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Speed profile path
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Trapezoidal or parabolic
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Resolution
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>= 0.5 position units per point
<= 1000 position units per point
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|
Length of axis
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32000…32000000 P
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Acquisition speed
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<= 270000 points/mn
>= 54000 points/mn
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|
Acceleration time
|
8 ms...10 s
|
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Operating mode
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Automatic
OFF
Direct drive mode
FOLLOWER
Manual
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Type of axis
|
Following axis static ratio
Limited axis
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I/O modularity
|
4 axes
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Input compatibility
|
Absolute encoder SSI output 16...25 bits
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
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|
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
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|
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
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Input logic
|
Positive
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Input voltage
|
24 V 8 mA auxiliary input
24 V 8 mA servo drive control input
5 V 18 mA counter input
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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)
<= 2 mA (auxiliary input)
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Input impedance
|
270 Ohm for counter input
3000 Ohm for auxiliary input
3000 Ohm for servo drive control input
|
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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:
|
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Output voltage limits
|
Reflex output: 19...30 V
Servo drive validation output: 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
|
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Minimum load
|
1 mA 1 V
|
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Maximum voltage drop
|
<1 V at state on for reflex output
|
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Maximum leakage current
|
0.3 mA for reflex output
|
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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
|
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Output overvoltage protection
|
Zener diode between outputs and 24 DC reflex output
|
|
Reverse polarity protection
|
Reflex output: reverse diode on supply
|
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Local signalling
|
1 LED (green) for module operating (RUN)
1 LED (red) for external fault (I/O)
1 LED (red) for internal fault, module failure (ERR)
4 LEDs (green) for 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
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|
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
|
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Module format
|
Double
|
|
Product weight
|
0.61 kg
|
