Delta RMC101 User Manual
Page 576
RMC100 and RMCWin User Manual
6-32
• Status LED
• Digital Noise Filters on All Inputs
• All Discrete Inputs are Isolated
• Use with Servo Drives in Velocity or Torque/Force Modes
Quadrature Encoder Inputs
The A and B signals from the encoder are decoded to generate a positive or negative count; the
count is then used to monitor the axis position. Each signal from the encoder is received into a
differential line receiver for compatibility with differential line driver encoders. The negative input
is biased so some encoders with open collector or TTL outputs can also be used, however such
encoders should only be used in lab environments with very little electrical noise and short wire
runs.
Index (Z) Input
The index input is normally active for one count of each quadrature encoder revolution. It is used
to qualify or narrow the effective width of the home input to make the homing more repeatable;
see Homing a Quadrature Axis for details. The user may change the active state of this input by
changing the Home Active State bit in the axis’s Config word.
Home (H) Input
This input may be used in homing the system; see Homing a Quadrature Axis for details. This
input will be connected to a normally-off proximity switch. The user may change the active state
of this input by changing the Home Active State bit in the axis’s Config word.
Amplifier Enable Output
This output to the drive amplifier allows the RMC to turn off the amplifier using the Amp
Enable/Disable command. The enable output (labeled ENABLE + and -) is a solid state relay that
is closed when enabled or active.
Amplifier Fault Input
FAULT + and - is an input from the drive amplifier or some other source that tells the RMC it no
longer has control and should output the null drive, usually zero volts, and go into open loop
mode. The user can select the active state of this input by the Fault Active State bit in the axis’s
Config word; by default the RMC is set-up to fault when current stops flowing through the input.
This way the axis will fault on loss of control power. Bit 15 of the Status word is set if a Fault or
Encoder error has occurred. The Auto Stop parameter determines how the axis will stop when a
fault occurs.
Note:
The axis will soft stop when this error occurs if no auto stop bits are selected.
Extend and Retract Travel Limit Inputs
The Extend Limit (CW) and Retract Limit (CCW) switch inputs tell the RMC that a travel limit has
been reached and the axis should halt. By default the limit switches are considered inactive when
enough current is flowing through the RMC inputs. This way the limit switches will look active to
the RMC if control power is lost. The user may change the active state by setting the Limit Switch
Active State bit in the axis’s Config word.
Note:
There is only one bit in the Config word for both limit switches so both limit switches must
have the same active state.
If a limit switch is not used it should be wired in the inactive state or the Limit Switch Active State
bit must be configured to disable the inputs. The Auto Stop bits must be set to automatically stop
the axis.