| 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 Freq X1 |
500 kHz |
| Incremental Encoder Freq X4 |
1000 kHz in counting
250 kHz in input |
| Power Dissipation In W |
7.2…11.5 W |
| Input Type |
Current sink auxiliary input EN/IEC 1131 Type 2
Resistive servo drive control input 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 auxiliary input
>= 11 V servo drive control input
>= 2.4 V 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 counter input
<= 5 V auxiliary input
<= 5 V 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 counter input
3000 Ohm auxiliary input
3000 Ohm servo drive control input |
| Number Of Outputs |
2 reflex output static 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 analogue output |
| Output Voltage |
Reflex output 24 V DC
Servo drive validation output 24 V DC |
| Output Voltage Limits |
Reflex output 19...30 V
Servo drive validation output 5...30 V |
| Nominal Output Current |
0.5 A 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 |
| Voltage Drop |
<1 V at state on reflex output |
| Leakage Current |
0.3 mA reflex output |
| Switching Time |
< 5 ms for servo drive validation
< 500 µs for reflex output |
| Output Compatibility |
Positive logic DC inputs (resistance <= 15 kOhm) 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 Protct |
Zener diode between outputs and 24 DC reflex output |
| Reverse Polarity Protection |
Reflex output reverse diode on supply |
| Local Signalling |
Module operating (RUN) 1 LED green)
External fault (I/O) 1 LED red)
Internal fault, module failure (ERR) 1 LED red)
Axis diagnostics available 2 LEDs green) |
| Electrical Connection |
1 connector HE-10 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply
1 connector HE-10 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 24 V DC on 10/30 V absolute encoder module
1100 mA 5 V DC
15 mA 24 V DC |
| Module Format |
Standard |
| Product Weight |
1.06 lb(US) (0.48 kg) |
| Protective Treatment |
TC |
