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ET-M8196F
Ethernet Remote Unit with High-speed 6-axis Motion Control Module |
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| Model: ET-M8196F |
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- Remote control via Modbus TCP
- Dsp-based motion control module
- Pulse Output Rate: 4 Mpps (Max.)
- 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.
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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. |
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| System Specifications |
| Communication |
Ethernet |
| Communication Protoco |
Modbus TCP |
| Number of Axes |
6 axes |
| Motion Control Type |
DSP Based |
| Pulse Output Rate |
4 MPPS (Max.) |
Pulse Output
Mode |
CW/CCW |
Yes |
| PULSE/DIR |
Yes |
| A/B Pulse |
Yes |
| Command Type |
Pulse Command |
| Interpolation |
Linear Interpolation |
2/6 axes |
| Circular Interpolation |
2/3 axes |
| Helical Interpolation |
3 axes |
| Continuous Interpolation |
2/3 axes |
| Auto-Home Search |
Yes |
| Manual Pulse Generation |
- |
Velocity
Profi le |
Trapezoidal Curve |
Yes |
| S-Curve |
Yes |
| Ring Counter Mode |
Yes |
| Axis I/O |
Mechanical
Switch Input |
Home |
Yes |
| Near Home |
Yes |
| Limit (Positive/Negative) |
Yes |
| Emergency |
Yes |
| Latch |
Yes |
Servo I/O
Interface |
Input: INP, ALM, RDY |
Yes |
Output: SVON, ALMRST
ERC |
Yes |
Encoder
Interface |
A/B Pulse |
Yes |
| Up/Down |
Yes |
| Encoder Counter |
32-bit |
| Encoder Counting Rate |
12 MHz |
| Position Compare Trigger |
4 MHz |
| Digital Input |
| Digital Input Channels |
Local |
12 DI |
| Frnet |
Up to 128 DI |
| Digital Output |
| Digital Output Channels |
Local |
3 DO |
| FRnet |
Up to 128 DO |
| Input Signal Filter |
Yes |
I/O Isolation
(with daughter board) |
2500 Vrms optical isolation
(with DN-8368) |
| Connector |
68-pin VHDCI Connector
and 20-pin SCSI-II |
| Power |
| Input Voltage |
+24V |
| Mechanical |
| Dimensions |
65x125x121mm |
| Environmental |
| Operating Temperature |
0 ~ +60 °C |
| Storage Temperature |
-20 ~ +80 °C |
| Operating Humidity |
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| Storage Humidity |
5 ~ 90 % RH, noncondensing |
| Software Support |
| Windows Driver/DLL/Lib |
Windows 7/8/10
32/64 bit:
Visual C++ lib/DLL
C#, VB.Net DLL
Delphi
Visual Basic 6.0
BCB 5.0, 6.0
Demo programs |
| Software Utility |
EzGo Utility |
| Macro Programming |
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| ET-M8196F |
Ethernet Remote Automation Unit with High-speed 6-axis Motion Control Module |
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| Note that parts with suffix "B" support electromagnetic brake output. |
| DN-8368UB |
Photo-isolated Universal Snap-on Wiring Terminal Board |
| DN-8368GB |
Photo-isolated General Purpose Wiring Terminal Board |
| DN-8368MB |
Photo-isolated Snap-on Wiring Terminal Board for Mitsubishi MELSERVO-J2 Servo Amplifier |
| DN-20M |
Manual-Pulse-Generator (MPG) and FRnet Input Board for PISO-PS600/VS600/PMDK (RoHS) |
| CA-MINI68-15 |
68-pin VHDCI to SCSI-II Connector Cable, Length 1.5 M |
| CA-SCSI20-M1/M3/M5 |
20-pin SCSI-II Male connector cable (for Mitsubishi J2 series motor), Length 1 M / 3 M / 5 M. |
| CA-26-MJ3-15/30/50(B) |
26-pin HD D-Sub Male Cable for Mitsubishi Servo Amplifier, 1.5/3/5 M (for MELSERVO-J3/J4/JE Series) |
| CA-26-YSV-15/30/50(B) |
26-pin HD D-Sub Male Cable for Yaskawa Servo Amplifier, 1.5/3/5 M (for Sigma II/III/V/7 Series) |
| CA-26-PA4-15/30/50(B) |
26-pin HD D-Sub Male Cable for Panasonic Servo Amplifier, 1.5/3/5 M (for MINAS A4/A5/A6 Series) |
| CA-26-DAA2-15/30/50(B) |
26-pin HD D-Sub Male Cable for Delta A2 Servo Amplifier, 1.5/3/5 M (for ASDA-A2 Series) |
| CA-26-DAB2-15/30/50(B) |
26-pin HD D-Sub Male Cable for Delta B2 Servo Amplifier, 1.5/3/5 M (for ASDA-B2 Series) |
| CA-26-FFW-15/30/50 |
26-pin HD D-Sub Male Cable for Fuji Servo Amplifier, 1.5/3/5 M (for FALDIC-W and ALPHA5 Smart Series) |
| CA-26-TTA-15/30/50 |
26-pin HD D-Sub Male Cable for Teco Servo Amplifier, 1.5/3/5 M (for TSTA-A/A+ Series) |
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