| Operation method |
Main task/Periodic task: Fixed cyclic operation, repetitive operation. Initial task: Only once at the time of entering the RUN |
| Control period |
Main task cyclic time: 0.5ms, 1ms, 2ms, 4ms Periodic task cyclic time: Multiple setting of main task |
| I/O Control method |
Synchronized update with main task cycle (Refresh method) |
| Program language |
Ladder Diagram (Function block), Structured Text, G-Code |
| Number of instruction |
Operator |
18 |
| Basic function |
202 |
| Basic function block |
174 |
| Special function block |
97 |
| Processing speed |
Basic |
6.25ns or more (General point/coil) |
| Move |
5ns or more (Word type) |
| Arithmetic |
30ns or more (Word type) |
| Program |
number |
Max. 256 |
| Capacity |
10MB (Motion program), 10MB (NC program) |
| Data area |
Symbolic variable (A) |
4.096KB (Retain setting available up to 2,048KB) |
| Input variable (I) |
16KB |
| Output variable (Q) |
16KB |
| Direct variable (M) |
2,048KB (Retain setting available up to 1,024KB) |
| Flag variable |
F |
128KB |
| K |
18KB |
| U |
1KB |
| L |
22KB Note1) |
| N |
49KB Note1) |
| Timer |
No limit in number of I/O points, Time range: 0.001˜4,294,967,295sec (1,193hour) |
| Counter |
No limit in number of I/O points, Counter range: 64 bit range |
| Program |
Initial program, Main task program, Periodic task program, NC program |
| Operation mode |
RUN, STOP |
| Restart mode |
Cold, Warm |
| Self-diagnosis function |
Task cycle error, Task time occupancy rate exceed, memory abnormal, power abnormal, etc. |
| Back-up method |
Retain area setting in basic parameter or retain variable setting. |
| Number of control axis Note2) |
XMC-E32A,E32C |
32 axes (Real/Virtual axis), 4axes (Virtual axis), 64 slaves (Max 32 slaves in case of 32 axes (Servo, INV) control) |
| XMC-E16A |
16 axes (Real/Virtual axis), 2axes (Virtual axis), 32 slaves (Max 16 slaves in case of 16 axes(Servo, INV) control) |
| XMC-E08A |
8 axes (Real/Virtual axis), 1axis (Virtual axis), 16 slaves (Max 8 slaves in case of 8 axes(Servo, INV) control) |
| CAM operation |
XMC-E32A,E32C |
32 profiles/32,768 points |
| XMC-E16A |
16 profiles/16,384 points |
| XMC-E08A |
8 profiles/8,192 points |
| Communication |
EtherCAT (CoE: CANopen over EtherCAT, FoE: File Access over EtherCAT) |
| Communication/Control period |
0.5ms, 1ms, 2ms, 4ms (Same with main task period) |
| Servo drive |
EtherCAT servo drive which supports CoE |
| Control unit |
Pulse, mm, inch, degree |
| Control method |
Position, Velocity, Torque (Servo drive support), Synchronous, Interpolation |
| Range of position / Velocity |
±LREAL, 0 |
| Torque unit |
Rated torque % designation |
| Acc./Dec. profile |
Trapezoidal, S-curve(Regarding Jerk value set by function block) |
| Rage of Acc/Dec |
±LREAL, 0 |
| Manual operation |
JOG operation |
| Absolute system |
Available (When using absolute encoder type servo drive) |
| Encoder input |
Channel |
2 channels |
| Max.input |
500kpps |
| Input method |
Line drive input (RS-422A IEC specification), Available open collector output type encoder |
| Input type |
CW/CCW, Pulse/Dir, Phase A/B |
