Description
motion control modules – for servomotors – 8 ms..10 s – 2 axis
| range of product | Modicon Premium Automation platform |
|---|---|
| product or component type | Motion control modules |
| product specific application | For servo motors |
| servo loop type | Proportional to overshoot compensation and gain switching 2 ms |
| checks | Presence of voltage/sensor feedback counter input Consistency of commands Encoder coupling, servo drive present, emergency stop Proper execution of movement Sensor power supply Validity of parameters |
| speed profile path | Trapezoidal or parabolic |
|---|---|
| resolution | <= 1000 position units per point >= 0.5 position units per point |
| length of axis | 32000…32000000 P |
| acquisition speed | >= 54000 points/mn <= 270000 points/mn |
| acceleration time | 8 ms…10 s |
| operating mode | Manual OFF Automatic FOLLOWER Direct drive mode |
| type of axis | Following axis static ratio Limited axis |
| I/O modularity | 2 axes |
| 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 |
| 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 | 7.2…11.5 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) <= 2 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 | 2 reflex output static conforming to EN/IEC 61131 2 analogue output static 2 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: |
| 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 |
| 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) 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 |
| electrical connection | 1 connector HE-10 with 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply 1 connector HE-10 with 20 pins for servo drive ctrl inputs + for ext power supply of servo drive inputs/outputs 1 connector SUB-D 9 for an analogue output (speed reference) 2 connectors SUB-D 15 for an incremental or absolute encoder |
| current consumption | 11…20 mA at 24 V DC on 10/30 V absolute encoder module 1100 mA at 5 V DC 15 mA at 24 V DC |
| module format | Standard |
| product weight | 0.48 kg |
| protective treatment | TC |
|---|---|
| ambient air temperature for operation | 0…60 °C |
| ambient air temperature for storage | -25…70 °C |
| relative humidity | 5…95 % without condensation |
| operating altitude | <= 2000 m |
| Unit Type of Package 1 | PCE |
|---|---|
| Number of Units in Package 1 | 1 |
| Package 1 Weight | 610 g |
| Package 1 Height | 5.5 cm |
| Package 1 width | 17.7 cm |
| Package 1 Length | 26 cm |
| Unit Type of Package 2 | S04 |
| Number of Units in Package 2 | 12 |
| Package 2 Weight | 8 kg |
| Package 2 Height | 30 cm |
| Package 2 width | 40 cm |
| Package 2 Length | 60 cm |
| California proposition 65 | WARNING: This product can expose you to chemicals including: Lead and lead compounds which is known to the State of California to cause cancer and birth defects or other reproductive harm. For more information go to www.P65Warnings.ca.gov |
|---|
