The QA module is one of the axis modules available for the RMC75. It interfaces to Quadrature encoders (5 V differential only) and has 1 analog servo output per axis. The QA module is available with either 1 or 2 axes, called the QA1 and the QA2.
Features
One 5 V differential (RS-422) quadrature encoder input per axis
One ±10 V, 16-bit control output per axis
Current output up to ±200 mA with VC2124 converter option
High-speed inputs: one Homing and two Registration inputs per axis.
Can be used for controlling position. Can also be used for dual-loop control such as position-pressure when used in conjunction with the AP2 module.
The QA module can be used for rotary axes.
Software-selectable input termination on ±A and ±B
Part Number
The part numbers of the QA modules are QA1 and QA2 for the 1-axis and 2-axis versions, respectively.
For example, RMC75E-QA1 is an RMC75E with a QA1 module.
Setting Up the QA Module
To set up the QA module, read the following topics:
Specifications (per axis)
|
General |
|
|
Weight |
83 g (QA1), 96 g (QA2) |
|
Quadrature Interface |
|
|
Encoder Inputs |
5 V differential (RS-422) receiver (Open collector outputs not supported due to poor noise immunity) |
|
Input Impedance |
90 kΩ unterminated 120 Ω terminated A and B termination is software-selectable via the Input Termination parameter. The Z input is always terminated with 120 Ω. |
|
Max. Encoder Frequency |
8,000,000 quadrature counts/second |
|
Common Mode Input Range |
-10V to +13.2 V |
|
Absolute Max Voltage |
±25 VDC. Applying greater than ±25 V will damage the receiver chip and will require repair by Delta. Notice that the quadrature input is not compatible with 24V signals. |
|
RegX/PosLim, RegY/NegLim, and Home Inputs |
|
|
Input Characteristics |
High-Speed 12-24 VDC, Sinking (sourcing driver) |
|
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) |
|
Response Time |
40 µs |
|
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 |
|
Output Isolation |
Not isolated |
|
Overload protection |
One-second short-circuit duration |
|
Overvoltage protection |
Outputs are protected by clamp diodes |
|
Fault Input |
|
|
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) |
|
Maximum Propagation Delay |
100 µs |
|
Enable Output |
|
|
Output Type |
Solid State Relay |
|
Logic Polarity |
User Selectable to Active Open or Active Closed |
|
Isolation |
500 VAC |
|
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.
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
QA Wiring | Quadrature Scaling | Quadrature Fundamentals
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