BEL (Accelnet Plus EtherCAT Panel)

Question 1

Control Modes

Answer 1

Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
* Profile Position-Velocity-Torque, Interpolated Position, Homing
* Camming, Gearing
* Indexer

Question 2

Command Interface

Answer 2

• CAN application protocol over EtherCAT (CoE)
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque
• PWM velocity/torque command
• Master encoder (Gearing/Camming)

Question 3

Communications

Answer 3

• EtherCAT
• RS-232

Question 4

Feedback

Answer 4

Incremental Encoders
* Digital quad A/B
Analog Sin/Cos
Panasonic Incremental A Format
* Aux. quad A/B encoder / encoder out
Absolute Encoders
* SSI, EnDat, Absolute A,
Tamagawa & Panasonic Absolute A
Sanyo Denki Absolute A, BiSS (B & C)
Resolver (-R option)
* Brushless Resolver
Other
* Digital Halls

Question 5

I/O Digital

Answer 5

• 6 High-speed inputs
• 1 Motor over-temp input
• 4 Opto-Isolated inputs
• 3 Opto-Isolated outputs
• 1 Opto-Isolated brake output

Question 6

I/O Analog

Answer 6

1 Reference, 12-bit

Question 7

Safe Torque Off (STO)

Answer 7

SIL 3, Category 3, PL d