two, four, six, and eight axis servo motion controllers series two, four, six, and eight axis servo...

SCRMC100 Series Two, Four, Six, and Eight Axis Servo Motion Controllers

The SCRMC100 series brings thebenefits of modular, high-performancemotion control to a wide range ofindustrial applications.Communication options—rangingfrom high-speed fieldbuses to discreteI/O—make these controllers anexcellent choice for large and smallsystems. Transducer types can becombined to control any hydraulic,electric, and pneumatic system.Powerful control modes—includingposition/pressure control,synchronized moves, gearing, splines,and teach mode—provide optimumcontrol for your motion applications.Refer to other SCRMC data sheets orthe RMCWin online help for moreinformation. Download RMCWinfrom Delta’s web site atwww.deltacompsys.com .

Applications• Presses• Injection/RIM/blow molding• Packaging equipment• Indexing/transfer lines• Edgers/headrigs/veneer lathes• Pinch rollers/winders/wrappers• Casting/forging• Palletizers/stackers• Flying cutoff/curve sawing• Cyclic testing• Robotics/animatronics• Pneumatic press rolls• Tube bending/forming

Features• Two to eight axes of position or

speed control• Isolated power input, drive outputs,

discrete and analog I/O, andcommunications

• RS-232 port for RMCWin and theRMCCOM ActiveX Control

• Full PID with velocity andacceleration feed-forwards

• Motion and pressure profiles can bechanged on-the-fly

• 256K FLASH memory for fieldupgrades and parameter storage

• Trapezoidal, S-curve, and splineprofiling

• Teach mode• Synchronization of 2-8 axes• Electronic gearing• Compact DIN-rail mount package

Communications• PROFIBUS-DP• Ethernet• Modbus Plus• Discrete I/O – 20 inputs, 10 outputs• Serial (RS-232/422/485)• DeviceNet in development

Position Transducer Interfaces• Magnetostrictive Transducers –

Start/Stop, PWM, and SSI• Analog Transducers – 16 bit• Quadrature Encoders• Absolute encoders and resolvers

with Synchronous Serial Interface

Drive Outputs• All feedback interfaces are available

with analog ±10 Volt outputs• Quadrature feedback interface is

available with stepper output

RMCWin SoftwareDelta’s powerful RMCWin forWindows 95/98/NT/2000 makessetup, tuning, and troubleshootingmotion systems easier than ever.

• Provides a graphic display of thelatest motion profile, position anddrive information

• Includes context-sensitive help andcomplete user manual online

• Calculates scale, offset, and velocityfeed forwards

• Allows user to activate motionprofiles and change controlparameters from a PC

• Displays parameter and statusinformation for all axes

Event Control• Repeatable execution of motion

commands each loop (1 or 2ms)• Provides easy, spreadsheet-style

programming• Responds to time delays, status bit

conditions, position, or inputs• Includes 256 event steps

RMCCOM ActiveX ControlControl the SCRMC from your VisualBasic, Visual C++, Java, and VBA(e.g. Excel) programs.

Pressure /Force Control Option• Control pressure or differential

force at 12- or 16-bit resolution• Transition between position and

pressure/force while in motion

www.servocontrolsindia.com

1

SCRMC100 Series

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008. Tel: 91-831-2407501, 2407502, 2407503 Fax: 91-831-2484496 www.servocontrolsindia.com

Position Axis Parameters Pressure/Force Axis Parameters

Setup Parameters Setup ParametersConfiguration

ScaleOffset

Extend LimitRetract Limit

Proportional GainIntegral Gain

Differential GainExtend Vel. Feed ForwardRetract Vel. Feed Forward

Extend Accel. Feed FwdRetract Accel. Feed Fwd

Dead Band EliminatorIn Position

Following ErrorAutomatic Stop Enable

Controller operating configurationThese fields allow for position unit

conversionMaximum position allowedMinimum position allowedProportional gain for PID loopIntegral gain for PID loopDifferential gain for PID loopOpen loop compensation terms

proportional to target velocityOpen loop compensation terms

proportional to target accelerationValve dead band compensationWindow for in-position indicationAllowable position errorEnable for stop on errors

ConfigurationScale A

Offset AScale B

Offset BProportional Gain

Integral GainDifferential Gain

Extend Feed ForwardRetract Feed Forward

Integrator PreloadDrive Transfer Percent

At Pressure WindowPressure Window

Automatic Stop Enable

Controller operating configurationThese fields allow for unit

conversion for both pressure anddifferential force transducers.

Proportional gain for PID loopIntegral gain for PID loopDifferential gain for PID loopOpen loop compensation terms

proportional to pressure changeEnable tuning of bumpless transfer

from position to pressure controlWindow for at-pressure indicationAllowable pressure/force errorEnable for stop on errors

Dynamic Control Parameters Dynamic Control ParametersMode

AccelerationDeceleration

SpeedCommand Value

Command

Select from these features:Graph disableS-curve rampsSynchronizationElectronic GearingQuick modeMonitor Pressure modeIntegrator modes

(avoid windup and overshoot)Acceleration rate, distance, or timeDeceleration rate, distance, or timeMaximum speed during a moveDestination positionCommand to be executed(refer to online help for complete list

of commands)

Mode

Pressure Set APressure Set B

Ramp TimeCommand Value

Command

Select from these features:Curved and linear rampsAuto-calculated ramp slopeIntegrator modes

(avoid windup and overshoot)

Pressure control entry thresholdPressure control exit thresholdTime to ramp between pressuresDesired pressureCommand to be executed(refer to online help for complete list

of commands)

Status Information Status InformationCommand Position

Target PositionActual Position

Transducer CountsStatus Word

DriveActual Speed

Null DriveStep

Link Value

Requested position within limitsCalculated desired position of axisMeasured position based on current

Transducer Counts that have beenScaled and Offset

Raw transducer countsAxis errors and statusDrive output in millivoltsCalculated speedCurrent null drive in millivoltsLast step executedValue at which next step executes

Command Pressure/ForceTarget Pressure/ForceActual Pressure/ForceTransducer Counts ATransducer Counts B

Actual Force AActual Force B

Status WordDrive

Requested pressure/forceCalculated desired pressure/forceCurrently measured pressure/forceRaw value read from analog

transducersValues of each force component in a

differential force applicationAxis errors and statusDrive output in millivolts

2

SCRMC100 Series


RMC100 Series SpecificationsMotion Control Control loop time

Maximum speed1 or 2 ms depending on module configuration65,535 user-defined position units per second

RS-232 Port Interface with Delta's RMCWinand RMCCOM ActiveX Control.

