XEL (Xenus Plus EtherCAT)

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 layer over EtherCAT (CoE)
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque (2 inputs)
• PWM velocity/torque command
• Master encoder (Gearing/Camming)

Question 3

Communications

Answer 3

• EtherCAT
• RS-232

Question 4

Accessories

Answer 4

• External regen resistors
• External edge filter

Question 5

Feedback

Answer 5

• Digital quad A/B encoder
  Analog sin/cos incremental
  Panasonic Incremental A Format
• SSI, EnDat, Absolute A
  Tamagawa & Panasonic Absolute A
  Sanyo Denki Absolute A,
  BiSS,BiSS
• Aux. encoder / encoder out
• Resolver option
• Digital Halls

Question 6

Motor Torque Off

Answer 6

• Two active inputs enable power stage
• One output confirms power stage status

Question 7

I/O Digital

Answer 7

15 inputs, 6 outputs

Question 8

I/O Analog

Answer 8

• 2, 16-bit inputs
• 1, 12-bit input
• 1, 12-bit output