RMC100 I/O Modules

S - Synchronous Serial Interface (SSI)

The SSI module allows the use of a wide variety of feedback devices using the Synchronous Serial Interface (SSI) standard. Some of the transducers that are available with SSI are magnetostrictive displacement transducers (MDTs), absolute encoders, and laser measuring devices.

SSI has a number of advantages over other transducer interfaces: It offers higher noise immunity, gives absolute positions, and supports a wide variety of transducers. Also, many SSI devices offer high precision, such as MDTs that are available with resolutions to 2µm.

Features

• Two axes of SSI feedback per module
• Supports SSI devices with Binary or Gray code data from 8 to 31 bits in length
• Supports MDTs and linear, single-turn, and multi-turn absolute encoders
• Differential RS-422 SSI interface
• Two isolated, ±10V, 12-bit drive outputs per module

Current output up to ±200mA is available with the VC2100 or VC2124 converter option (see Motion Control Accessories).

SSI Device Manufacturers

Following is a partial list of manufacturers of transducers with SSI interfaces. See the datasheet for more information.

• Balluff
• Baumer Electric Ltd.
• Heidenhain
• MTS Systems Corp Sensors Division
• Stegmann Inc.
• TR Electronic

M - Magnetostrictive Displacement Transducer (MDT) Module

The RMC100 MDT interface module allows the use of MDTs as high-resolution linear position feedback devices with the RMC100 series of high-performance motion controllers. These absolute-position transducers are especially well suited for hydraulic applications because of their non-contact design, robustness, modularity, and resistance to contaminants.

RMC100 MDT modules support Start/Stop and Pulse Width Modulated (PWM) transducers. The RMC100 can be configured to trigger from the rising or falling edges on Start/Stop transducers. MDTs with SSI output are supported by the RMC100 SSI module.

Features

• Two axes of Start/Stop or PWM feedback per module for Magnetostrictive Displacement Transducers.
• Up to 0.001" resolution using Start/Stop transducers with one circulation
• Up to 0.0001" resolution using PWM transducers with multiple recirculations
• Transducer length up to 220 inches (0.004" resolution)
• Differential (recommended) or single-ended interface
• Two isolated, ±10V, 12-bit drive outputs per module

Current output up to ±200mA is available with the VC2100 or VC2124 converter option (see Motion Control Accessories).

MDT Device Manufacturers

This is a partial list of manufacturers. See datasheet for more information.

• Balluff
• MTS Systems Corp., Sensors Division
• Patriot Sensors and Controls Corp.
• TR Electric

H, G & A - Analog Interface Modules

This set of RMC150 modules allow the RMC to interface with analog transducers. Three different analog modules are available:

* Delta recommends the H module instead of the G module. The price is identical, and the H module provides 4 inputs, with 4-20 mA.

The -H module includes drive outputs and is capable of controlling high-precision pressure, force, and position applications. The -G module also includes drive outputs and provides analog position and pressure control. The -A module is capable of accepting pressure, force, and analog reference (e.g. joystick) inputs.

Pressure and force control require the RMC151 CPU. With this CPU an axis can maintain a specified force or follow a force profile. This option also supports smooth transitions between position and pressure while in motion. In many applications, position/pressure control with just one valve simplifies hydraulics and improves performance.

Notice that the -G module does not support current (4-20mA) feedback.

H - Four-Input 16-bit Module Features

• Four isolated 16-bit inputs
• 8 times oversampling
• +10V, ±10V, +5V, ±plusmn;plusmn;5V, and 4-20mA input ranges
• +10V exciter output
• Two isolated, ±10V, 12-bit drive outputs per module

G - Two-Input 16-bit Module Features

• Two isolated 16-bit inputs
• 16 times oversampling
• 0 to 10V and ±10V input ranges
• +10V exciter output
• Two isolated, ±plusmn;10V, 12-bit drive outputs per module

Current output up to ±200mA is available on both the two- and four-input 16-bit modules with the VC2100 or VC2124 converter option (see Motion Control Accessories).

A - Four-Input 12-bit Module Features

• Four isolated 12-bit inputs
• 8 times oversampling
• +10V, ±10V, +5V, ±5V, and 4-20mA input ranges
• +10V exciter output

Q - Quadrature Encoder Interface Module

The RMC100 controller provides synchronized moves, gearing, splines, teach mode, and position/pressure control for rotary and linear axes.