ConnectorCable

Requires a PC running Windows 95/98/NT/2000.(RMCMON available for DOS and Windows 3.1)

DB-9 MaleNull modem

RJ-11 LCD Terminal Jack Interface with Delta’s optionalfour-line 20-character LCD

display with keypad

Allows viewing status information, changingparameters, and issuing commands

Discrete I/O IsolationLogic Polarity

Inputs

Input voltage thresholdInput current threshold

Outputs

2500 VAC optically isolatedTrue High

2; independent (sink or source)6 mA max at 5 V; 10 mA max at 24 V26.4 VDC maximum

2.75 VDC typical, 3 VDC Max2.7 mA typical, 3. 2mA maximum

2; independent (sink or source)Solid State Relay, 50Ω maximum on resistance,30 V and 100 mA maximum, Tpdmax of 1.5 ms

Power VoltageCurrent – 2 axes (3 slots)

4 axes (4 slots)6 axes (5 slots)8 axes (6 slots)

DC-DC converter isolation

+24 VDC±20%Typical 290 mA @ 24 VDC, max 375 mATypical 385 mA @ 24 VDC, max 500 mATypical 485 mA @ 24 VDC, max 625 mATypical 585 mA @ 24 VDC, max 750 mA500 VAC, 700 VDC, input to controller

Mechanical MountingDimensions – 2 axes (3 slots)

8 axes (6 slots)Weight – 2 axes (3 slots)

8 axes (6 slots)

Symmetrical DIN 3 or panel-mount4.12 x 5.95 x 4.75 in (10.5 x 15.0 x 12.1 cm) (WxHxD)7.12 x 5.95 x 4.75 in (18.1 x 15.0 x 12.1 cm) (WxHxD)2.0 lb (0.9 kg) max3.0 lb (1.4 kg) max

Environment Operating temperatureStorage temperature

Compliance

+32 to +140°F (0 to +60°C)-40 to +185°F (-40 to +85°C)CE, UL, CUL, Y2K

Wiring Information for the SCR MC100RS-232:

Pin Function2 Receive3 Transmit5 Common

Power:Pin Function

+24V +24 Volt Input24 Cmn 24 Volt Common

Case Controller Chassis Ground (shield)

Discrete I/O:Pin Function

+ In 0 + Input 0- In 0 - Input 0+ In 1 + Input 1- In 1 - Input 1

+ Out 0 + Output 0- Out 0 - Output 0+ Out 1 + Output 1- Out 1 - Output 1

3

SCRMC100 Series


RMC100 Series Part NumbersNot all combinations of modules are possible. See individual data sheets for details on modules and options. Thisinformation plus an easy-to-use Price List program are available on our web site atwww.deltacompsys.com.

RSCRMC100-M1-PROFI

SCRMC100-M1-PROFI

SCRMC Family

SCRMC100 Series CPU

Position/Pressure Control option(0=disabled, 1=enabled)

(Multipleoptions

possible)

Magnetostrictive Displacement Transducer (MDT) module (Start/Stop and PWM)(designate-M n, n = 1-4 modules; 2 axes per module)

Quadrature encoder module(designate-Qn, n = 1-4 modules; 2 axes per module)

16-bit analog module(designate-Hn, n = 1-4 modules; 4 channels / 2 axes per module)

12-bit analog module(designate-An, n = 1-2 modules; 4 channels per module)

Sensor DI/O module(designate-D1)

Synchronous Serial Interface (SSI) module (MDT, absolute encoder, resolver)(designate-Sn, n = 1-4 modules; 2 axes per module)

Communication(designate-PROFI, -DI/O , -MB+, -ENET; others in development)

Accessories

Part Number Description

LCD420 LCD display and keypadSCVC2100 Voltage-to-current converterSSn-PEn-BGn Family of Servo System and

Position/Pressure Simulators

VC2100 LCD420

4

SCRMC SSI Synchronous Serial Interface

for SCRMC Motion Controllers

The SSI module allows the use of awide variety of feedback devicesusing the Synchronous SerialInterface (SSI) standard. Manytypes of transducers are availablewith SSI, including magneto-strictive displacement transducers(MDTs), absolute encoders, andlaser measuring devices.

SSI has a number of advantagesover other transducer interfaces.First, it offers higher noiseimmunity. Second, it givesabsolute positions. Third, itsupports a wide variety oftransducers. Finally, many SSIdevices offer higher precision; forexample, MDTs are available withresolutions to 2µm.

Refer to other SCRMC data sheets orthe RMCWin online help for moreinformation. Download RMCWinfrom Servocontrols’s web page atwww.servocontrolsindia.com.

Applications• Presses• Injection/RIM/blow molding• Edgers/headrigs/veneer lathes• Pinch rollers/winders/wrappers• Casting/forging• Palletizers/stackers• Flying cutoff/curve sawing• Cyclic testing• Mechanical animation• Tooling/tool handling• Tube bending/forming

SSI Module Features• Two axes of SSI feedback per

module• Supports SSI devices with Binary

or Gray Code data from 4 to 32bits in length

• Differential RS-422 SSI interface• Two isolated,±10V, 12-bit drive

outputs per module• Current output up to±200mA

with VC2100 converter option

SSI Device ManufacturersThe following is a partial list ofmanufacturers of transducers withSSI interfaces:

• BalluffPhone: 800-543-8390(www.balluff.com)SSI products: MDTs (specify aBTL5-S1xx-Mxxx-x-SU040-xxxSSI Synchronous transducer formotion control)

• Baumer Electric Ltd.Phone: 800-937-9336(www.baumerelectric.com)SSI products: Absolute encoders

• HeidenhainPhone: 847-490-1191(www.heidenhain.com)SSI products: Absolute encoders

• MTS Systems CorpSensors Division(Temposonics)Phone: 800-633-7609(www.mtssensors.com)SSI products: MDTs (specifySynchronous Mode—output typeSxxxx02—for motion control)

• Stegmann IncPhone: 800-811-9110(www.stegmann.com)SSI Products: Absolute encoders

• TR ElectronicPhone: 800-709-3300(www.trelectronic.com)SSI Products: MDTs, Absoluteencoders, Laser measuringdevices


5

SCRMC SSI


Specifications

SSI Interface AxesInputs

Clock outputsClock frequency

Cable typeCable length maximum

Electrostatic Discharge (ESD) protectionResolution

Count encodingCount data length

Two per moduleTwo RS-422 differentialTwo RS-422 differential220kHzTwisted pair, shieldedTransducer dependent (approx. 300-600ft)15kVTransducer dependent (up to 2µm or

approximately 0.00008” for MDTs)Binary or Gray Code4 to 32 bits

Drive Interface OutputsIsolation

Current Output Accessory

Two ±10V, 5mA maximum, 12-bit DAC750VDCVC2100 voltage-to-current converter output range isadjustable from±10mA to±200mA in 10mA steps

Environment Operating temperatureStorage temperatureAgency compliance

+32 to +140°F (0 to +60°C)-40 to +185°F (-40 to +85°C)CE, UL, CUL

Power Requirements All SCRMC modules are powered from theSCRMC controller.

