Feature

Value

Mode of operation

Field-oriented regulation

Position resolution 24 bit/rev.

Sampling rate 16 kHz

PWM with 8 or 16 KHz

Vector modulation with 3rd harmonic

Real-time data acquisition

2x input capture (x, v, F)

2x output trigger (x, v, F)

2x position sensor input

1x SYNC interface for encoder emulation or encoder input

Ethernet interface, function

Parameterization and commissioning

Ethernet interface, protocol

TCP/IP

Fieldbus interface, protocol

EtherCAT

EtherNet/IP

Modbus®/TCP

PROFINET IRT

PROFINET RT

Fieldbus interface, function

Bus connection, incoming/forwarding

EtherCAT® slave

PROFINET slave

EtherNet/IP slave

Fieldbus coupling

EtherCAT

EtherNet/IP

Modbus®/TCP

PROFINET

Communication profile

CiA402

CoE (CANopen over EtherCAT)

EoE (Ethernet over EtherCAT)

FoE (File over EtherCAT)

PROFIdrive

DriveProfile

Process interfacing

AC1: Adjustable-Speed Drives

AC3: drives with positioning function

AC4: Synchronous Servo Application

Adjustable-Speed Drives

Drives with positioning function

I/O mode for 256 positioning blocks

Interpolated mode CSP

Interpolated mode CST

Interpolated mode CSV

Fieldbus interface, transmission rate

100 Mbit/s

Fieldbus interface, connection type

2x socket

Fieldbus interface, connection technology

RJ45

Encoder interface, function

BiSS-C

EnDat® 2.1 encoder

EnDat® 2.2 encoder

Hiperface encoder

Incremental encoder

Nikon

SIN/COS encoder

Encoder interface 2, function

Incremental encoder

SIN/COS encoder

Synchronization interface, function

Encoder emulation A/B/Z

Encoder input A/B/Z

Encoder interface output, characteristics

1 MHz maximum output frequency

max. 16384 ppr

Encoder interface input, characteristics

1 MHz maximum output frequency

max. 16384 ppr

Number of digital logic inputs

12

Input switching logic

PNP (positive switching)

Characteristics of logic input

Freely configurable in some cases

Safety inputs in some cases

Not galvanically isolated

Logic input specification

Based on IEC 61131-2, type 3

Work range of logic input

-3 V ... 30 V

8/20/24 - Subject to change - Festo SE & Co. KG

3/4