Modicon Premium Automation platform

Motion control modules

For servo motors

Proportional to overshoot compensation and gain switching 2 ms

Consistency of commands
Encoder coupling, servo drive present, emergency stop
Proper execution of movement
Sensor power supply
Validity of parameters
Presence of voltage/sensor feedback counter input

Trapezoidal or parabolic

<= 1000 position units per point
>= 0.5 position units per point

256...32000000 P

<= 270000 points/mn
>= 54000 points/mn

8 ms...10 s

Automatic
Direct drive mode
FOLLOWER
Manual
OFF

Following axis dynamic ratio
Infinite axis
Limited axis

Cut on the fly
Servo drive offset correction

2 axes

Absolute encoder SSI output 12...25 bits
Incremental encoder 10...30 V totem pole
Incremental encoder 5 V DC RS422
With 2-wire/3-wire sensor (24 DC) auxiliary input
Absolute encoder parallel output ABE7CPA11

200 kHz SSI absolute encoder

500 kHz

1000 kHz in counting
250 kHz in input

7.2...11.5 W

Current sink auxiliary input conforming to EN/IEC 1131 Type 2
Resistive counter input
Resistive servo drive control input conforming to EN/IEC 1131 Type 1

Positive

24 V 8 mA auxiliary input
24 V 8 mA servo drive control input
5 V 18 mA counter input

<= 5.5 V counter input
19...30 V auxiliary input
19...30 V servo drive control input

>= 11 V auxiliary input
>= 11 V servo drive control input
>= 2.4 V counter input

>= 3.5 mA servo drive control input
>= 3.7 mA counter input
>= 6 mA auxiliary input

<= 1.2 V counter input
<= 5 V auxiliary input
<= 5 V servo drive control input

<= 1 mA counter input
<= 1.5 mA servo drive control input
<= 2 mA auxiliary input

270 Ohm counter input
3000 Ohm auxiliary input
3000 Ohm servo drive control input

2 analogue output static
2 reflex output static conforming to EN/IEC 61131
2 servo drive validation output relay

+/- 10...24 V

13 bits + sign

1.25 mV analogue output

24 V DC reflex output
24 V DC servo drive validation output

19...30 V reflex output
5...30 V servo drive validation output

0.5 A reflex output

1.5 mA analogue output
200 mA servo drive validation output
625 mA reflex output

1 mA 1 V

< 1 V at state on reflex output

< 0.3 mA reflex output

< 5 ms for servo drive validation
< 500 µs for reflex output

Positive logic DC inputs (resistance <= 15 kOhm) reflex

Current limiter reflex output
Thermal tripping reflex output

Current limiter reflex output
Thermal tripping reflex output

Zener diode between outputs and 24 DC reflex output

Reverse diode on supply reflex output

2 LEDs green axis diagnostics available
1 LED green module operating (RUN)
1 LED red external fault (I/O)
1 LED red internal fault, module failure (ERR)

1 connector HE-10 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply
1 connector HE-10 20 pins for servo drive ctrl inputs + for ext power supply of servo drive inputs/outputs
1 connector SUB-D 9 for an analogue output (speed reference)
2 connectors SUB-D 15 for an incremental or absolute encoder

1100 mA 5 V DC
15 mA 24 V DC
11...20 mA 24 V DC on 10/30 V absolute encoder module

Standard

0.48 kg

TC

0...60 °C

-25...70 °C

5...95 % without condensation

<= 2000 m