15
Chapter 3
– Inputs-Outputs
XtrapulsPac Installation Guide
Encoder input
Software selectable:
Quadrature signals A & B + one Z marker pulse per revol.
Line receiver RS-422
Max. frequency of encoder pulses: 1 MHz
Resolution: 500 to 10
6
ppr
Incremental Sin/Cos encoder
Heidenhain 1 Vcc Sin/Cos type or compliant
Maximum signal frequency: 200 kHz
Resolution: 500 to 10
6
ppr
Interpolation factor: 256
Absolute single-turn Sin/Cos encoder
Heidenhain ERN 1085 or compliant
Maximum signal frequency: 200 kHz
Resolution: 512 to 2048 ppr
Interpolation factor: 256
Hiperface® standard with SinCos channels
Maximum signal frequency: 200 kHz
Resolution: 16 to 2048 ppr
Interpolation factor: 256
Hiperface DSL® standard
Pulse & Direction input
Software re-configuration of 2 logic inputs for stepper motor
emulation. 3 selectable channels:
- Optocoupled 24 V logic (max. pulse frequency = 10 kHz)
- Non optocoupled 5 V to 24 V
(max. pulse frequency = 50 kHz)
- RS422 differential receiver (max. pulse frequency = 1
MHz)
Resolution (steps per motor revolution): programmable.
Hall sensors input
5 V to 24 V positive logic voltage accepted
External HES supply voltage required if different from 5 V
HES sequence error detection
7 opto-isolated logic inputs
5 software configurable logic inputs
2 inputs dedicated to the STO (Safe Torque Off) function
"Amp OK" output
"OptoMos" relay: output open if fault
Umax = 50 V, Imax = 300 mA
Motor brake output
XtrapulsPac
230 V: not available / Use of the digital output
XtrapulsPac
400 V / 08 to 20 A: 24 V
DC
/ 1.5 A
XtrapulsPac
400 V / 45 to 200 A: 24 V
DC
/ 2.5 A
3 parameterizable logic outputs
Type PNP "high side" 24 V
DC
, max. 300 mA
Analog output
2.5 V +/-2.5 V, resolution: 8 bit, load: 10 mA
Low-pass filter: 160 Hz, programmable output signal: all
objects can be mapped.
Error display
Front panel LEDs + diagnostic via serial link or CAN bus
Motor and application parameterization
Serial link RS-232 or
bus interface with CANopen® communication protocol
CAN interface
CANopen® Protocol (DS301, DSP402)
EtherCAT® interface
See
EtherCAT® Fieldbus Interface
manual
Automatic functions
Drive adjustment to the motor (AUTO-PHASING)
Adjustment of the servo loops (AUTO-TUNING)
