Delta RMC151 - Manual (Page 655)

7 Hardware
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.
7.2.4.4. QA Axis Module
The QA module is one of the axis modules available for the RMC70. 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 for Homing or Registration.
• 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:
QA Wiring
Specifications (per axis)
Quadrature Interface
Encoder Inputs 5 V differential (RS-422) receiver
Quadrature A, B, Z
(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
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