The user must supply power to the transducers. Refer tothe manufacturer’s specifications for the transducerpower requirements.

SSI WiringAxis 0:

Pin Function+Clk 0 Axis 0 + Clock Output-Clk 0 Axis 0 - Clock Output

SSI Cmn Transducer Common+Dat 0 Axis 0 + Data Input-Dat 0 Axis 0 - Data Input


Axis 1:Pin Function

+Clk 1 Axis 1 + Clock Output-Clk 1 Axis 1 - Clock Output

SSI Cmn Transducer Common+Dat 1 Axis 1 + Data Input-Dat 1 Axis 1 - Data Input


Drive Outputs:Pin Function

Drv 0 Axis 0 DriveDrv Cmn Drive Common

Drv 1 Axis 1 DriveCase Controller Chassis Ground (shield)

Ordering InformationUp to four SSI modules can be ordered in a singleSCRMCunit. To specify an SSI module, insert-Sn into the partnumber, wheren indicates the number of module (4maximum). Each module includes two axes. Forexample:

•SCRMC100-S1-DI/O: 2 axes of SSI position controlwith a Communication DI/O module.

•SCRMC100-S2-MB+: 4 axes of SSI position controlwith a Modbus Plus communication module.

6

SCRMC Two-Input Analog

16-bit Analog Interface for SCRMC Motion Controllers

This two-input analog interface module provides cost-effective analog position and pressure control. Its 16-bit inputs can also be used for position/pressure control. This module includes a drive output for each input used for controlling position, pressure, and force. Delta also offers four-input analog modules, which are a better fit for many pressure/force applications. Refer to the SCRMC Four-Input Analog data sheet for details. Refer to other SCRMC data sheets or the RMCWin online help for more information. Download RMCWin from Delta’s web page at www.deltacompsys.com.

Analog Module Features • Two isolated 16-bit inputs • 16 times oversampling • ±10V input range • +10V exciter output • Two isolated, ±10V, 12-bit drive

outputs per module • Current output up to ±200mA with

VC2100 converter option

Analog Module Applications • Closed loop positioning with analog

transducers • Closed loop pressure or force

control • Position/pressure control with

analog position and pressure transducers

• High-resolution pressure inputs for position/pressure control with any of the SCRMC’s position transducer interfaces

• High-resolution differential force input for position/force control using any of the SCRMC’s position transducer interfaces

System Applications • Presses • Injection/RIM/blow molding • Edgers/headrigs/veneer lathes • Pinch rollers/winders/wrappers • Casting/forging • Pneumatic press rolls • Tube bending/forming • Cyclic testing • Mechanical Animation

Pressure/Force Control Option For applications where pressure or force must be controlled, the SCRMC can be purchased with the Pressure/Force Control option. With this option, an axis can maintain a specified force or follow a force profile. This option also provides the capability of transitioning smoothly between position and pressure while in motion. In many applications, position/pressure control with just one valve simplifies hydraulics and improves performance.

Ordering Information To indicate a two-input, 16-bit analog module, insert -Gn into the part number, where n is the number of modules (4 max). To include the Pressure/Force Control option, use SCRM C 1 0 1instead of SCRMC100. For example: • SCRMC1 00-G2-DI/O: 4 channels of

analog position control • SCRMC1 01-M1-G1-MB+: 2 channels

of MDT input with 2 channels of analog input with pressure control.

www.servocontrolsindia.com7

SCRMC Two-Input Analog

Servocontrols ElectroMechanical Actuation Systems. Industrial Estate, Udyambag, Belgaum-590 008. Tel: 91-831-2407501, 2407502, 2407503 Fax: 91-831-2484496 www.servocontrolsindia.com

Specifications Analog Input Interface Inputs

Isolation Overvoltage protection

Input Range Input impedance

Input filter slew rate Oversampling

Offset drift with temperature Gain drift with temperature

Non-linearity Exciter Output

Two 16-bit differential 750VDC 40 Volts ±10V 1MΩ 25V/ms 16 times per control loop 0.2 LSB/°C typical 20 ppm/°C typical 25 LSB (counts) typical 10VDC ± 2%, 8mA

Drive Interface Outputs Isolation


Two ±10V, 5mA maximum, 12-bit DAC 750VDC VC2100 voltage-to-current converter output range is adjustable from ±10mA to ±200mA in 10mA steps

Environment Operating temperature Storage temperature Agency compliance

+32 to +140 °F (0 to +60 °C) -40 to +185 °F (-40 to +85 °C) CE, UL, CUL (pending)

Power Requirements All SCRMC modules are powered from the SCRMC controller.

The user must supply power to the transducers unless the 10V exciter output is used.

Analog Wiring Inputs 0 and 1:

Pin Function +In 0 Differential analog input 0 + −In 0 Differential analog input 0 −

Input Cmn Analog common (Isolated) +In 1 Differential analog input 1 + −In 1 Differential analog input 1 −

Input Cmn Analog common (Isolated) +10VDC Exciter Out +10VDC @ 8mA exciter output

Case Controller chassis ground (shield)

Drive Outputs 0 and 1: Pin Function

Drv 0 Axis 0 Drive Drv Cmn Drive common (Isolated)

Drv 1 Axis 1 Drive Case Controller chassis ground (shield)

8

SCRMC Four-Input Analog

12- and 16-bit Analog Interface for SCRMC Motion Controllers

The four-input, 12- and 16-bit analog modules allow the SCRMC series of high-performance motion controllers to interface with analog transducers. The 16-bit resolution module includes drive outputs and is capable of controlling high-precision pressure, force, and position applications. The 12-bit resolution module is capable of accepting pressure, force, and analog reference (e.g. joystick) inputs. Servocontrols also offers a two-input analog module, which is a cost-effective option for position applications. Refer to the SCRMC Two-Input Analog data sheet for details. Refer to other SCRMC data sheets or the RMCWin online help for more information. Download RMCWin from Servocontrols’s web page at www.servocontrolsindia.com

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 • Current output up to ±200mA with


12-bit Module Features • Four isolated 12-bit inputs • 8 times oversampling • +10V, ±10V, +5V, ±5V, and

4-20mA input ranges • +10V exciter output

16-bit Applications • Closed loop positioning with analog

transducers • Closed loop pressure or force

control • Position/pressure control with

analog position and pressure transducers

• High-resolution pressure inputs for position/pressure control with any of the SCRMC’s position transducer interfaces

• High-resolution differential force inputs for position/force control using any of the SCRMC’s position transducer interfaces

12-bit Applications • Position/pressure control with

analog pressure transducers and any of the SCRMC’s position transducer interfaces

• Differential force inputs for position/force control with any of the SCRMC’s position transducer interfaces

• Joystick or potentiometer inputs

System Applications • Presses • Injection/RIM/blow molding • Edgers/headrigs/veneer lathes • Pinch rollers/winders/wrappers • Casting/forging • Pneumatic press rolls • Tube bending/forming • Cyclic testing • Mechanical Animation

Pressure/Force Control Option For applications where pressure or force must be controlled, the SCRMC can be purchased with the Pressure/Force Control option. With this option, an axis can maintain a specified force or follow a force profile. This option also provides the capability of transitioning smoothly between position and pressure while in motion. In many applications, position/pressure control with just one valve simplifies hydraulics and improves performance.

