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motion control modules - for servomotors - 8 ms..10 s - 4 axes

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  • Main
    range of product
    Modicon Premium Automation platform
    product or component type
    Motion control modules
    product specific application
    For servo motors
    servo loop type
    Proportional to overshoot compensation and gain switching 4 ms
    Consistency of commands
    Encoder coupling, servo drive present, emergency stop
    Proper execution of movement
    Sensor power supply
    Validity of parameters
    Presence of voltage/sensor feedback counter input
    speed profile path
    Trapezoidal or parabolic
    <= 1000 position units per point
    >= 0.5 position units per point
    length of axis
    32000...32000000 P
    acquisition speed
    <= 270000 points/mn
    >= 54000 points/mn
    acceleration time
    8 ms...10 s
    operating mode
    Direct drive mode
    type of axis
    Following axis static ratio
    Limited axis
    I/O modularity
    4 axes
    input compatibility
    Absolute encoder SSI output 16...25 bits
    Incremental encoder 10...30 V totem pole
    Incremental encoder 5 V DC RS422
    With 2-wire/3-wire sensor (24 DC) auxiliary input
    Absolute encoder parallel output ABE7CPA11
    clock frequency
    200 kHz SSI absolute encoder
    incremental encoder frequency x1
    500 kHz
    incremental encoder frequency x 4
    1000 kHz in counting
    250 kHz in input
    power dissipation in W
    10...17 W
    input type
    Current sink auxiliary input conforming to EN/IEC 1131 Type 2
    Resistive counter input
    Resistive servo drive control input conforming to EN/IEC 1131 Type 1
    input logic
    input voltage
    24 V 8 mA auxiliary input
    24 V 8 mA servo drive control input
    5 V 18 mA counter input
    input voltage limits
    <= 5.5 V counter input
    19...30 V auxiliary input
    19...30 V servo drive control input
    voltage state 1 guaranteed
    >= 11 V auxiliary input
    >= 11 V servo drive control input
    >= 2.4 V counter input
    current state 1 guaranteed
    >= 3.5 mA servo drive control input
    >= 3.7 mA counter input
    >= 6 mA auxiliary input
    voltage state 0 guaranteed
    <= 1.2 V counter input
    <= 5 V auxiliary input
    <= 5 V servo drive control input
    current state 0 guaranteed
    <= 1 mA counter input
    <= 1.5 mA servo drive control input
    <= 2 mA auxiliary input
    input impedance
    270 Ohm counter input
    3000 Ohm auxiliary input
    3000 Ohm servo drive control input
    number of outputs
    4 analogue output static
    4 reflex output static conforming to EN/IEC 61131
    4 servo drive validation output relay
    analogue output range
    +/- 10...24 V
    analogue output resolution
    13 bits + sign
    LSB value
    1.25 mV analogue output
    output voltage
    24 V DC reflex output
    24 V DC servo drive validation output
    output voltage limits
    19...30 V reflex output
    5...30 V servo drive validation output
    nominal output current
    0.5 A reflex output
    maximum output current
    1.5 mA analogue output
    200 mA servo drive validation output
    625 mA reflex output
    minimum load
    1 mA 1 V
    voltage drop
    < 1 V at state on reflex output
    leakage current
    < 0.3 mA reflex output
    switching time
    < 5 ms for servo drive validation
    < 500 µs for reflex output
    output compatibility
    Positive logic DC inputs (resistance <= 15 kOhm) reflex
    short-circuit protection
    Current limiter reflex output
    Thermal tripping reflex output
    output overload protection
    Current limiter reflex output
    Thermal tripping reflex output
    output overvoltage protection
    Zener diode between outputs and 24 DC reflex output
    reverse polarity protection
    Reverse diode on supply reflex output
    local signalling
    4 LEDs green axis diagnostics available
    1 LED green module operating (RUN)
    1 LED red external fault (I/O)
    1 LED red internal fault, module failure (ERR)
    electrical connection
    1 connector HE-10 20 pins for servo drive ctrl inputs + for ext power supply of servo drive inputs/outputs
    1 connector SUB-D 9 for an analogue output (speed reference)
    3 connectors HE-10 20 pins for aux inputs, reflex output, for external sensor and preactuator power supply
    4 connectors SUB-D 15 for an incremental or absolute encoder
    current consumption
    1500 mA 5 V DC
    30 mA 24 V DC
    22...40 mA 24 V DC on 10/30 V absolute encoder module
    module format
    product weight
    0.61 kg
    protective treatment
    Conformal coating Humiseal 1A33
    ambient air temperature for operation
    0...60 °C
    ambient air temperature for storage
    -25...70 °C
    relative humidity
    5...95 % without condensation
    operating altitude
    <= 2000 m
    Offer Sustainability
    RoHS (date code: YYWW)
    Contractual warranty
    Warranty period
    18 months
  • Documents and Downloads

