MOOGMoog GmbH Hydraulic Controls Engineering (HCE) User Manual Control System QAIO 2/2 AV Analog Extension Module with Pulse Input

2 Short Description 

2.1 General 

The QAIO 2/2 analog module is used for local extension of the inputs and outputs (I/O) of the Moog 

Servo Controller (MSC) control module. The analog levels are identical to the levels of the MSC. 

The module is mounted on a DIN top-hat rail and directly connected to the MSC via the internal 

extension bus (E-Bus). 

2.2 Features 

Analog I/O extension module with pulse input. 

• 2 analog inputs 

• 2 analog outputs 

• 1 reference voltage output +10 V 

• Pulse input 

• Connection via E-Bus 

2.3 Outputs/Inputs 

• 2 analog inputs, each configurable in the MACS development environment as ±10 V, 

±10 mA or 4-20 mA. The inputs are converted in multiplex operation. 

• 2 analog outputs, each ±10 V, additionally individually configurable in the MACS software 

as ±10 mA, ±50 mA or 4–20 mA with wire fault monitoring 

• 1 reference voltage output 

The reference voltage source provides a short circuit protected voltage of +10 V. 

• 1 pulse input 24 V useable as counter input or frequency measurement input 

2.4 Module Status LEDs 

On the front, 4 LEDs provide information about the status of important module functions. 

2.5 Configuration 

The configuration of the analog I/O is carried out per software via the central control configuration 

in the Moog Axis Control Software (MACS) development environment. 

Either the two analog inputs or the pulse input can be used. 

2.6 Actuation 

The I/O of the analog extension module is actuated directly from the MSC (not D136X001-001 and 

D136E001-001) via the extension bus (E-bus). All input- and output-data are transferred within one 

cycle of the E-Bus. Therefore the module is perfect for fast control tasks. 

2.7 E-Bus 

One MSC can be extended with a maximum of 7 QAIO 2/2 modules. It is not possible to combine it 

with QAIO 16/4 on one E-Bus segment. 

Module data QAIO 2/2-AV I/O extension module 

Order number D137-001-011 

Connection to M3000 modules Via E-Bus (10 MHz) 

Please note: 

• It is not possible to connect the module to an MSC 

D136X001-001 or D136E001-001 

• Combination with QAIO 16/4 V or QAIO 16/4 A on 

one E-Bus segment is not possible 

• All QAIO 2/2 A/V modules must be connected next to 

the E-Bus master MSC. Further E-Bus modules may 

be connected right to the QAIO 2/2 A/V modules. 

Connection technique Plug-in terminal strips for screwing or clamping 

Mounting Mounting rail NS 35/7.5 pursuant to EN 50022 (DIN top-hat 

rail) 

4 module status LEDs Module functions and diagnosis 

Dimensions, WxHxD 124 x 170 x 85.5 (attachment dimension: W = 113/118.5) mm

4.88 x 6.69 x 3.37 (attachment dimension: 

W = 4.45/4.67) inch 

Temperature range +5°C (+41°F) to +55°C (+131°F) (operation) and 

-25°C (-13°F) to +70°C (+158°F) (storage) 

Mean temperature in operation for 24 hrs.: max. +50°C 

(+122°F) 

Relative air humidity 10 % to 95 % (non-condensing) 

Operation height Max. 2000 m (6500 ft); storage/transport max. 3000 m 

(9800 ft) 

Standards

Operating equipment demands and 

examinations 

IEC 61131-2 

Interference emission / immunity EN 61000-6-4 / EN 61000-6-2, industrial part 

Shock / vibration IEC 60068 part 2-27 / IEC 60068 part 2-6 

Protection class / protection system III / IP20 

Insulation strength IEC 61131-2; test voltage 500 V DC 

Energy Supply

Voltage supply of module 

electronics 

+24 V DC (18-32 V DC) SELV pursuant to DIN EN 60950-1 

Current consumption of module 

electronics 

max. 0.25 A 

Potential separation Separate potentials for: module electronics, 24 V energy 

supply, pulse input 

Internal voltages Internally generated via DC/DC converters 

Protection against reverse polarity Yes 

Analog Inputs 

2 analog inputs 16 Bit; individually configurable in the MACS development 

environment as ±10 V, ±10 mA or 4–20 mA; 

overvoltage protection up to ±36 V 

Analog Outputs 

2 analog outputs 16 Bit; each ±10 V, additionally individually configurable in 

the MACS development environment as ±10 mA, ±50 mA or 

4–20 mA 

Overvoltage protection up to ±36 V; short-circuit protected

View of the Module and Terminal Assignment 

3.1 View of the Module 

Analog Outputs 

4.1 Basic Wiring Diagram 

4.2 Specifications 

Number of analog outputs 

2 

Analog output type 

Voltage output ±10 V nominal 

Additionally one current output each: 

configurable as: ±10 mA, ±50 mA or 4–20 mA (each nominal) 

The analog outputs are configured in the PLC configuration of the 

MACS development environment. 

Output impedance within nominal signal range 

<0.2 W (voltage output) 

Approx. 1 MW (current outputs)

Digital resolution 

16 bit 

Data format in the application program 

32 bit floating point 

Load impedance range 

Voltage output ±10 V: ≥ 1.000 Ω 

Current output ±10 mA: ≤ 1.000 Ω

Current output ±50 mA: ≤ 200 Ω 

Current output 4–20 mA: ≤ 500 Ω 

The load impedance range of the current output 4–20 mA does not comply with IEC 61131-2. 

(IEC 61131-2 requires a load impedance range of ≤ 600 Ω.) 

Update time 

The update time corresponds to the task interval of the application program 

that actuates the output. 

The task interval (and thereby the update time of the outputs) is set in the task configuration of 

the MACS development environment. 

Rise time T10/90

Rise time T10/90 of QAIO 2/2 Analog Outputs Protection Continuous short-circuit protection; overvoltage protection up to ±36 V Short-circuit current IKmax Voltage output ±10 V: IKmax = ±15 mA Current output ±10 mA: IKmax = ±10.92 mA Current output ±50 mA: IKmax = ±54.61 mA Current output 4–20 mA: IKmax = ±20.74 mA

Recommended cable types 

Use only shielded cables. 

The shield must be made of copper braiding with at least 80% coverage. 

The wire must be made of copper with a cross section of at least 0.25 mm2 (23 AWG). 

In environments with a high amount of disturbance, use cables with twisted pair wires. 

Calibration 

The QAIO 2/2 is calibrated at the factory and does not require any additional 

calibration. 

Permissible load types 

Resistive load according to "Load impedance range" 

The stability of the current outputs is ensured up to an inductive 

load of 100 mH. 

The stability of the voltage outputs is ensured up to a capacitive 

load of 10 µF. 

Output current of the voltage output 

Max. 10 mA 

Wire fault monitoring of the analog current outputs 

The analog current outputs are monitored for wire faults. The status of the wire fault monitoring can 

be evaluated in the application program. 

4.3 Reference Voltage Output 

Reference voltage 

+10 V DC 

Load current 

Max. 5 mA 

Precision 

±0.3 % of full scale value 

Temperature coefficient 

< 280 µV/K 

Output impedance 

< 0.2 Ω 

Protection 

Continuous short-circuit protection; overvoltage protection up to ±36 V 

Short-circuit current 

IKmax = 15 mA (residual current of the terminals 91 (REF) and 100 

(REF) of the connector X6)