800-1986  &  800-1987

Control Modes
• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
•  Profle 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 flter
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
• Digital Halls
Safe Torque Off
• Two active inputs enable power stage
•    One output confrms 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]
• 7.92 x 5.51 x 2.31 in (201.2 x 139.9 x 58.7 mm)

DESCRIPTION
The 800-1986~1987 models set new levels of performance, connectivity, and flexibility. Ethernet
based EtherCAT operates in CAN application layer over EtherCAT (CoE) mode. A wide range of
absolute interfaces are built-in including EnDat, and BiSS.
High resolution A/D converters ensure optimal current loop performance.
Both isolated and highspeed   non-isolated I/O are provided.
For safety critical applications,redundant power stage enable   inputs can be employed.