XEC (Xenus Plus Compact EtherCAT)

Question 1

Control Modes

Answer 1

• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Indexer, Point-to-Point, PVT
• Camming, Gearing
• Position, Velocity, Torque

Question 2

Command Interface

Answer 2

• CANopen 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
* Digital quad A/B encoder
* Analog sin/cos encoder
* Panasonic Incremental A
* Aux. encoder / encoder out
Absolute
* SSI
* EnDat 2.1 & 2.2
* Absolute A
* Tamagawa Absolute A
* Panasonic Absolute A Format
* Sanyo Denki Absolute A
* BiSS (B&C)
Other
* Digital Halls
* Resolver (-R option)

Question 5

I/O Digital

Answer 5

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

Question 6

I/O Analog

Answer 6

• 1 Reference input, 12-bit

Question 7

Safe Torque Off (STO)

Answer 7

• SIL 3, Category 3, PL d