ET-M8196F
Ethernet Remote Automation Unit with High-speed 6-axis Motion Control Module
- Remote control via Modbus TCP
- Dsp-based motion control module
- Pulse Output Rate: 4 Mpps (Max.)
- Maximum encoder input frequency: 12 MHz
- Independent 6-axis motion control
- 2- To 6-axis linear/2- to 3-axis circular interpolation function
- Continuous interpolation
- 4-step home mode with auto-searching
- Synchronized start motion
- Programmable T/S-curve acceleration and deceleration
- Software limit protection
- Software FIFO for arbitrary curve motion
- High-speed position latch
- High-speed compare trigger and auto-increment compare mode
- Expandable remote I/O: 128 DI and 128 DO via a two-wire FRnet interface.
INTRODUCTION
The ET-M8196F is a compact remote motion control device which uses Modbus TCP as its communication protocol. The ET-M8196F acts as a server in a Modbus TCP network and supports all standard Modbus function codes defined by the Modbus TCP protocol. Nowadays many PCs have got limited PCI slots; therefore the ET-M8196F can be used to replace PCI motion control cards. The ET-M8196F has got two Ethernet ports which allow daisy chaining.
The motion controller of the ET-M8196F consists of an Ethernet communication module and a 6-axis motion control card. A digital signal processor (DSP) is the brain of the motion controller which calculates the commanded move trajectory and manages supervisory control by monitoring the limits and emergency stops to ensure safe operation. I/O control output (e.g. latch, compare, encoder counter etc.) is realized in a Field Programmable Gate Array (FPGA).
The motion controller is suitable for general-purpose motion control applications. In additions to its wide speed range, this intelligent motion controller also has a variety of built-in motion control functions, such as 2- to 6-axis linear interpolation, 2- or 3-axis circular interpolation, helical interpolation, T/S-curve acceleration/deceleration, and automatic home search, etc.
In addition the ET-M8196F acts as an FRnet master and can control up to 128 digital outputs and 128 digital inputs. FRnet is a two-wire serial bus and has a scan
interval of 0.72 ms and it is specifically designed for easy and cost effective wiring. ICPDAS provides a large range of FRnet I/O terminal boards and modules.
APPLICATIONS
X-Y-Z Table
Fix-Pitch Stamping Machine
Transfer Machine
Spinner
Loader/Unloader
SPECIFICATIONS
Communication Protocol: Modbus TCP
Number of Axes: 6
Pulse Output Rate: 4 MHz (Max.)
Command Type: Pulse Command
Pulse Output Mode: CW/CCW, PULSE/DIR, A/B pulse
Linear Interpolation: Any 2 to 6 of 6 axes
Circular/Helical Interpolation: Any 2 to 3 of 6 axes
Speed Curve Profile: T/S-curve
Mechanical Switch Input: Home, LMT+/-, NHOME, LTC, EMG
Servo I/O Interface: Input: INP, ALM, RDY
Output: SVON, ALM_RST, ERC
Ring Counter Mode: 32-bit
Position Control Mode: Relative and absolute position
Position Compare Trigger: 4 MHz
Encoder Interface: A/B pulse, Up/Down
Encoder Counter: 32-bit
Encoder Counting Rate: 12 MHz
Digital Input Channels: Local: 12 DI
Expandable: 128 DI
Digital Output Channels: Local: 3 DO
Expandable: 128 DO
I/O Isolation (with DN-8368): 2500 Vrms optical isolation
Connector: 68-pin VHDCI Connector and 20-pin SCSI-II
Power Consumption: +24V
Environmental
Operating Temperature: 0 ~ +60 °C
Storage Temperature: -20 ~ +80 °C
Ambient Relative Humidity: 5 ~ 90 % RH, non-condensing