Structural Characteristics
- Enclosure material: Die-cast aluminum heat sink base, flame-retardant PC plastic upper housing
- Form factor: Vertical DIN rail mount slim cabinet design
- Terminal layout: Separate power terminal block, encoder feedback terminal block, fieldbus terminal block, safety circuit terminal block
- Integrated passive fin heat sink for convection cooling
- Dimensions: 125 mm (H) × 45 mm (W) × 160 mm (D)
- Net weight: 0.85 kg
Technical Specifications
- Fieldbus Protocol: Dual independent EtherCAT master/slave communication channels (EC-EC suffix)
- Communication Interface Hardware: Two standard EtherCAT RJ45 ports, daisy-chain topology support
- Control Loop Cycle Time: Minimum 125 μs real-time motion control cycle
- Supply Voltage Range: 3 x 200 V AC to 3 x 480 V AC three-phase mains input
- Internal DC Bus Rating: 560 V DC nominal link voltage
- Encoder Feedback Support: EnDat 2.2, Hiperface, incremental sine/cosine encoders
- Safety Function Standard: STO Safe Torque Off SIL 3, PL e category 4
- Operating Temperature Range: 0 °C to +50 °C (convection cooling, no forced air)
- EMC Compliance: CE, UL 61800-5-1, RoHS
- Firmware Platform: IndraWorks FW embedded motion control firmware
Functional Features
- Dual EtherCAT channel architecture for separate motion control and auxiliary I/O communication segmentation
- Integrated position, velocity, torque three-loop cascaded motion control algorithm
- Built-in electronic gearing, cam profiling, flying shear motion functions
- Digital signal processor (DSP) core for real-time trajectory calculation without external motion controller
- Hardware STO safety circuit with dual-channel safety input terminals
- Auto-tuning routine for servo motor parameter identification on power-up
- LED diagnostic array: Power, EtherCAT Link, Motion Active, Fault Code Indication
Working Principle
Receives motion trajectory setpoints via EtherCAT fieldbus from machine PLC/host controller. DSP core executes closed-loop position control by comparing encoder feedback position signal against target position value. Generates pulse-width modulated (PWM) three-phase output voltage to drive connected synchronous servo motor. Dual EtherCAT channels handle synchronous motion command transmission and asynchronous auxiliary device communication simultaneously. Internal monitoring circuits track DC bus voltage, motor current, heat sink temperature, and safety circuit status to trigger fault shutdown upon parameter threshold violation.
Advantage Highlights
- Dual independent EtherCAT ports eliminate external fieldbus switch requirement for machine daisy chains
- Compact slim width reduces control cabinet wiring and space occupation
- Native integrated safety STO SIL3 function without external safety relay modules
- Universal mains voltage input compatible with global industrial power grids
- Embedded firmware supports full motion library without separate motion card hardware
Applicable Industries
Packaging machinery, printing press equipment, textile automation, semiconductor handling equipment, robotics gantry systems, woodworking CNC machines
Installation Requirements
- Mount vertically on standard 35 mm DIN rail inside IP54 rated control cabinet
- Maintain minimum 50 mm vertical clearance above and below unit for convection heat flow
- Run shielded power cable and shielded EtherCAT communication cable with 360° metal cable gland shielding termination
- Connect protective earth terminal to cabinet PE bus bar via 4 mm² minimum copper wire
- Terminate unused EtherCAT port with factory-supplied 120 Ω line termination resistor
Usage Precautions
- Do not install unit adjacent to resistive heating elements without thermal isolation barriers
- Complete motor parameter auto-tuning before executing high-speed motion profiles
- Replace internal DC bus discharge resistor after 10,000 emergency stop cycles
- Avoid daisy-chain EtherCAT cable lengths exceeding 100 m total network span
- Disconnect three-phase mains supply for minimum 10 minutes before opening terminal cover for maintenance
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