XGT Motion & Positioning module

XGT Motion Module

32 axes (master) and 4 axes (virtual) control
EhterCAT CoE supported servo drive
Communication cycle : 1ms
Built-in DI/DO 8 points each and EtherCAT I/O 512 points
Program 2MB
External encoder input 2ch (line drive)
Max. transmission distance : 100m

XGT Positioning Module Features (Network type)

XGF-PN8A : Dedicated LSIS EtherCAT Network Support (XGT Servo N series)
XGF-PN8B : Standard EtherCAT Network Support(Standard EtherCAT Servo)
Direct connect with servo driver Max 8
2~8 axes linear interpolation, 2axes circular interpolation, 3axes helical interpolation
Position, speed, feed control is possible through the various operation
Parameters, the operation data stored in the FRAM (No Battery)
Up to eight different types of CAM data for CAM control
Available for absolute position system (When applying absolute encoder type)

XGT Positioning Module Features (Pulse type)

Max 4Axes, Max pulse output 4Mpps
inear/Circular/ellipse/helical interpolation
Asymmetric acceleration and deceleration driving
Speed control, position control, speed/position control, position/speed control, Feed, CAM control
FRAM parameter
XG-PM monitoring, simulation, trace
CAM profile program

Item	XGF-M32E
Communication	EtherCAT (CoE : CANopen over EtherCAT)
Number of axis	Real	32 axes
Virtual	4axes
I/O	Input/output 8 points each (built-in) EtherCAT I/O connection available
Control period	1ms, 2ms, 4ms (same as main task period)
Control unit	Pulse, mm, inch, degree
I/O	Internal	Input 8 points, output 8 points
External	EtherCAT I/O 4 ea(max. 256 points)
Motion Program	No. of program	Max. 256 ea
Capacity	Max. 2Mbyte
Language	LD(FB), ST
Position data	6400 points/all aixs
Control method	Position, Velocity, Torque(Servo drivers support) control, Synchronous control, Interpolation control
Range of position/velocity	± LREAL, 0
Acc. Dec. process	Trapezoid type, S-type
(Setting to specify the Jerk at function block)
Acc. Dec. time	1 ~ 2, 147, 483, 647ms
Manual operation	JOG operation
Torque unit	Rated torque % designation
Encoder input	Channel	2 chennels
Max. input	Max. 500Kpps
Input method	Line drive input (RS-422A IEC specification) Open collector output type encoder
Input type	CW/CCW, Pulse/Dir, Phase A/B
Max. distance	100m
Communication cable	Over CAT.5 STP(Shielded Twisted-pair) cable
Error indication	Indicated by LED
Communication status indication	Indicated by LED
Occupied point I/O	Variable: 16 point, Fixed: 64 point
Communication physical layer	100BASE-TX
Consumable current(mA)	900mA
Weight	122g

Item

XGF-M32E

Communication

EtherCAT (CoE : CANopen over EtherCAT)

Number of axis

Real

32 axes

Virtual

4axes

I/O

Input/output 8 points each (built-in) EtherCAT I/O connection available

Control period

1ms, 2ms, 4ms (same as main task period)

Control unit

Pulse, mm, inch, degree

I/O

Internal

Input 8 points, output 8 points

External

EtherCAT I/O 4 ea(max. 256 points)

Motion Program

No. of program

Max. 256 ea

Capacity

Max. 2Mbyte

Language

LD(FB), ST

Position data

6400 points/all aixs

Control method

Position, Velocity, Torque(Servo drivers support) control, Synchronous control, Interpolation control

Range of position/velocity

± LREAL, 0

Acc. Dec. process

Trapezoid type, S-type

(Setting to specify the Jerk at function block)

Acc. Dec. time

1 ~ 2, 147, 483, 647ms

Manual operation

JOG operation

Torque unit

Rated torque % designation

Encoder input

Channel

2 chennels

Max. input

Max. 500Kpps

Input method

Line drive input (RS-422A IEC specification) Open collector output type encoder

Input type

CW/CCW, Pulse/Dir, Phase A/B

Max. distance

100m

Communication cable

Over CAT.5 STP(Shielded Twisted-pair) cable

Error indication

Indicated by LED

Communication status indication

Indicated by LED

Occupied point I/O

Variable: 16 point, Fixed: 64 point

Communication physical layer

100BASE-TX

Consumable current(mA)

