Delta RMC151 - Manual (Page 660)

RMC70/150 and RMCTools User Manual
The 2-axis Analog Pressure expansion module (AP2) is one of the optional expansion modules
available for the RMC70 series motion controller. This module provides two analog inputs with
16-bit resolution and support for position-pressure and position-force control.
The AP2 should not be confused with the A2, which provides analog input and no support for
secondary pressure control. The RMC70 always requires an AP2 module for position-pressure
or position-force control.
Note: Using the AP2 module, it is possible to add more analog inputs on the RMC70 than can
be assigned to axes. However, it is still possible to view the voltage of the extra analog inputs
using the Analog Input Registers. Inputs that are unassigned to axes can have no status bits,
error bits, scaling, filtering, etc.
Features
• Two 16-bit voltage or current inputs - each individually selectable
• ±10 V and 4-20 mA input ranges
• 8 times oversampling
Part Number
The part number of the AP2 module is EXP70-AP2.
Uses
The AP2 is useful for the following purposes:
• Dual-loop Control
The AP2 pressure or force inputs can be used in conjunction with the position or
velocity control from an RMC7x axis module to provide the following combinations
of dual-loop control:
o Position-Pressure or Position-Force
o Position-Acceleration (advanced)
o Velocity-Pressure or Velocity-Force
o Velocity-Acceleration (advanced)
• Pressure/Force Control
The AP2 inputs, configured for pressure or force, can be used in conjunction with an
output on an RMC70 axis module for solely pressure or force control. The RMC70
always requires an AP2 module for dual-loop. See the Position-Pressure and
Position-Force Control and Position-Acceleration topics for more details.
• Analog Reference Input
Reference inputs are often used as gearing or camming masters. Reference inputs
cannot be used for direct control of the input axis. If the application requires a
position input and not a pressure or force input, the A2 Expansion module is a
better choice.
Specifications
Analog Interface
Inputs Two 16-bit differential
Isolation 500 VAC
Overvoltage protection ±40 V
Input ranges ±10 V and 4 20 mA (each channel independently configured)
Input impedance Voltage Input: 5 MΩ
Current Input: 250 Ω
Input filter slew rate 25 V/ms
Oversampling 8 times per control loop
640 Delta Computer Systems, Inc.