Ordering Information To indicate a 16-bit analog module, insert -Hn into the part number, where n is the number of modules (4 max). To indicate a 12-bit analog module, insert -An into the part number, where n is the number of modules (2 max). To include the Pressure/Force Control option, use SCRM C 10 1 instead of SCRMC 10 0. For example: • SCRMC1 00-H1-DI/O: 2 channels of

analog position control, and 2 extra analog inputs

• SCRMC101-M1-A1-MB+: 2 channels of MDT input with 4 channels of analog input and pressure control.


9

SCRMC Four-Input Analog

Servocontrols ElectroMechanical Actuation Systems. Survey No.683, Industrial Estate, Udyambag, Belgaum-590 008 Tel: 91-831-2407501, 2407502, 2407503 Fax:91-831-2484496 www.servocontrolsindia.com

Specifications

16-bit (-H) Module Inputs Isolation

Overvoltage protection Input Ranges

Input impedance

Input filter slew rate Oversampling

Offset drift with temperature Gain drift with temperature

Non-linearity Exciter Output

Four 16-bit differential 750VDC 40 Volts +10V, ±10V, +5V, ±5V, and 4-20mA (each channel independently configured using RMCWin) 1MΩ 25V/ms 8 times per control loop 0.2 LSB/°C typical (+10V range) 20ppm/°C typical (+10V range) 12 LSB (counts) typical (+10V range) 10VDC ± 2%, 8mA

Drive Interface (-H only) Outputs Isolation


Two ±10V, 5mA maximum, 12-bit DAC 750VDC VC2100 voltage-to-current converter output range is adjustable from ±10mA to ±200mA in 10mA steps

12-bit (-A) Module All specifications are the same as 16-bit (-H), except the following:

Inputs Offset drift with temperature

Non-linearity Drive Outputs

Four 12-bit differential 0.01 LSB/°C typical 1 LSB (count) typical None

Environment Operating temperature Storage temperature Agency compliance

+32 to +140 °F (0 to +60 °C) -40 to +185 °F (-40 to +85 °C) CE, UL, CUL

Power Requirements All SCRMC modules are powered from the RMC controller.

The user must supply power to the transducers unless the 10V exciter output is used.

Analog Wiring Inputs 0 and 1:

Pin Function +In 0 Differential analog input 0 + Res 0 Connect to +In 0 for 4-20mA −In 0 Differential analog input 0 − +In 1 Differential analog input 1 + Res 1 Connect to +In 1 for 4-20mA −In 1 Differential analog input 1 −

Input Cmn Analog common (Isolated) +10VDC Exciter Out +10VDC @ 8mA exciter output

Drive Outputs 0 and 1 (not available on 12-bit module):

Pin Function Drv 0 Axis 0 Drive

Drv Cmn Drive common (Isolated) Drv 1 Axis 1 Drive Case Controller chassis ground (shield)

Inputs 2 and 3: Pin Function

+In 2 Differential analog input 2 + Res 2 Connect to +In 2 for 4-20mA −In 2 Differential analog input 2 − +In 3 Differential analog input 3 + Res 3 Connect to +In 3 for 4-20mA −In 3 Differential analog input 3 −

Input Cmn Analog common (Isolated) Case Controller chassis ground (shield)

10

SCRMC Serial RS-232/422/485 Communications

for SCRMC Motion ControllersUse the S C RMC Serial module as acost-effective interface between thehigh-performance SCRMC motioncontroller and your processcontroller—whether a PC, PLC, orcustom system. The Serial modulecombines multiple communicationprotocols with optical isolation andsoftware-selectable RS-232,RS-422, and RS-485 transceivers toform a versatile and industrial-hardened communication platform.

The RS-232 and RS-422 optionsprovide full-duplex point-to-pointcommunications, while RS-485allows half-duplex multi-dropnetworking with up to 128 SCRMCs.

The Serial module is recommendedin applications where the SCRMC'sEvent Step Table controls themajority of the process, and thecommunication is only needed forlow-bandwidth monitoring ormodifications to the process. Inapplications where higherthroughput is necessary, considerone of Delta's other communicationmodules.

Refer to other SCRMC data sheets andthe RMCWin online help for moreinformation. Download RMCWinfrom Delta’s web page atwww.deltacompsys.com.


SCRMC Serial Features• 9600-115200 baud data transfer• Supports 7 or 8 data bits• Supports odd, even, or no parity• Optically-isolated signals• Software-select RS-232, RS-422,

or RS-485 transceivers• DB-9 and 6-pin terminal block

connectors included• Allows direct access to all SCRMC

registers:ÿ Axis status registersÿ Axis command registersÿ Axis parametersÿ Discrete I/O status registersÿ Event Step Tableÿ Input to Event Tableÿ Axis graphs

Supported Serial ProtocolsSerial ports are capable ofcommunicating in a wide variety ofprotocols. The SCRMC Serial modulecurrently supports the followingprotocols:• Allen-Bradley DF1

This protocol is supported bymost Allen-Bradley PLCs andHMIs including the PLC-5, SLC5/05, and ControlLogix.

• Modicon Modbus/RTUThis protocol is supported bymost Modicon PLCs and anumber of third party products.

Call Delta to inquire about supportfor other protocols.


11

SCRMC Serial

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag Belgaum-590 008Tel: 91-831-2407501, 2407502, 2407503Fax:91-831-2484496 www.sevocontrolsindia.com

Specifications

Serial Interface TransceiversBaud Rates

Start BitsStop Bits

Data LengthParity

IsolationElectrostatic Discharge (ESD) Protection

Software-selectable: RS-232, RS-422, RS-4859600, 19200, 38400, 57600, 115200 baud117 or 8 bitsNone, Odd, or Even750 VDC15 kV

RS-232 Interface TypeTermination

ConnectorCommunication Distance

Network Type

Single-EndedNot ApplicableDB-950 ft (12 m)Point-to-Point

RS-422/485 Interface TypeTermination

ConnectorCommunication Distance

Network Type

RS-485 Input Impedance

Differential120Ω Software-selectableSix-Position Terminal Block4000 ft (1200 m)RS-422/485: Point-to-PointRS-485: Multi-drop up to 128 nodes48 kΩ (1/4 unit load)

Protocol Support Allen-Bradley DF1Modbus/RTU

Supported by Allen-Bradley PLCs and other productsSupported by Modicon PLCs and other products.

