PDIcl
2, 4 Axis Pulse Direction Drive Interface Module with Feedback
EtherCAT ® Two/Four Axis
Pulse Direction Drive Interface Module with Feedback

  • Step motor control with position feedback verification
     
  • Position feedback: Up to four incremental digital or absolute (EnDat 2.1(Digital)/2.2, Smart-Abs, Panasonic, BiSS, SSI)
     
  • Drive interface:
    › Speed up to 4M pulses per second
    › Programmable pulse width from 80nS to 80μS
  • Digital I/O:
    › Four general purpose inputs
    › Four Registration MARK (High Speed Position Capture)
    › Four motor brake outputs, 24V, 0.2A
    › One PEG (Position Event Generator)
    › All specific I/Os can be used as general purpose I/Os
     
  • Small enclosure: 121x100x48 mm3

The PDICL (Pulse-direction Drive Interface) provides the ability to connect step motor drives and servo motor drives with Pulse-Direction interface to EtherCAT networks that are controlled by ACS' motion controller and EtherCAT master.
The PDICL includes incremental and optionally absolute digital encoder interfaces for position verification and closed loop operation.

It can be used also as a general purpose EtherCAT incremental and absolute encoder interface. The product is offered in two versions: 2-axis and 4-axis.

The PDICL is an effective solution to OEMs of multi-axis machinery that use an ACS EtherCAT master and need to control additional axes using drives with Pulse-Direction interface.

A comprehensive set of software support tools, the MMI Application Studio is provided for setup, programming and diagnostics.

Specifications
Number of Axes
2 or 4
Control Supply

Input voltage: 24Vdc ± 10%
Input current: <0.7A (including 4 encoders)

Drive Interface

  • Pulse-Direction: RS422
  • Maximum pulse rate: 4,000,000 pulses per second
  • Pulse Width: programmable, 80ns to 80μS
  • Drive Fault: two-terminal opto-isolated 24V, 14mA input, set by user as sink or source
  • Drive enable: two-terminal opto-isolated output, 5V and 24V, 20mA, set by the user as sink or source

Feedback
Total number of encoder interfaces is equal to the number of axes, 2 or 4
Incremental Digital Encoder
One interface per axis
Format: AqB,I; Clk/Dir,I, RS-422,
Maximum rate: 50 million encoder counts/second
Protection: Encoder error, Encoder not connected
Encoder supply: 5V, 1.6A total (all encoders)
Encoder phases (A,B) for axis 0,1 are available as buffered outputs
Absolute Encoder (optional)
One interface per axis
Types: EnDat 2.1(Digital)/2.2, Smart-Abs, Panasonic, BiSS, SSI

Digital I/O
General Purpose Inputs
Four, Single ended, opto-isolated. 24V (+/-20%) source
Sink type can be specified by the user

Safety Inputs
Left and right limit inputs per axis
Single ended, opto-isolated, 24V (+/-20%) source
Sink type can be specified by the user
E-Stop: 24V±20%,opto isolated, two-terminal
Unused safety inputs can be used as general purpose inputs

Registration MARK (High Speed Position Capture)
Four, Two-terminal, 24V±20%, fast opto-isolation
Flexible assignment to any incremental encoder axis
Can be used as general purpose inputs

Motor Brake Outputs
Four, single ended, opto-isolated, 0.2A per output
Can be used as general purpose outputs
PEG (Position Event Generator)
One output, RS422
Pulse width: 26.6nSec to 1.75mSec
Maximum rate: 10MHz
Flexible assignment to any incremental encoder axis

EtherCAT Communication
Two ports, In and Out
Dimensions
121x100x48 mm3
Weight
250 gr

Environment
Operating range: 0 to + 50°C
Storage and transportation range: -25 to +60°C
Humidity (operating range): 5% to 90% non-condensing

Accessories
PDIcl-ACC1 Mating connectors for drives, encoders and I/Os
PDIcl-ACC2 Din-rail mounting kit