for controlling position, velocity, pressure, force. Can also be used for dual-loop control such as position-pressure when used in conjunction with the AP2 module.
Part Number
The part numbers of the Analog AA modules are AA1 and AA2 for the 1-axis and 2-axis versions, respectively.
For example, RMC75E-AA1 is an RMC75E with a one-axis AA1 module.
Setting Up the AA Module
To set up the AA module, read the following topics:
Specifications (per axis)
|
General |
|
|
Weight |
74 g (AA1), 76 g (AA2) + 22 g (per connector) |
|
Analog Input Interface |
|
|
Inputs |
One differential input per axis |
|
Overvoltage Protection |
±40 V |
|
Input Ranges |
-10 V to +10 V and 4-20 mA (each axis independently configured) |
|
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: 5 MΩ Current Input: 250 Ω |
|
Input Filter Slew Rate |
25 V/ms (100 mA/ms) |
|
Oversampling |
8 times per control loop |
|
Effective Resolution |
19-bit over full ±10 V range (18-bit for 0-10 V and ±5 V, 17 bit for 0-5V, 16 bit for 4-20mA) |
|
Offset Drift with Temperature |
0.2 LSB/ºC (1 µA/ºC) typical*
|
|
Gain Drift with Temperature |
20 ppm/ºC (0.003 %/ºC) typical*
|
|
Non-linearity |
12 LSB (counts) typical |
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Exciter Output |
10 VDC ±2%, 8 mA maximum |
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Control Output |
|
|
Range |
±10 V @ 5 mA (2 kΩ or greater load)(For current drive, use the VC2124 accessory:±10 mA to ±200 mA in 10 mA steps) |
|
Tolerance At 10 V: |
Currently unavailable |
|
Resolution |
16 bits |
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Output Isolation |
Not isolated |
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Overload protection |
One-second short-circuit duration |
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Overvoltage protection |
Outputs are protected by clamp diodes |
|
Fault Input |
|
|
Input Characteristics |
12-24 VDC, sinking or sourcing |
|
Logic Polarity |
True High |
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Input "High" Range |
7 to 26.4 VDC (polarity independent) 3 mA maximum |
|
Input "Low" Range |
0 to 3.5VDC (polarity independent) |
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Maximum Propagation Delay |
100µs |
|
Enable Output |
|
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Output Type |
Solid State Relay |
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Logic Polarity |
User Selectable to Active Open or Active Closed |
|
Isolation |
500 VAC |
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Rated Voltage |
12-24 V, max 30 V (DC or peak AC voltage) |
|
Maximum Current |
75 mA |
|
Maximum Propagation Delay |
2.0 ms
|
|
Closed |
Low Impedance (50 Ω maximum) |
|
Open |
High Impedance (<1 µA leakage current at 250 V) |
See the Fault Input and Enable Output topics for usage details.
*Max Offset Drift 4.8 µA/ºC, Max Gain Drift 0.009 %/ºC under maximum possible circuit component error amount, which is very unlikely to ever occur in practice.
LEDs
Axis LED
This LED represents the input and control status for the axis. This bi-color
(red/green) LED has the following states:
|
State |
Description |
|
Steady Off |
No power or this 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 input 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 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 halt command. |
En/F LED
This LED represents the status of the Enable
Output and Fault Inputfor the axis. This bi-color (red/green)
LED will have the following states:
|
State |
Description |
|
Steady Off |
No power or the Control Output is not assigned to an axis. |
|
Steady Green |
The Fault input is inactive, and the Enable output is active. |
|
Flashing Green |
The Fault input is inactive, and the Enable output is inactive. |
|
Steady Red |
The Fault input is active. Notice that it is not possible to tell if the Enable output is active or inactive. |
See Also
AA Wiring | Analog Position Scaling | Analog Velocity Scaling | Analog Acceleration Scaling | Analog Pressure/Force Scaling | Analog Fundamentals
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