(Call Delta for availability of other protocols)


+32 to +140°F (0 to +60°C)-40 to +185°F (-40 to +85°C)CE, UL, CUL pending

Serial WiringDB-9:

Pin RS-232 Function1 DCD2 RxD - Receive Data3 TxD - Transmit Data4 DTR5 RS-232 Common6 DSR7 RTS - Ready To Send8 CTS - Clear To Send9 NC

NOTE: The SCRMC does not use DCD, DTR, and DSR andconnects them together internally.

Six-position Terminal Block:Pin RS-422 Function RS-485 Function

Tx A Xmit (-) NC

Tx B Xmit (+) NCRx/Tx A Rcv (-) Xmit/Rcv (-)Rx/Tx B Rcv (+) Xmit/Rcv (+)

Cmn RS-422 Common RS-485 CommonCase Controller Chassis

Ground (Shield)Controller ChassisGround (Shield)

Ordering Information

This module can be used as the communicationsmodule in any SCRMC configuration. Append-SERIALto the part number to indicate this module, as shown inthis example:

• SCRMC100-M1-SERIAL

12

SCRMC EthernetFieldbus Communications

f for SCRMC Motion Controllers

Ethernet, formerly reserved onlyfor office local area networks, israpidly becoming a major dedicatedindustrial network. The SCRMCEthernet module connects the high-performance SCRMC motioncontroller family into thesenetworks.

Delta’s goal is to support all majorPLC and PC-based control Ethernetdevices. However, all Ethernet andTCP/IP devices are not necessarilycompatible because these termsrefer to electrical and routingstandards and do not define theformat of the transferred data: theapplication protocol. See SCRMCEthernet Compatibilityfor ourcurrent list of supported devices.

Refer to other SCRMC data sheets andthe RMCWin online help for moreinformation. Download RMCWinfrom Delta’s web page atwww.deltacompsys.com.


SCRMC Ethernet Features• 10Mbaud data transfer• Allows direct access to all SCRMC

registers:ÿ Axis status registersÿ Axis command registersÿ Axis parametersÿ Discrete I/O status registersÿ Event Step Tableÿ Input to Event Tableÿ Axis graphs

• Support for a variety of EthernetTCP/IP devices. SeeSCRMCEthernet Compatibility.

• Supports BOOTP and DHCPdynamic configuration protocolsas well as manual configurationthrough the included RMCWinsoftware package.

• Use the SCRMCENET ActiveX

Control to control theSCRMC fromyour Visual Basic, VisualC++, Java, and VBA (e.g.Excel) programs.

SCRMC Ethernet CompatibilityDelta currently supports theapplication protocols of thefollowing devices:

• Allen-Bradley SLC 5/05,PLC-5, ControlLogix, andSoftLogix 5Ethernet communications iseither built-in or availablethrough an Ethernet module oneach of the above controllers.(www.ab.com)

• Automationdirect.comDirectLogic DL205/405Use with the H2-ECOM andH4-ECOM Ethernet modules.(www.automationdirect.com)

• Modicon QuantumUse with the 140 NOE 211 00Ethernet TCP/IP module.(www.modicon.com)

• Omron CS1 and CV PLCsUse with the CS1W- or CV500-ETN01 Ethernet module.(www.omron.com/oei)

• Siemens Simatic 505Use with the CTI 2572 EthernetTCP/IP module.(www.controltechnology.com)

• Siemens Simatic S7-300/400Use with the CP 343-1 TCP andCP 443-1 TCP modules.(www.sea.siemens.com)

• SoftPLC Corp.’s SoftPLCThis PC-based controller comesstandard with Ethernet support.(www.softplc.com)

• PCPC-based SCADA or controlsoftware that supports any of theabove controllers can alsocommunicate with the SCRMC.

Call Delta to inquire about supportfor other Ethernet devices.


13

SCRMC Ethernet


Specifications

Ethernet Interface Data RateHardware interface

Connector

10MbaudIEEE 802.3 for 10BaseT (twisted pair)RJ-45

Configuration Configuration parametersConfiguration methods

IP address, subnet mask, and gateway addressManually using included RMCWin software, or BOOTP

or DHCP dynamic configuration protocols

Protocol Support Framing protocolInternet protocol

Transport protocolsApplication protocols

Ethernet IIIP (includes ICMP and ARP)TCP, UDPModbus/TCP, CAMP, CSP, EtherNet/IP (CIP),

S7 Fetch/Write (via ISO-on-TCP), Omron FINS,Automationdirect.com (HEI)(Call Delta for availability of other protocols)



Protocol DiagramIt is important to understand that before two Ethernet devices can communicate, they must agree onall protocol layers. Thefollowing diagram shows many of the protocols supported by the SCRMC Ethernet and illustrates the layer to which eachbelongs and protocols on which each is based. For example, Modbus/TCP uses TCP, which uses IP, which uses Ethernet II,which uses IEEE 802.3 for 10BaseT:

Application LayerModbus/TCP, CAMP, CSP,

EtherNet/IP, ISO-on-TCP, FINS BOOTP DHCP HEI Application Protocols

Transport Layer TCP UDPInternet Layer IP Configuration Protocols

Framing Layer Ethernet II (standard for Ethernet LANs)Hardware Layer IEEE 802.3 for 10BaseT (10Mbaud twisted pair) Low-Level Protocols

NOTE: The application protocol defines the content and format of the data transmitted by TCP or UDP.

Third-party devices such as bridges may be used to convert to other framing types—such as Token Ring—and/or hardwaretypes—such as 10Base2 (BNC or coax), 10BaseFL (fiber optic), and 100BaseT (100Mbaud twisted pair).

Ordering InformationAny combination of transducers supported by the SCRMCis available with the Ethernet communications interface.Append-ENET to the part number to indicate Ethernet,as shown in this example:

• SCRMC100-M1-ENET

r

14

SCRMC PROFIBUS-DP Fieldbus Communications


PROFIBUS is a vendor-independent, open fieldbusstandard for a wide range ofapplications in manufacturing andfactory automation. This high-speed fieldbus was designedespecially for communicatingbetween programmable controllersand distributed I/O such as theSCRMC motion controller. Up to 126nodes can be connected to a singlenetwork spanning up to 14km.

