| Power supply voltage |
12 [Vcc] ÷ 48 [Vcc] |
| Separated logic power supply |
12 [Vcc] ÷ 48 [Vcc] |
| Output current |
0.0 [A/ph rms] ÷ 4.2 [A/ph rms] 0.0 [A/ph peak] ÷ 6.0 [A/ph peak] |
| Control mode |
EtherCAT (CoE) |
| Feedback Interface |
not isolated input for incremental encoder 5V differential RS422 or 5V single ended (TTL/CMOS) |
| Mounting |
Wall mounting |
| Digital inputs |
4 optocoupled digital inputs 2-24 Vdc NPN, PNP or Line Driver 2 Mhz |
| Digital outputs |
2 optocoupled digital outputs PNP, 24 Vdc - 100 mA |
| Open or Close loop |
Open loop or Closed loop |
| Step resolution |
Stepless Control Technology (65536 positions per turn) |
| Operative temperature |
5 [°C]÷ 40 [°C] |
| Storage temperature |
-25 [°C] ÷ 55 [°C] |
| Humidity |
5 [%] ÷ 85 [%] |
| Protection class |
IP20 |
| Dimensions H x L x W |
121 [mm] x 74 [mm] x 26 [mm] |
| Weight |
0.28 [Kg] |
| Software settings and connections |
Service SCI interface for programming and real time debug |
Certifications
Functions
● EtherCAT control mode: supported profile: profile position mode, velocity mode, profile velocity mode, homing mode, cyclic synchronous position mode, cyclic synchronous velocity mode
● Multiple supported homing modes: 1, 2, 17, 18, 19, 20, 21, 22, 35, 37
● Synchronization mode: free run, synchronous con SM event, distributed clocks
● Diagnostic service: EMCY, Diagnostics
● Minimum cycle time: 500 microseconds
● Conformity with Beckhoff ET9400 Conformance Test Tool V2.1.0, master Robox and Omron
● Autonomous management of the firmware for the execution of the homing, of the target movement with relative or absolute quota and for generation of the ramp profiles● 'Torque mode' for operation with torque limitation
● Speed control thanks to digital inputs, analogue inputs or fieldbus
● 'Electronic CAM' with advanced programming of internal profiles inside the drive
● 'Electric shaft' with encoder or analogue input with variable tracking ratio (Electric Gear)
● Fast inputs and outputs for motor' start & stop and event synchronization for high speed response applications such as labeling, nick finder, Flying saw etc.
● Possibility to synchronize the movements in multi-axis systems, even without fieldbus
● Enabling and on-the-fly changing of the motion control modes
● Closed loop of torque, speed and position with encoder
Main Features
● EtherCAT (CoE)
● Service serial for real time programming and debugging
● Compliance with the most common PLC Masters on the market
● Integrated oscilloscope
● Vectorial control, for smooth and silent movements
● Closed loop of speed, torque and position
● Easily programmable with e3PLC programming environment
CONNECTORS KIT
| Code | Description |
| SW4D2KIT-C1 | Connectors kit for cabling |
SOFTWARE KIT FOR CONFIGURATION
| Code | Description |
| SW4_SERV00-EE | Kit for programming the drive with e3PLC Studio software + 200 cm service serial cable and serial/USB converter |