TR-Electronic MP-200 - Ethercat; DS-402

Printed in the Federal Republic of Germany  TR-Electronic GmbH 2016, All Rights Reserved
09/29/2020 TR-EMO-BA-GB-0022 v03 Page 17 of 153
PWM output frequency .....................................
20 kHz due to symmetrical space vector modulation
PWM power outputs
3x motor phases .........................................
60 V / 21.3 A peak; push-pull
1x holding brake .........................................
60 V / 2 A; open-drain
1x ballast output .........................................
60 V / 21.3A peak; open-drain
CPU .....................................................................
Hilscher NETX100 - 32 Bit ARM 926EJ-S, 200 MHz
Ethernet ..............................................................
2 ports with integrated switch, 10/100 MBit with
auto-negotiation and auto-crossover
Digital I/O´s .........................................................
- 3 inputs 24 V, 44 kOhm
- common ground
- not isolated
- customization on request
Analog I/O´s........................................................
- 2 differential inputs ±10 V, 10 kOhm,
- not isolated
- customization on request
3.3 EtherCAT / DS-402
Supported EtherCAT cycle times........................
all down to 50 µs
I/O cycle frequency ...............................................
≤ 10 KHz, depending on the PDO configuration
PDOs ......................................................................
- 2x transmit with up to 200 bytes total
- 2x receive with up to 200 bytes total
PDO-Mapping ........................................................
configurable with up to 80 entries each
Sync manager for PDOs ......................................
1x transmit, 1x receive
Sync manager
assignment tables for PDOs ................................
configurable with up to 2 entries each
Full EtherCAT and DS402 conformance ............
according to CTT 1.20.52 and 1.20.80
FoE = Bootstrap mode for firmware updates ....
not supported
DS-402 operating modes .....................................
1, 3, 6, 8, 9, 10