| Supported motor types | DC brush, DC brushless, step motor
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Supported communication options
| RS232/485, CANBus
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Profile modes
| S-curve point-to-point: Position, velocity, acceleration, deceleration, jerk
Trapezoidal point-to-point: Position, velocity, acceleration, deceleration
Velocity-contouring: Velocity, acceleration, deceleration
Electronic gearing: Using auxiliary encoder
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Filter parameters
| Scalable PID with Vel + Acc feedforward, integration limit, offset bias, dual biquad filter and settable derivative sampling time
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Position error tracking
| Motion error window allows axis to be stopped upon exceeding programmable window.
Tracking window allows flag to be set if axis exceeds a programmable position window.
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Digital current loop
| Scalable PI with integration limit, torque control, I2t current limiting
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Brushless DC commutation modes
| Sinusoidal, 6-step, field-oriented control
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Microstepping resolution
| Up to 256 µsteps/step
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PWM frequency
| 20 kHz or 40 kHz (user selectable)
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Maximum encoder rate
| Up to 10 Mcounts/sec |
Loop rates
| Commutation & current loop:
25.6 μsec (@ 40 kHz PWM) or
51.2 μsec (@ 20 kHz PWM)
Position loop & trajectory generator:
102.4 μsec to 1.6 sec
|
Signals
| Differential inputs: Encoder A, Encoder B, Index, Aux Encoder A, Aux Encoder B
Digital inputs: Hall A, Hall B, Hall C, Home, +Limit, -Limit, AxisIn, High-speed capture
Digital output: AxisOut
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Power connectors
| Motor: 5-pin Molex MiniFit Jr.
DC Bus: 3-pin Molex MiniFit Jr.
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Communications connector
| RS232/485 version: DB9
CAN version: Dual RJ45
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Signal connectors
| Motor feedback: 12-pin Molex MicroFit 3.0
Auxiliary encoder: 8-pin Molex MicroFit 3.0
I/O: 14-pin Molex MicroFit 3.0
|
Available encoder & I/O power
| 5V @ 300 mA
Short circuit protected
|
Safety and protection
| Short circuit protection: line-to-line, line-to-power supply and line-to-case
Interlocks: Enable input and Fault output
Overvoltage shutdown
Overtemperature shutdown
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Mechanical
| Dimensions: 4.3” (109 mm) x 2.9” (74 mm) x 1.5” (38 mm)
Weight: 0.75 lb (0.34 kg)
Enclosure protection: IP20
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Mechanical options
| Heatsink: 4.3” (109 mm) x 2.9” (74 mm) x 1” (25 mm)
DIN Rail mounting adapter
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Environmental
| Operating temperature: 0 to 50 C
Storage temperature: -20 to 85 C
Humidity: 0 to 95% RH (non-condensing)
Altitude: Up to 2000 meters without derating
Contamination: Pollution Degree 2
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Compliance
| CE marked: EN60204-1, EN55011, EN61000-6-1, EN61000-6-3
RoHS & Green
Designed to UL508c
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Products 
