ET-M8196F
Ethernet Remote Unit with High-speed 6-axis Motion Control Module
Features
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.
- Remote control via Modbus TCP
- Dsp-based motion control module
- Maximum pulse output frequency: 4 Mpps
- 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.
Specifications
Communication
Communication Protocol
Modbus TCP
Number of Axes
6
Maximum Pulse Output Rate
4 MHz
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
Conector
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