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I/O modularity
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2 axes
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Maximum pulse frequency
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187 kHz
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Power dissipation in W
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5.6 W
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Input type
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Current sink auxiliary input conforming to EN/IEC 61131 type 2
Resistive amplifier input
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Discrete input logic
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Negative for amplifier input
Positive for auxiliary input
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Input voltage
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24 V 7 mA auxiliary input
5 V 4.5 mA amplifier input
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Input voltage limits
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19...30 V auxiliary input
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Voltage state 1 guaranteed
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< 2 V for amplifier input
>= 11 V for auxiliary input
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Current state 1 guaranteed
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>= 6 mA (auxiliary input)
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Voltage state 0 guaranteed
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<= 5 V for auxiliary input
> 3.6 V for amplifier input
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Current state 0 guaranteed
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<= 2 mA (auxiliary input)
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Input impedance
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3400 Ohm for auxiliary input
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Input immunity
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< 250 µs auxiliary input for homing cam and event inputs
15...30 µs amplifier input for loss of step input
3000...10000 µs auxiliary input for limit switch, emergency stop and external stop inputs
3000...16000 µs amplifier input for amplifier fault input
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Power supply monitoring
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0…14 V auxiliary input at fault state
18…24 V auxiliary input at OK state
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Maximum detection time
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< 30 ms auxiliary input from fault to OK state
> 1 ms auxiliary input from OK to fault state
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Input compatibility
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With 2-wire/3-wire sensor for auxiliary input
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Output type
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Open collector PNP brake output conforming to EN/IEC 61131-2
RS422, TTL 5 V open collector NPN compatible amplifier output
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Output differential voltage
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+/- 2 V <= 100 Ohm amplifier output
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Maximum output short-circuit current
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150 mA for amplifier output
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Permissible common mode voltage
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7 V amplifier output
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Maximum permissible differential voltage
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12 V amplifier output
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Output voltage
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24 V DC 19...30 V brake output
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Nominal output current
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0.5 A <0.3 mA 0.625 A brake output
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Maximum voltage drop
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<1 V at state on for brake output
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Switching time
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< 0.25 ms for brake output
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Output compatibility
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Positive logic DC inputs (resistance <= 15 kOhm) for brake output
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Short-circuit protection
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Thermal tripping via program or automatically brake output
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Output overload protection
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Current limiter brake output
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Output overvoltage protection
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Zener diode brake output
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Reverse polarity protection
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Brake output: reverse mounted diode on supply
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Speed profile path
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Trapezoidal
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Operating mode
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Manually
AUTO
OFF
Direct drive mode
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Checks
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Sensor power supply
Consistency of commands
Validity of parameters
Short circuit (one signalling bit per channel)
Correct execution by software position limits, loss of step
Amplifier, limits switches, emergency stop
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Optional commands
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Brake
Boost
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Local signalling
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1 LED (green) for module operating (RUN)
1 LED (red) for external fault (I/O)
1 LED (red) for internal fault, module failure (ERR)
2 LEDs (green) for axis diagnostics available (CH.)
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Electrical connection
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1 connector HE-10, 20 pins
2 connectors SUB-D 15
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Current consumption
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100 mA at 24 V DC
650 mA at 5 V DC
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Module format
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Standard
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Net weight
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0.48 kg
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