RMC150 Motion Controller I/O Modules

S - Synchronous Serial Interface (SSI) (Slots 2-5)

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 with resolutions to 0.5μm.

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 linear sensors, 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 (Slots 2-5)

The RMC150 MDT interface module allows the use of Magnetostrictive Displacement Transducers as linear position feedback devices with the RMC150 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.

RMC150 MDT modules support Start/Stop and Pulse Width Modulated (PWM) transducers. The RMC150 can be configured to trigger from the rising or falling edges on Start/Stop transducers.

Non-contact Magnetostrictive Displacement Transducers MDTs with SSI output are supported by the RMC150 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 (Slots 2-5)

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, ±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, ±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

R - Resolver Interface Module (Slots 2-5)

The RMC150 Resolver feedback module allows the RMC150 to control motors and linear actuators with single-turn resolver feedback. RMC controllers are available with up to eight resolver axes in increments of two axes per module. Resolvers are very rugged devices, and can survive in environments too harsh for encoders.

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)

Q - Quadrature Encoder Interface Module (Slots 2-5)

The RMC150 quadrature feedback modules allow the RMC150 to control motors and linear actuators with quadrature encoder feedback. The quadrature module interfaces only to 5V differential (RS-422) encoders and transducers.

Features

• Two axes of quadrature feedback (5V differential only) per module
• 4,000,000 counts/second
• Index (Z), home, and limit inputs for each axis
• One drive enable output per axis
• One drive fault input per axis
• 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)

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.

D - Discrete I/O Communications Module (Slots 0, 2-5)

The RMC150 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.

The module consists of eight discrete outputs and eighteen discrete inputs.

Features

• 8 discrete outputs
• ± 30 VDC
• Max 75 mA
• Maximum propagation delay 1.5 ms
• 18 discrete inputs
• 5 to 24VDC
• Maximum propagation delay 600 μs

U - Universal I/O Communications Module (Slots 0, 2-5)

The Universal I/O module for the RMC150 provides two analog inputs, six discrete I/O, and two high-speed channels that can be configured for quadrature inputs or SSI inputs or outputs.

Analog Input Features

• Two 16-bit analog inputs, ±10V or 4-20mA

Discrete I/O Features

• 6 discrete I/O, individually configurable as input or output
• Inputs: 12 to 24VDC, sinking (requires sourcing driver)
• Outputs: Solid state relay, 50mA continuous
• Inputs 0 and 1 can be used as high-speed registration inputs in conjunction with the quadrature inputs

High-Speed Channels

Each of the two RS-422 channels are independently configurable as Quadrature or SSI.

Quadrature Channels

• A and B quadrature inputs
• Requires 5V differential (RS-422) signals
• Discrete inputs 0 and 1 can be used as high-speed registration or homing inputs in conjunction with quadrature inputs 0 and 1, respectively

SSI Channels

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

• Receive SSI Input from a Transducer
  This is a standard SSI input for obtaining data from an SSI transducer or encoder.
• Send Data Out Via SSI (Slave)
  The SSI channel behaves as a transducer or encoder and will return data to the requesting master.
• Synchronize Multiple RMCs to One Transducer
  The SSI channel can monitor the data that another RMC is receiving from an SSI device. This makes it possible to synchronize multiple RMCs to one SSI transducer.

PROFI - PROFIBUS Communication Module (Slot 0)

PROFIBUS is a vendor independent, open fieldbus standard for a wide range of applications in manufacturing and factory automation.This high-speed fieldbus was designed especially for communicating between programmable controllers and distributed I/O such as the RMC150 motion controller.

The RMC150's PROFIBUS-DP interface gives the flexibility of structured operating modes, or simple input data and output data modes (IO modes). You can select the mode that best fits your application and the PROFIBUS master's capabilities.

Features

• Allows connection of up to 126 nodes to a single network spanning up to 14km
• Supports data rates up to 12Mbaud:
  • high-speed, on-the-fly downloading of positions and parameters to the RMC module
  • high-speed uploading of motion profile and status information to the host controller

PROFIBUS-DP Masters

This is a partial list of the platforms which either are PROFIBUS-DP masters or for which a master can be purchased:

• Allen-Bradley 1746 (SLC 5/03 or later)
• Allen-Bradley 1771 (PLC 5)
• GE Fanuc Series 90-30
• Modicon TSX Momentum
• Modicon TSX Quantum
• PC (PCI)
• PC (PC/104)
• PC (PCMCIA)
• Reliance AutoMax PLC
• Siemens SIMATIC PLCs (505, S7-300, S7-400, S5)
• VME Bus

A complete list of vendors of PROFIBUS products can be obtained at http://www.profibus.com or by calling the PROFIBUS Trade Organization (PTO) at 602-483-2456.

BK - Blank Module Cover Plate (Slots 0, 2-5)*

* If slot 0 has no module, slot 0 will automatically have a cover plate, with no associated part number.