The SCRMC PROFIBUS-DPcommunications module supportsdata rates up to 12Mbaud, whichpermits high-speed on-the-flydownloading of positions andparameters to the SCRMC module andhigh-speed uploading of motionprofile and status information to thehost controller.

The SCRMC’s PROFIBUS interfacegives the flexibility of threeoperating modes: Message Mode,Compact Mode with Sync, andCompact Mode without Sync. SeeMaster I/O Requirementson thereverse side for details. Select themode that best fits your applicationand PROFIBUS master’scapabilities.

Refer to other SCRMC data sheets andthe RMCWin online help for moreinformation.

PROFIBUS-DP MastersThe following platforms eithersupport PROFIBUS-DP or canhave it added to them. Contact thecompanies listed below each fordetails on their PROFIBUS-DPmasters, or contact the PTO atwww.profibus.com for additionalvendors:

• Allen-Bradley 1746(SLC 5/03 or later)SST (www.sstech.on.ca)Part: SST-PFB-SLC

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF1747-DPM

• Allen-Bradley 1771(PLC-5)SST (www.sstech.on.ca)Part: SST-PFB-PLC5

• GE Fanuc Series 90-30Horner Electric APG(www.heapg.com)Part: HE693PBM101

• GE Fanuc Series 90-70SST (www.sstech.on.ca)Part: SST-PFB-GE

• Modicon TSX MomentumModicon (www.modicon.com)Part: 170 DNT 110 00

• Modicon TSX QuantumModicon (www.modicon.com)Part: 140 GRP 811 00

• PC (ISA)SST (www.sstech.on.ca)Part: 5136-PFB-ISA or -PBMS

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF30-PB or -DPM

• PC (PCI)SST (www.sstech.on.ca)Part: 5136-PFB-PCI

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF50-PB

• PC (PC/104)SST (www.sstech.on.ca)Part: 5136-PFB-104

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF104-PB or -DPM

• PC (PCMCIA)SST (www.sstech.on.ca)Part: 5136-PFB-PCM

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF60-PB

• Reliance AutoMax PLCSST (www.sstech.on.ca)Part: SST-PFB-REL

• Siemens SIMATIC PLCs(505, S7-300, S7-400, S5)

(www.aut.sea.siemens.com)Numerous options available fromSiemens

• VME busSST (www.sstech.on.ca)Part: 5136-PFBVME

www.servocontrolsindia.com15

SCRMC PROFIBUS-DP

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008.Tel:91-831-2407501, 2407502, 2407503 Fax: 91-831-2484496 www.servocontrolsindia.com

Specifications

PROFIBUS-DP Interface Data RateIsolation

Manufacturer IDFeatures Supported

Valid Station AddressesPROFIBUS Lab Certified

9.6kbaud up to 12Mbaud2500VAC optically isolated0x1630Sync Mode, Freeze Mode, Set Slave Address,Auto-baud rate detect0-126 (set by software or Set Slave Address function)Certification Number Z00279

Master I/O Requirements Message Mode

Compact Mode with Sync

Compact Mode without Sync

32 input registers for status64 input registers for responses64 output registers for requests1 output register, 1 input register for synchronization;2 output registers, 2 input registers per axis;2 output registers, 2 input registers for Sensor DI/O2 output registers, 2 input registers per axis;2 output registers, 2 input registers for Sensor DI/O

Connector PROFIBUS-DP Connector Standard PROFIBUS-DP DB-9 (use termination incable connectors as per PROFIBUS specification)



PROFIBUS-DP WiringStandard PROFIBUS-DP cabling must be used.

A list of PROFIBUS product vendors can be obtainedfrom www.profibus.com or by calling the PROFIBUSTrade Organization (PTO) at 602-483-2456.

Ordering InformationAny combination of transducers supported by the SCRMCis available with the PROFIBUS-DP communicationsinterface. Append-PROFI to the part number toindicate this, as shown in this example:

•SCRMC100-M1-PROFI

16

SCRMC Modbus Plus Fieldbus Communications


Modbus Plus™ is SchneiderElectric’s proprietary networkdesigned for industrial controlapplications. However, a variety ofthird-party vendors build ModbusPlus devices. The network enablesprogrammable controllers tocommunicate with remote devicessuch as theSCRMC motion controller.

Modbus Plus allows up to 32devices to be connected directly toa network cable up to 1500 feet inlength. Repeater devices areavailable to extend the network inboth distance and device count.

With its high data rate of 1Mbaud,Modbus Plus is excellent fortransferring position, parameter,command, and graphing databetween the programmablecontroller and theSCRMC.

Refer to otherSCRMC data sheets andthe RMCWin online help for moreinformation. Download RMCWinfrom Delta’s web page atwww.deltacompsys.com.


SCRMC Modbus Plus OverviewModbus Plus masters can access allof the RMC’s 64K, 16-bit holdingregisters. Up to 100 of theseregisters can be read from orwritten to theSCRMC in a singleoperation. These registers makethe following informationavailable:

• Axis status registers• Axis command registers• Axis parameters• Discrete I/O status registers• Event Step Table• Input to Event Table• Global Data Map• Axis graphs

Modbus Plus Global DataIn addition to using read and writeoperations to control theSCRMC, theModbus Plus Global Data featuremay be used to automaticallyupdate up to 32 words of data in themaster controller. The RMCWinconfiguration software allows thesewords to be mapped to any statusinformation in theSCRMC module.This is ideal for keeping the mastercontroller up-to-date with thecurrentSCRMC status.

Modbus Plus MastersThe following platforms eithersupport Modbus Plus or can haveModbus Plus added to them.Contact the companies below eachplatform for details on theirModbus Plus masters:

• Allen-Bradley 1746(SLC 5/02 or later)ProSoft Technology, Inc.(www.psft.com)Part: 3350-MBP

• Allen-Bradley 1771(PLC 2, 3, or 5)ProSoft Technology, Inc.(www.psft.com)Part: 3300-MBP

• Modicon® PLCsMany solutions are availablefrom Schneider Electric(www.modicon.com)

• PC (ISA)Schneider Electric(www.modicon.com)Part: SA85

Synergetic Micro Systems, Inc.(www.synergetic.com)Part: SMS-CIF30-MBP


17

SCRMC Modbus Plus

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008.Tel:91-831-2407501, 2407502, 7407503 Fax:91-831-2484496 www.servocontrolsindia.com

Specifications

Modbus Plus Interface Data RateSCRMC Holding Registers

SCRMC Global Data RegistersIsolation

Valid Node Addresses

1Mbaud64K 16-bit registers32 user-configurable 16-bit registers1000VAC1 to 64 (set using RMCWin software)

Connector Modbus Plus Connector Standard Modbus Plus DB-9S


+32 to +140°F (0 to +60°C)-40 to +185°F (-40 to +85°C)CE, UL, CUL, ModConnect® Certified

Ordering InformationAny combination of transducers supported by theSCRMCis available with the Modbus Plus communicationsinterface. Append-MB+ to the part number to indicateModbus Plus, as shown in this example:

• SCRMC100-M1-MB+

18

SCRMC StepStepper Motor Interface


The SCRMC controller providessynchronized moves, gearing, splines,teach mode, and position/pressurecontrol for rotary and linear axes. Thestepper motor interface module allowsthe SCRMC to control stepper motorswith or without quadrature encoderfeedback.

