| CL
Features |
Details |
| Main Input Voltage |
56 VAC center tapped transformer
|
| Bus Voltage |
±40 VDC |
| Output Current |
10 A peak; 5 A continuous |
| Output Type |
Linear |
| Auxiliary Power |
85-240 VAC (always required)
|
| User Defined Digital Inputs
|
Four optically isolated (5-24
V) standard; Two high-speed optically isolated differential
(5-24 V) standard; 16 additional optically isolated (5-24
V) with IO option |
| User Defined Digital Outputs
|
Four optically isolated standard;
16 additional optically isolated with IO option |
| User Defined Analog Inputs
|
One 16-bit differential standard;
One 16-bit and one 12-bit with IO option |
| User Defined Analog Outputs
|
One 16-bit standard; Two 16-bit
with IO option (±10 VDC, no scaling) |
| Axis I/O (Dedicated) |
Three limit inputs (CW, CCW,
Home); Three hall effect inputs (A, B, C); Three high-speed
differential inputs (sin, cos, mkr for encoder); Motor over
temperature input |
| Additional Dedicated I/O
|
Three high-speed differential
bidirectional (input or output) (sin, cos, mkr for aux encoder)
(aux mkr can be used for PSO output); Estop sense input |
| High-Speed Data Capture
|
Yes (100 ns latency) |
| Estop sense input |
Yes |
| Brake relay |
Yes |
| PSO |
Single axis, requires PLUS option;
No option for multiple axis |
| FireWire |
No |
| Ethernet |
Yes |
| USB |
Yes |
| RS-232 |
Yes |
| Internal Shunt resistor
|
N/A |
| External Shunt |
N/A |
| Primary Encoder Input Frequency
|
32 MHz square wave standard;
400 kHz sine wave (requires MXU option) |
| Secondary Encoder Input
Frequency |
32 MHz square wave |
| Current Loop Update Rate
|
20 kHz |
| Servo Loop Update Rate |
Adjustable up to 20 kHz |
| Maximum encoder multiplication
|
x1024 ; Requires MXU option
|
| Resolver |
Not available |
| Can Output Multiplied Encoder
|
No |
| Can Output Square Wave Encoder
|
Yes |
| Tach Input |
Yes, input through analog input
|
| Autofocus |
Yes, through user program |
| Analog Output Proportional
to Velocity/Position |
Yes, through user program |
| Analog Track |
No |
| Calibration |
Single axis only; Requires PLUS
option |
| Sinewave Commutation |
Yes |
| Joystick interface |
Yes, through user program |
| Handwheel interface |
Yes, through auxiliary encoder
input |
| Range limitations |
±252 counts; ±252 counts/sec
|
| Modes |
Positioning (standard operation);
Current command from analog input; Velocity command from analog
input |
| Camming |
Yes |
| Gearing |
Yes |
| 3rd Party Controllers |
Only in current/velocity mode
|
| Update Rate for I/O |
20 kHz |
| Loop transmission |
No |
| Digital filters |
Four; Any combination of low
pass, notch, lead-lag, user configurable |
| Multi-Axis Contouring |
No |
| Absolute Encoder |
Endat 2.2 |
| Clock and Direction Input
|
Yes |
| Standard Outputs |
Fault; Brake Relay |
| Memory |
1 MB FLASH memory for user programs
and parameters; 8 MB of RAM |
| Move Types |
Incremental, Absolute, Free-running
|
| Operating Modes |
Indexer, Clock/Direction, CAM,
Gear, Step Up/Step Down |
| Length of Program |
Up to 1 MB |
| Program Language |
AeroBasic |
| Storage Temperature |
-30 to 85°C |
| Operating Temperature |
0 to 50°C |
| Minimum Load Inductance
|
0 mH |
| PWM Switching Frequency
|
N/A |
|
|
|
|
|
