Modicon Premium Automation platform

Motion control modules

For servo motors

Proportional to overshoot compensation and gain switching 4 ms

Presence of voltage/sensor feedback counter input

Consistency of commands

Encoder coupling, servo drive present, emergency stop

Proper execution of movement

Sensor power supply

Validity of parameters

Trapezoidal or parabolic

>= 0.5 position units per point

<= 1000 position units per point

256…32000000 P

>= 54000 points/mn

<= 270000 points/mn

8 ms…10 s

Direct drive mode

OFF

Automatic

Manual

FOLLOWER

Following axis dynamic ratio

Limited axis

Infinite axis

Servo drive offset correction

4 axes

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

Absolute encoder SSI output 12…25 bits

200 kHz SSI absolute encoder

500 kHz

1000 kHz in counting

250 kHz in input

10…17 W

Current sink auxiliary input conforming to EN/IEC 1131 Type 2

Resistive servo drive control input conforming to EN/IEC 1131 Type 1

Resistive counter input

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 for auxiliary input

>= 11 V for servo drive control input

>= 2.4 V for counter input

>= 3.5 mA (servo drive control input)

>= 3.7 mA (counter input)

>= 6 mA (auxiliary input)

<= 1.2 V for counter input

<= 5 V for auxiliary input

<= 5 V for servo drive control input

<= 1 mA (counter input)

<= 1.5 mA (servo drive control input)

<= 1.5 mA (auxiliary input)

270 Ohm for counter input

3000 Ohm for auxiliary input

3000 Ohm for servo drive control input

4 reflex output static conforming to EN/IEC 61131

4 analogue output static

4 servo drive validation output relay

+/- 10…24 V

13 bits + sign

1.25 mV for analogue output

24 V DC reflex output:

24 V DC servo drive validation:

Reflex output: 19…30 V

Servo drive validation: 5…30 V

0.5 A for 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 for reflex output

0.3 mA for reflex output

< 5 ms for servo drive validation

< 500 µs for reflex output

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

Reflex output: reverse diode on supply

1 LED (green)module operating (RUN):

1 LED (red)external fault (I/O):

1 LED (red)internal fault, module failure (ERR):

4 LEDs (green)axis diagnostics available:

1 connector HE-10 with 20 pins for servo drive ctrl inputs + for ext power supply of servo drive inputs/outputs

3 connectors HE-10 with 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply

1 connector SUB-D 9 for an analogue output (speed reference)

4 connectors SUB-D 15 for an incremental or absolute encoder

22…40 mA at 24 V DC on 10/30 V absolute encoder module

1500 mA at 5 V DC

30 mA at 24 V DC

Double

0.61 kg

TC

0…60 °C

-25…70 °C

5…95 % without condensation

<= 2000 m