| speed profile path |
Trapezoidal or parabolic
|
|
| resolution |
>= 0.5 position units per point
<= 1000 position units per point
|
|
| length of axis |
256…32000000 P
|
|
| acquisition speed |
>= 54000 points/mn
<= 270000 points/mn
|
|
| acceleration time |
8 ms...10 s
|
|
| operating mode |
Direct drive mode
OFF
Automatic
Manual
FOLLOWER
|
|
| type of axis |
Following axis dynamic ratio
Limited axis
Infinite axis
|
|
| function of module |
Servo drive offset correction
|
|
| I/O modularity |
4 axes
|
|
| input compatibility |
Incremental encoder 10...30 V totem pole
Incremental encoder 5 V DC RS422
With 2-wire/3-wire sensor (24 DC) auxiliary input
Absolute encoder parallel output ABE7CPA11
Absolute encoder SSI output 12...25 bits
|
|
| clock frequency |
200 kHz SSI absolute encoder
|
|
| incremental encoder frequency x1 |
500 kHz
|
|
| incremental encoder frequency x 4 |
1000 kHz in counting
250 kHz in input
|
|
| power dissipation in W |
10…17 W
|
|
| input type |
Current sink auxiliary input conforming to EN/IEC 1131 Type 2
Resistive servo drive control input conforming to EN/IEC 1131 Type 1
Resistive counter input
|
|
| input logic |
Positive
|
|
| input voltage |
24 V 8 mA auxiliary input
24 V 8 mA servo drive control input
5 V 18 mA counter input
|
|
| input voltage limits |
<= 5.5 V counter input
19...30 V auxiliary input
19...30 V servo drive control input
|
|
| voltage state 1 guaranteed |
>= 11 V for auxiliary input
>= 11 V for servo drive control input
>= 2.4 V for counter input
|
|
| current state 1 guaranteed |
>= 3.5 mA (servo drive control input)
>= 3.7 mA (counter input)
>= 6 mA (auxiliary input)
|
|
| voltage state 0 guaranteed |
<= 1.2 V for counter input
<= 5 V for auxiliary input
<= 5 V for servo drive control input
|
|
| current state 0 guaranteed |
<= 1 mA (counter input)
<= 1.5 mA (servo drive control input)
<= 1.5 mA (auxiliary input)
|
|
| input impedance |
270 Ohm for counter input
3000 Ohm for auxiliary input
3000 Ohm for servo drive control input
|
|
| number of outputs |
4 reflex output static conforming to EN/IEC 61131
4 analogue output static
4 servo drive validation output relay
|
|
| analogue output range |
+/- 10...24 V
|
|
| analogue output resolution |
13 bits + sign
|
|
| LSB value |
1.25 mV for analogue output
|
|
| output voltage |
24 V DC reflex output:
24 V DC servo drive validation:
|
|
| output voltage limits |
Reflex output: 19...30 V
Servo drive validation: 5...30 V
|
|
| nominal output current |
0.5 A for reflex output
|
|
| maximum output current |
1.5 mA analogue output
200 mA servo drive validation output
625 mA reflex output
|
|
| minimum load |
1 mA 1 V
|
|
| maximum voltage drop |
<1 V at state on for reflex output
|
|
| maximum leakage current |
0.3 mA for reflex output
|
|
| switching time |
< 5 ms for servo drive validation
< 500 µs for reflex output
|
|
| output compatibility |
Positive logic DC inputs (resistance <= 15 kOhm) for reflex
|
|
| short-circuit protection |
Current limiter reflex output
Thermal tripping reflex output
|
|
| output overload protection |
Current limiter reflex output
Thermal tripping reflex output
|
|
| output overvoltage protection |
Zener diode between outputs and 24 DC reflex output
|
|
| reverse polarity protection |
Reflex output: reverse diode on supply
|
|
| local signalling |
1 LED (green)module operating (RUN):
1 LED (red)external fault (I/O):
1 LED (red)internal fault, module failure (ERR):
4 LEDs (green)axis diagnostics available:
|
|
| electrical connection |
1 connector HE-10 with 20 pins for servo drive ctrl inputs + for ext power supply of servo drive inputs/outputs
3 connectors HE-10 with 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply
1 connector SUB-D 9 for an analogue output (speed reference)
4 connectors SUB-D 15 for an incremental or absolute encoder
|
|
| current consumption |
22...40 mA at 24 V DC on 10/30 V absolute encoder module
1500 mA at 5 V DC
30 mA at 24 V DC
|
|
| module format |
Double
|
|
| net weight |
0.61 kg
|
|