900mA

Weight

122g

Item	XGF-PN8A/PN8B	XGF-PN4B
Number of axis	8 axis	4 axis
Interpolation	2~8 axis linear, 2axis circular, 3axis helical interpolation
Control method	Position, speed, Speed/position, position/speed position/torque, Feed control
Setting unit	pulse, mm, inch, degree
Positioning data	Each axis has 400 data items (Operation step number 1~400). It is available to set with software package or programming.
XG5000	Port	RS-232C, USB
Data	Basic, expansion, manual, servo parameter, operation data, cam data, command information
Monitor	Operation, trace, input sort, error information
Back-up	FRAM(parameter, operation data) no battery
Positioning	Positoning	Absolute/lncremental
method
Position address	-	Absolute	lncremental	Speed/position, position/speed
range	conversion control
	mm	-214748364.8 ~ 214748364.7(㎛)	-214748364.8 ~ 214748364.7(㎛)	-214748364.8 ~ 214748364.7(㎛)
	inch	-21474.83648 ~ 21474.83647	-21474.83648 ~ 21474.83647	-21474.83648 ~ 21474.83647
	degree	-21474.83648 ~ 21474.83647	-21474.83648 ~ 21474.83647	-21474.83648 ~ 21474.83647
	pulse	-2147483648 ~ 2147483647	-2147483648 ~ 2147483647	-2147483648 ~ 2147483647
Position speed	mm	0.01 ~ 20000000.00(mm/Min)
range	inch	0.001 ~ 2000000.000(inch/Min)
	degree	0.001 ~ 2000000.000(degree/Min)
	pulse	1 ~ 20.000.000 (pulse/Sec)
	RPM	0.1 ~ 100000.0(RPM)
Accel/Decel	Trapezoidal & S-curve acceleration/deceleration
pattern
Accel/Decel time	1~2.147.483.647ms
Manual	Jog/ MPG/ inching
Homing method	Max+Z(Forward), Min+Z(Backward), Near-point+Z(Forward, Backward), Max+near-point+Z(Forward),
Min+near-point+Z(Backward), Z(Forward, Backward), near-point(Forward, Backward)
The ability to Change speed	Absolute/Percent
Torque	Rated torque %
Absolute position System	O (Absolute encoder type servo)
Encoder	Channel	2 Channel
input	Max. Input	Max. 200 Kpps
	Input method	line-drive input(RS-422A IEC), open collector output type
	Type	CW/CCW, Pulse/Dir, Phase A/B
	Connector	12 Pin connector
Communication Cycle	800 ㎲
Max. distance	100 m
Cable	STP(Shielded Twisted pair) cable
Error display	LED
Operation display	LED
Occupied points of I/O	64points (Fixed type), 16points (Variable type)
Current consumption (mA)	500 ㎃
Weight(kg)	115 g

Item

XGF-PN8A/PN8B

XGF-PN4B

Number of axis

8 axis

4 axis

Interpolation

2~8 axis linear, 2axis circular, 3axis helical interpolation

Control method

Position, speed, Speed/position, position/speed position/torque, Feed control

Setting unit

pulse, mm, inch, degree

Positioning data

Each axis has 400 data items (Operation step number 1~400). It is available to set with software package or programming.

XG5000

Port

RS-232C, USB

Data

Basic, expansion, manual, servo parameter, operation data, cam data, command information

Monitor

Operation, trace, input sort, error information

Back-up

FRAM(parameter, operation data) no battery

Positioning

Positoning

Absolute/lncremental

method

Position address

Absolute

lncremental

Speed/position, position/speed

range

conversion control

-214748364.8 ~ 214748364.7(㎛)

inch

-21474.83648 ~ 21474.83647

degree

-21474.83648 ~ 21474.83647

pulse

-2147483648 ~ 2147483647

Position speed

0.01 ~ 20000000.00(mm/Min)

range

inch

0.001 ~ 2000000.000(inch/Min)

degree

0.001 ~ 2000000.000(degree/Min)

pulse

1 ~ 20.000.000 (pulse/Sec)

RPM

0.1 ~ 100000.0(RPM)

Accel/Decel

Trapezoidal & S-curve acceleration/deceleration

pattern

Accel/Decel time

1~2.147.483.647ms

Manual

Jog/ MPG/ inching

Homing method

Max+Z(Forward), Min+Z(Backward), Near-point+Z(Forward, Backward), Max+near-point+Z(Forward),

Min+near-point+Z(Backward), Z(Forward, Backward), near-point(Forward, Backward)

The ability to Change speed

Absolute/Percent

Torque

Rated torque %

Absolute position System

O (Absolute encoder type servo)

Encoder

Channel

2 Channel

input

Max. Input

Max. 200 Kpps

Input method

line-drive input(RS-422A IEC), open collector output type

Type

CW/CCW, Pulse/Dir, Phase A/B

Connector

12 Pin connector

Communication Cycle

800 ㎲

Max. distance

100 m

Cable

STP(Shielded Twisted pair) cable

Error display

LED

Operation display

LED

Occupied points of I/O

64points (Fixed type), 16points (Variable type)

Current consumption (mA)

500 ㎃

Weight(kg)

