AEV (Accelnet EtherCAT Micro Module)

Question 1

Control Modes

Answer 1

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Cyclic Synchronous Torque with Commutation Angle (CSTCA)
• Profile Position-Velocity-Torque, Interpolated Position (PT,PVT), Homing
• Indexer, Point-to-Point, CPL
• Camming, Gearing
• Position, Velocity, Torque

Question 2

Command Interface

Answer 2

• CANopen application protocol over EtherCAT (CoE)
• ASCII, Serial Binary, and discrete I/O
• Stepper or Quad A/B position commands
• PWM Velocity/Torque command
• Master encoder (Gearing/Camming)

Question 3

Communications

Answer 3

• EtherCAT, Ethernet
• RS-232

Question 4

Feedback

Answer 4

• Dual Absolute Encoder Ports
  SSI
  EnDat 2.1, 2.2
  Absolute A
  Tamagawa Absolute A
  Panasonic , Sanyo Denki Absolute A Format
  BiSS
• Incremental
  Digital quad A/B/X encoder
  Analog Sin/Cos encoder
• Other
  Digital Halls

Question 5

I/O

Answer 5

• 7 High-speed digital inputs
• 6 High-speed digital outputs
• 1 Differential analog input

Question 6

Safe Torque Off (STO)

Answer 6

SIL 3, Category 3, PL e