    • English
    • French
    User guide
    Add to My Documents
    Premium and Atrium using EcoStruxure™ Control Expert - Discrete I/O modules, User Manual (Version 10)
    Premium and Atrium using EcoStruxure™ Control Expert - Axis Control Modules for Servomotors, User Manual (Version 09)
    Premium and Atrium using EcoStruxure™ Control Expert, Processors, Racks and Power Supply Modules (Version 10)
    Add to My Documents
    CSA_225844_1041715_PREMIUM_JUL2011 (Version 1.0)
    UL E486184 - NRAQ-NRAQ7 (Version 1.0)
    Date 2/11/19
    Size 395.6 KB
    Declaration of conformity
    Add to My Documents
    DCC_PREMIUM_JUL2016 (Version 1.0)
    Date 8/6/18
    Size 478.2 KB
    ACMA_RCM_PREMIUM_FEB2015 (Version 1.0)
    Date 6/19/18
    Size 1.9 MB
    EU RoHS Declaration
    Add to My Documents
    Date 5/21/19
    Size 195.3 KB
    Marine certificate
    Add to My Documents
    DNV-GL Marine Certificate PREMIUM PLCs (Version 1.0)
    RMRS_16.00045.272_PREMIUM_DEC2016 (Version 1.0)
    Date 1/29/19
    Size 181.4 KB
    REACh Declaration
    Add to My Documents
    Date 5/21/19
    Size 195.3 KB
  • Technical FAQs

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  • Dimensions Drawings

    Standard and Extendable Racks for Modules Mounting
    Dimensions of Modules and Racks

    (1) With screw terminal block modules.

    (2) Maximum depth for all types of modules and their associated connectors.

  • Connections and Schema

    Connection of Speed Reference Signals
    Connector Pinout

    Connection of Counting Signals
    Connectors Pinouts




    Incremental encoder

    input A+


    input A-


    input Z+


    input Z-


    input B+


    input B-


    return supply of encoder


    Absolute SSI encoder:

    + SSI Data


    - SSI data






    5 V encoder power supply

    +supply (5 V)


    - supply (0 V)


    Encoder power supply (10-30 V)

    +supply (10-30 V)


    - supply (0 V)


    Connection of Sensors/Pre-actuators and Encoder Power Supply, without Variable Speed Controller
    HE10 Connector Pinout

    The auxiliary inputs/outputs are allocated the following functions:

    • I0 = cam reference point input,

    • I1 =emergency stop input (stop if there is no current in the input),

    • I2 = adjusting input,

    • I3 = adjustment input,

    • Q0 = reflex output (static output),

    • 0 V = shared auxiliary inputs and reflex outputs.

    Connection of the Variable Speed Controller Signals
    Connector Pinout

    The axis command modules implement basic management of the signals necessary for correct operation of the variable speed controllers. There is only one connector, regardless of the number of axis command module channels.

    COMx – VALVARx: potential free contact to validate variable speed controller

    OK_VARx: variable speed controller input check

    24 V – 0 V sensor power supply

    NOTE: Each channel uses a potential free closing contact.