Control Modes • Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST) • Profile Position-Velocity-Torque, Interpolated Position, Homing • Camming, Gearing • Indexer Command Interface • CAN application layer over EtherCAT (CoE) • ASCII and discrete I/O • Stepper commands • ±10V position/velocity/torque (2 inputs) • PWM velocity/torque command • Master encoder (Gearing/Camming) Communications • EtherCAT • RS-232 Accessories • External regen resistors • External edge filter Feedback • Digital quad A/B encoder Analog sin/cos incremental Panasonic Incremental A Format • SSI, EnDat, Absolute A Tamagawa & Panasonic Absolute A Sanyo Denki Absolute A, BiSS,BiSS • Aux. encoder / encoder out • Resolver option • Digital Halls Safe Torque Off (STO) • Two active inputs enable power stage • One output confirms power stage status I/O Digital • 15 inputs, 6 outputs I/O Analog • 2, 16 bit inputs • 1, 12-bit input • 1, 12 bit output Dimensions: in [mm] • 7.9 x 5.5 x 2.3 [202 x 139 x 52] Model Ic Ip Vac XEL-230-18 6 18 100-240 XEL-230-36 12 36 100-240 XEL-230-40 20 40 100-240 Add -R for resolver feedback option.