115 g

Item	XGF-PO1H	XGF-PO2H	XGF-PO3H	XGF-PO4H
Number of axis	1 axis	2 axis	3 axis	4 axis
Interpolation	-	Circular, linear, ellipse	Circular, linear, helical, ellipse
Control method	Position control, speed control, speed/position control, position/speed control, FEED
Positioning data	Each axis has 400 data items (Operation step number 1~400). It is available to set with XG5000 or programming.
Configuration Tool	XG5000 (Connected with USB or RS-232C Port of CPU module)
Data backup	FRAM(Parameter, Operation data), Flash memory (CAM Data), No battery
Pulse output	XGF-POxH: Open collector, XGF-PDxH: linedriver
Positioning	Positioning method	Absolute / Incremental
Position	mm	-214,748,364.8 ∼ 214,748,364.7(㎛)
address	inch	-21,474.83648 ∼ 21,474.83647
range	degree	-21,474.83648 ∼ 21,474.83647
	pulse	-2,147,483,648 ∼ 2,147,483,647
Position	mm	0.01 ∼ 20,000,000.00(㎜/min)
address	inch	0.001 ∼ 2,000,000.000(inch/min)
speed	degree	0.001 ∼ 2,000,000.000(degree/min)
	pulse	1 ~ 500,000(pulse/sec): Open collector, 1 ~ 4,000,000(pulse/sec): linedriver
	RPM	0.1 ∼ 100,000.0(RPM)
Accel/Decel pattern	Trapezoidal & S-curve acceleration/deceleration
Accel/Decel time	0~2,147,483,647ms
Max. output pulse	Open collector: 500kpps, linedriver: 4Mpps
Max. distance	Open collector: 5m, linedriver: 10m
Max. encoder input	500kpps
Error display	LED
Size of cable	AWG #24
Occupied points of I/O	64 points (Fixed type), 16 points (Variable type)
Connection connector	40Pin	80Pin
Current consumption (mA)	XGF-PO1H:400mA	XGF-PO2H:410mA	XGF-PO3H:420mA	XGF-PO3H:420mA
XGF-PD1H:520mA	XGF-PD2H:600mA	XGF-PD3H:850mA	XGF-PD4H:890mA
Weight (kg)	120	130

Item

XGF-PO1H

XGF-PO2H

XGF-PO3H

XGF-PO4H

XGF-PD1H

XGF-PD2H

XGF-PD3H

XGF-PD4H

Number of axis

1 axis

2 axis

3 axis

4 axis

Interpolation

Circular, linear, ellipse

Circular, linear, helical, ellipse

Control method

Position control, speed control, speed/position control, position/speed control, FEED

Positioning data

Each axis has 400 data items (Operation step number 1~400). It is available to set with XG5000 or programming.

Configuration Tool

XG5000 (Connected with USB or RS-232C Port of CPU module)

Data backup

FRAM(Parameter, Operation data), Flash memory (CAM Data), No battery

Pulse output

XGF-POxH: Open collector, XGF-PDxH: linedriver

Positioning

Positioning method

Absolute / Incremental

Position

-214,748,364.8 ∼ 214,748,364.7(㎛)

address

inch

-21,474.83648 ∼ 21,474.83647

range

degree

-21,474.83648 ∼ 21,474.83647

pulse

-2,147,483,648 ∼ 2,147,483,647

Position

0.01 ∼ 20,000,000.00(㎜/min)

address

inch

0.001 ∼ 2,000,000.000(inch/min)

speed

degree

0.001 ∼ 2,000,000.000(degree/min)

pulse

1 ~ 500,000(pulse/sec): Open collector, 1 ~ 4,000,000(pulse/sec): linedriver

RPM

0.1 ∼ 100,000.0(RPM)

Accel/Decel pattern

Trapezoidal & S-curve acceleration/deceleration

Accel/Decel time

0~2,147,483,647ms

Max. output pulse

Open collector: 500kpps, linedriver: 4Mpps

Max. distance

Open collector: 5m, linedriver: 10m

Max. encoder input

500kpps

Error display

LED

Size of cable

AWG #24

Occupied points of I/O

64 points (Fixed type), 16 points (Variable type)

Connection connector

40Pin

80Pin

Current consumption (mA)

XGF-PO1H:400mA

XGF-PO2H:410mA

XGF-PO3H:420mA

XGF-PD1H:520mA

XGF-PD2H:600mA

XGF-PD3H:850mA

XGF-PD4H:890mA

Weight (kg)

120

130

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XGT Motion & Positioning module

Features

XGT Motion Module

XGT Positioning Module Features (Network type)

XGT Positioning Module Features (Pulse type)

Specification

XGT Motion Module

XGT Positioning Module (Network type)

XGT Positioning Module (Pulse type)

More Information

M1000/M1000A

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