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Stepper Motor Controller/Driver
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| Model | EtherCAT | Motor Output | Encoder Input | Digital Input | Digital Output | |||||
|---|---|---|---|---|---|---|---|---|---|---|
| Cycle Time | DC | Axis | Output Current |
Microsteps per step |
Channel | Frequency | Counting Mode |
Channel | Channel | |
| ECAT-2091S | 0.5 ms (Note 1) |
Yes | 1x stepper motor, (2 phases) |
Peak 1.5A | 256, 128, 64, 32, 16, 8, 4, 2 | 1 | 4 MHz | AB Phase, CW/CCW, Pulse/Dir |
2 (Note 3) |
1 |
| ECAT-2094S | 1 axis: 1.0 ms 2 axes: 2.0ms 3 axes: 3.0ms 4 axes: 4.0ms |
Yes | 4x stepper motor, (2 phases) |
4 | 8 (Note 4) |
2 | ||||
| ECAT-2094DS | 0.5ms | Yes | 4x stepper motor, (2 phases) |
Peak 3.3A | 4 | 1 MHz | 12 | 0 | ||
| Note 1: 1.0 ms if all PDOs are selected. Note 2: A, B, Z, differential Note 3: Function: limit switch, latch, simple DI Note 4: 2x DI reserved for each axis. Function: limit switch , latch, simple DI |
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Encoder Counter
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| Model | EtherCAT | Encoder Input | Compare Trigger Output | External Latch Input | |||||
|---|---|---|---|---|---|---|---|---|---|
| Cycle Time | Distributed Clocks | Type | Channel | Resolution | Frequency | Counting Mode | Channel | Channel | |
| ECAT-2093 | 0.5 ms | Yes | Incremental | 3 | 32-bit | 4 MHz | CW/CCW, Pulse/Direction, A/B Phase |
- | 3 |
| ECAT-2092T | 2 | 2 | 2 | ||||||