SCRMC controllers are available with upto eight stepper axes in groups of twoaxes per module. Various transducerinterfaces (quadrature, MDT, analog,SSI and stepper) can be combinedwithin the same controller to providemaximum flexibility.

Refer to other SCRMC data sheets or theRMCWin online help for moreinformation. Download RMCWinfrom Delta’s web page atwww.deltacompsys.com.

Applications• Position or speed control• Indexing• Flying cutoff/curve sawing• Transfer lines• Packaging machinery• Parts handling• Winding/wrapping machines• Web control• Headrigs• Palletizers/stackers• Robotics/animatronics• Presses• Injection/RIM/blow molding

Features• Two axes of stepper motor control

per module• Quadrature encoder feedback• 1 MHz maximum output frequency• High-speed position latchesÿ 63ηs response to index pulseÿ 50µs response to home input

• Extend (CW) and Retract (CCW)travel limit inputs

• Digital noise filters on all inputs• All discrete inputs are isolated• Drive fault inputs• Drive enable outputs• Status LEDs• 4,000,000 counts/second

encoder rate• Differential step and

direction outputs

Inputs and OutputsThe following inputs and outputs areavailable on each axis:• Motor Interface:ÿ Step and Direction Outputsÿ Drive Enable Outputÿ Drive Fault Input

• Quadrature Encoder Inputs:ÿ Phase A and Bÿ Index Z

• Limit Inputs:ÿ Extend (CW)ÿ Retract (CCW)

• Home Input


19

SCRMC Step

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008Tel: 91-831-2407501, 2407502, 2407503 Fax: 91-831-2484496 www.servocontrolsindia.com

Specifications

Inputs and Outputs AxesEncoder Inputs

Electrostatic Discharge (ESD) ProtectionMaximum Encoder Frequency

Fault Inputs, Home Inputs, andLimit Inputs (Ext. & Ret.)

Home input response timeIndex (Z) input response time

Drive Enable Outputs(1 per axis)

Vcc Out

Two per moduleRS-422 differential receiver

Quadrature A , B, and Index Z15 kV4,000,000 counts/second2.7 V @ 2.8 mA typical (3.2 V @ 3.5 mA max)

threshold, 26.4V maximum input voltage, 500VDCisolation, compatible with most limit switches, TTL,and CMOS outputs

50 microseconds63 nanosecondsSolid State relay, 50Ω, 30 V, 100 mA,

1.5 ms, 500 VDC isolation5 V ±20% @ 50 mA (for use with Step, Direction, and

Enable outputs; DO NOT use to power encoders)

Motor Interface Step and Direction OutputsPulse Width

Maximum Output FrequencyDirection Change Delay

RS-422 (5 V differential)50% duty cycle ±80 nanoseconds1 MHz128 microseconds



Power Requirements All SCR MC modules are powered from theSCRMC controller.

The user must supply power to the encoders and limitswitches. Refer to the manufacturers’ specifications forthe individual power requirements.

Quadrature WiringDB25S Pinout (one per axis):

Function Pin Number FunctionA − 1 14 Index (Z)−A + 2 15 Index (Z) +B − 3 16 Encoder CommonB + 4 17 n/cn/c 5 18 Home−

Retract Lim− 6 19 Home +Retract Lim + 7 20 Fault−Extend Lim− 8 21 Fault +Extend Lim + 9 22 Step –

Vcc Out 10 23 Step +Direction− 11 24 Drive Enable−Direction + 12 25 Drive Enable +

Drive Common 13

Ordering InformationSCRMCs may be ordered with up to four stepper modules.Append-QSTn to the part number to selectn steppermodules. For example:

• SCRMC100-QST1-PROFI: 2 channels of stepperposition/speed control

• SCRMC100-QST1-A1-ENET: 2 channels of stepperposition/speed control, and 4 channels of analoginputs

20

SCRMC Quad Quadrature Encoder Interface


The SCRMC controller providessynchronized moves, gearing, splines,teach mode, and position/pressurecontrol for rotary and linear axes. Thequadrature encoder interface moduleallows the SCRMC to control motors andlinear actuators with quadratureencoder feedback.

SCRMC controllers are available with upto eight quadrature axes in steps oftwo axes per module. Varioustransducer interfaces (quadrature,MDT, analog, SSI) can be combinedwithin the same controller to providemaximum flexibility.

Refer to other SCRMC data sheets or theRMCWin online help for moreinformation. Download RMCWinfrom Servocontrols’s web page atwww.servocontrolsindia.com.

Applications• Position or speed control• Indexing• Flying cutoff/curve sawing• Transfer lines• Packaging machinery• Parts handling• Winding/wrapping machines• Web control• Headrigs• Palletizers/stackers• Robotics/animatronics• Presses• Injection/RIM/blow molding

Features• Two axes of quadrature feedback

per module• 4,000,000 counts/second• High-speed position latchesÿ 125ηs response to index pulseÿ 50µs response to home input

• Extend (CW) and Retract (CCW)travel limit inputs

• Digital noise filters on all inputs• All discrete inputs are isolated• Amplifier fault inputs• Amplifier enable outputs• Status LEDs• Use with servo drives in velocity or

torque/force modes• Two isolated,±10V, 12-bit drive

outputs per module• Current output up to±200mA with


Inputs and OutputsThe following inputs and outputs areavailable on each axis:• Quadrature Encoder Inputs:ÿ Phase A and Bÿ Index Z

• Limit Inputs:ÿ Extend (CW)ÿ Retract (CCW)

• Home Input• Amplifier Fault Input• Analog Drive Output• Amplifier Enable Output


21

SCRMC Quad

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008.Tel: 91-831-2407501, 2407502, 2407503 Fax: 91-831-2484496 www.servocontrolsindia.com

Specifications

Inputs and Outputs AxesEncoder Inputs

Electrostatic Discharge (ESD) ProtectionMaximum Encoder Frequency

Fault Inputs, Home Inputs, andLimit Inputs (Ext. & Ret.)