The RMC100 quadrature feedback modules allow the RMC100 to control motors and linear actuators with quadrature encoder feedback, and are available with either analog (servo) or stepper output.

The quadrature module interfaces only to 5V differential (RS-422) encoders and transducers.

RMC100 controllers are available with up to eight quadrature axes in increments of two axes per module. Various transducer interfaces (quadrature, MDT, analog, SSI) can be combined within the same controller for maximum flexibility.

Features

• Two axes of quadrature feedback (5V differential only) per module
• 4,000,000 counts/second
• Index, home, and limit inputs
• Drive enable output
• One drive fault input per axis
• Drive fault input
• With Analog Output:
• Two isolated, ±10V, 14-bit drive outputs per module
• Current output up to ±200mA is available with the VC2100 or VC2124 converter option (see Motion Control Accessories).
• With Stepper Output:
• 1 MHz max step output frequency

Current output up to ±200mA is available with the VC2100 or VC2124 converter option (see Motion Control Accessories)

Cables

Cables for the QUAD module are available for purchase from Delta. The cables have a DB25 connector on one end and three individual pig-tailed cables for drive, encoder, and limits on the other end. Custom lengths are also available. A wiring diagram can be found in the RMCWin and RMCTools Help.

QST - Stepper Motor Interface Module

The RMC100 controller provides synchronized moves, gearing, splines, teach mode, and s-curves for rotary and linear axes. The stepper motor interface modules allow the RMC100 to control stepper motors with quadrature, Synchronous Serial Interface (SSI), or no feedback. The stepper module is not supported by the RMC150.

RMC100 controllers are available with up to eight stepper axes in increments of two axes per module. Axes with analog output and different feedback types (MDT, analog, quadrature, and SSI) can also be combined within the same controller for maximum system flexibility.

Features

• Two axes of stepper motor control per module
• 1MHz max step output frequency
• Differential step and direction outputs
• Drive enable output
• Drive fault input
• With Quadrature Feedback (5V differential only):
  • 4,000,000 counts/second encoder input rate
  • Index, home, and limit inputs

R - Resolver Interface Module

The RMC controller provides synchronized moves, gearing, splines, teach mode, and position/pressure control for rotary and linear axes. The RMC interface feedback modules allow the RMC to control motors and linear actuators using resolvers for position feedback.

RMC controllers are available with up to eight resolver axes in increments of two axes per module. Various transducer interfaces (resolver, quadrature, MDT, analog, SSI) can be combined within the same controller for maximum flexibility.

The Resolver module is available and supported, but not recommended for new designs.

Features

• Two axes of resolver feedback per module
• 14 or 16 bit resolution
• Reference frequency from 800 Hz to 5 KHz
• Resolver Transformation Ratios from 0.42 to1.41
• Multicolor status LEDs
• Custom options available – contact Delta

Resolver Inputs & Outputs

• Resolver Interface
• Reference Output
• Sine Input
• Cosine Input
• Analog Drive Output
• Two isolated, ±10V, 14-bit drive outputs per module
• Current output up to ±200mA is available with the VC2100 or VC2124 converter option (see Motion Control Accessories)

DI/O - Discrete I/0

Discrete I/O Communications for RMC100 Motion Controllers

The RMC100 DI/O module can be used to connect directly to switches in standalone applications or to connect to any PLC in applications that do not require large amounts of data transfer.

This module is also available as a Sensor DI/O module, which adds discrete I/O capabilities to the RMC with any communications option. The module consists of eight discrete outputs and eighteen discrete inputs. With an RMC100 CPU, the Discrete I/O module includes either an edge or quadrature counter.

Communication Modes

The communication modes are supported by the RMC100 only.

• Input to Event Mode: This mode can be used either with a PLC or switches. Each of the DI/O's first sixteen inputs can be used to trigger programmable event sequences on any number of axes on the RMC. The outputs can be configured to indicate in-position and error status or can be program controlled.
• Parallel Event Mode: This mode uses 9 inputs per axis for up to two axes to select any programmable event sequence. The outputs can be configured to indicate in-position and error status or can be program controlled.
• Parallel Position Mode: In this mode, the PLC sends 16-bit positions or open-loop drive values to the DI/O module, and at the same time, uses three other inputs to select the axis and motion profile. Outputs indicate in-position and error status.
• Command Mode: This flexible mode allows a PLC to send 32-bit commands to the RMC and request any 16-bit status word from the module. This includes actual position, drive, status bits, etc.