Xenus Plus Compact EtherCAT (XEC)

Question 1

Control Modes

(XEC)

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

(XEC)

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

(XEC)

Answer 3

• EtherCAT
• RS-232

Question 4

Feedback

(XEC)

Answer 4

• Incremental

1. Digital Quad A/B Encoder
2. Analog Sin/Cos Encoder
3. Panasonic Incremental A
4. Aux. Encoder/Encoder Out

• Absolute

1. SSI
2. EnDat 2.1 & 2.2
3. Absolute A
4. Tamagawa Absolute A
5. Panasonic Incremental A
6. Sanyo Denki Absolute A
7. BiSS (B&C)

• Digital Halls
• Resolver (-R Option) (NOW CSR)

Question 5

I/O Digital

(XEC)

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

(XEC)

Answer 6

1 Reference Input, 12 Bit

Question 7

Safe Torque Off

STO

(XEC)

Answer 7

SIL 3, Category 3, PL d