Input Impedance

Home input response timeIndex (Z) input response time

Amplifier Enable Outputs(1 per axis)

Two per moduleRS-422 differential receiver (can also be used as TTL)

Quadrature A , B, and Index Z15 kV4,000,000 counts/second (1 MHz pre-quadrature)2.7 V @ 2.8 mA typical (3.2 V @ 3.5 mA max)

threshold, 26.4 V maximum input voltage, 500 VDCisolation, compatible with most limit switches, TTL,and CMOS outputs

215Ω Differential Input430Ω Single-Ended Input50 microseconds125 nanosecondsSolid State relay, 50Ω, 30 V, 100 mA,

1.5 ms, 500 VDC isolation

Drive Interface Drive OutputsIsolation


Two ±10 V, 5 mA maximum, 12-bit DAC500 VDCVC2100 voltage-to-current converter output range is

adjustable from±10mA to±200mA in 10mA steps



Power Requirements All SCR MC modules are powered from theSCRMC controller.

The user must supply power to the encoders and limitswitches. Refer to the manufacturers’ specifications forthe individual power requirements.

Quadrature WiringDB25S Pinout (one per axis):

Function Pin Number FunctionA − 1 14 Index (Z)−A + 2 15 Index (Z) +B − 3 16 Encoder CommonB + 4 17 n/cn/c 5 18 Home−

Retract Lim− 6 19 Home +Retract Lim + 7 20 Fault−Extend Lim− 8 21 Fault +Extend Lim + 9 22 n/c

n/c 10 23 n/cn/c 11 24 Enable−

Drive 12 25 Enable +Drive Common 13

Ordering InformationSCRMCs may be ordered with up to four quadraturemodules. Append-Qn to the part number to selectnquadrature modules. For example:

• SCRMC100-Q1-PROFI: 2 channels of quadratureposition/speed control

• SCRMC100-Q1-A1-ENET: 2 channels of quadratureposition/speed control, and 4 channels of analoginputs

22

SCRMC DI/O Discrete I/O Communications


The Discrete I/O communicationsmodule can be used to connectdirectly to switches in stand-aloneapplications or to connect to any PLC.For high data-transfer applications,Servocontrolselta recommends one of theSCRMC’sfieldbus communication solutions.

This module is also available as aSensor DI/O module, which addsdiscrete I/O capabilities to theSCRMCwith any communications option,including DI/O.

Each DI/O module adds eight discreteoutputs and eighteen discrete inputs totheSCRMC CPU’s two inputs and twooutputs. DI/O modules also provideeither an edge or quadrature counter.

Refer to otherSCRMC data sheets andthe RMCWin online help for moreinformation. Download RMCWinfrom Servocontrols’s web page atwww.servocontrolsindia.com.


SCRMC Communication DI/OThis module acts as theSCRMC’sprimary communication module. Theuser may select one of the followingmodes of operation:

• Input to Event ModeThis mode can be used either with aPLC or switches. Each of theDI/O’s first sixteen inputs can beused to trigger programmable eventsequences on any number of axeson the SCRMC. The outputs can beconfigured to indicate in-positionand error status or to be programcontrolled.

• Parallel Event ModeThis mode uses 9 inputs per axisfor up to two axes (up to four withthe Sensor DI/O) to select anyprogrammable event sequence.The outputs can be configured toindicate in-position and error statusor to be program controlled.

• Parallel Position ModeIn this mode, the PLC sends 16-bitpositions or open-loop drive valuesto the DI/O module and, at thesame time, uses three other inputsto select the axis and motionprofile. Outputs indicate in-position and error status.

• Command ModeThis flexible mode allows a PLC tosend commands to theSCRMC andrequest any status word from themodule—including actual position,drive, status bits, etc.

SCRMC Sensor DI/OThis module provides additionaldiscrete I/O to theSCRMC’s primarycommunication module. The SensorDI/O can be used for the followingpurposes:

• Inputs can be used to trigger eventsequences as in Input to Eventmode described to the left (this isnot available if a Comm DI/O isalready running Input to Eventmode)

• Event sequences can beprogrammed to wait for an input

• Inputs 16 and 17 can be used as aquadrature counter to delay eventsequences or index spline curves

• Outputs can be turned on and offfrom the event sequences anduser-issued commands

For detailed technical information onthese modes, see the application notesand technical briefs on Servocontrols’s Webpage.


23

SCRMC DI/O

Servocontrols ElectroMechanical Actuation Systems. Survey No. 683, Industrial Estate, Udyambag, Belgaum-590 008.Tel:91-831-2407501, 2407502, 7407503 Fax:91-831-2484496 www.servocontrolsindia.com

Specifications

Discrete Inputs Inputs

Logic PolarityIsolation

Threshold voltageThreshold current

Filtering

Edge counter

Quadrature counter

18; sinking (sourcing driver)6 mA max at 5 V; 10 mA max at 24 V26.4 VDC maximum

Software configurable (True High default)2500 VAC RMS optically isolated2.75 VDC typical, 3 VDC maximum2.7 mA typical, 3.2 mA maximumInputs 0-15: 500µsInputs 16-17: 250µsInput 174000 counts/second (2 kHz) maximumInputs 16 (A input) and 17 (B input)8000 counts/second maximum

Discrete Outputs OutputsLogic polarity

IsolationMaximum voltageMaximum current

Maximum propagation delayLogic 1Logic 0

8; Solid State RelaySoftware configurable (True High default)2500 VAC RMS optically isolated±30 V (DC or peak AC voltage rating of SSR)±100 mA1.5 msLow impedance (50Ω maximum)High impedance (<1µA leakage current at 250 V)



DI/O Wiring

Discrete Outputs:Pin Function0-7 General outputs 0-7

Output Cmn Common (high or low side)

Discrete Inputs:Pin Function

0-15 General inputs 0-15

16 General input 16 or A phase ofquadrature encoder

17 General input 17, B phase ofquadrature encoder, or edgecounter

Input Cmn Common (must be low side)

Ordering InformationAny combination of transducers supported by theSCRMC isavailable with the DI/O communications interface. Toorder a Communication DI/O, append-DI/O , as shown inthis example:

•SCRMC100-H1-DI/OTo order a Sensor DI/O, insert-D1 in the part number:

•SCRMC100-M1-D1-PROFIDI/O modules use high-density 0.15” unpluggableterminal blocks. The standard rising-clamp style terminalblocks offer quality connections in a compact space, butrequire a smaller screwdriver than the 0.2” terminalblocks used on otherSCRMC modules. DI/O modules canbe ordered with barrier style terminal blocks, whichstagger the terminals to 0.3” centers. These are bulkier,but allow use of larger screwdrivers. There is no costdifference. To order with barrier style terminal blocks,specifyOption B after the part number. For example:

•SCRMC100-M1-DI/O Option B

24

two, four, six, and eight axis servo motion controllers series two, four, six, and eight axis servo...

Documents