6.4.4.1 Details of Possible Configurations
Configuration description 0
In this mode, the three channels are configured as 2 digital inputs plus the serial line RS-232.
Configuration description 1
In this mode, the three channels are configured as 1 digital output, 1 digital input, and the RS-232
serial line.
Configuration description 2
In this mode, the signals on the connector of an incremental encoder are generated starting with
internal information from the drive (instantaneous position of the motor). With this, it is possible to
close the position of the machine control through an external PLC, allowing the drive to control the
speed with an analog reference. The number of encoder pulses is configurable in multiples of 2,
starting with 128 pulses/rev., up to 8192 pulses/rev.
The amplitude of the marker on the output C is configurable as ¼ , ½ and 1 impulse.
The basic configuration is 4096 pulses per mechanical revolution of the motor with a ¼ mark.
Configuration description 3
This mode allows you to monitor the synchronization signals of the EtherCAT network used for
synchronization of the various modules, working with distributed clock.
l
SYNC 0 signal has a period of 62.5 μs (16 kHz) and corresponds to the basic servo time.
l
SYNC 1 signal has a period equal to that set for the EtherCAT communication network and is
used to synchronize the devices on the reception of the data packet.
l
SM2 signal indicates the actual time of receipt of the data packet by the device.
Configuration description 4-5-6-7
All digital inputs (TTL Line Driver, differential), can be configured as follows:
l
Drive enable
l
Reference enable
l
Quick stop
l
Reset alarm
l
Limit switch (CCW and CW)
l
Reset fault
l
No reference signal
l
Emergency Stop activated
l
CW
l
CCW
l
Axis stopped
PN: L-MAM2-E-201
Moog Casella DM2020 Installation and Startup Guide
6.4.4.1 Details of Possible Configurations
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