| Operation method | Main task/Periodic task: Fixed cyclic operation, repetitive operation. Initial task: Only once at the time of entering the RUN |
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| Control period | Main task cyclic time: 0.5ms, 1ms, 2ms, 4ms Periodic task cyclic time: Multiple setting of main task |
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| I/O Control method | Synchronized update with main task cycle (Refresh method) |
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| Program language | Ladder Diagram (Function block), Structured Text, G-Code |
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| Number of instruction | Operator | 18 |
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| Basic function | 202 |
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| Basic function block | 174 |
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| Special function block | 97 |
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| Processing speed | Basic | 6.25ns or more (General point/coil) |
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| Move | 5ns or more (Word type) |
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| Arithmetic | 30ns or more (Word type) |
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| Program | number | Max. 256 |
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| Capacity | 10MB (Motion program), 10MB (NC program) |
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| Data area | Symbolic variable (A) | 4.096KB (Retain setting available up to 2,048KB) |
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| Input variable (I) | 16KB |
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| Output variable (Q) | 16KB |
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| Direct variable (M) | 2,048KB (Retain setting available up to 1,024KB) |
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| Flag variable | F | 128KB |
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| K | 18KB |
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| U | 1KB |
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| L | 22KB Note1) |
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| N | 49KB Note1) |
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| Timer | No limit in number of I/O points, Time range: 0.001˜4,294,967,295sec (1,193hour) |
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| Counter | No limit in number of I/O points, Counter range: 64 bit range |
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| Program | Initial program, Main task program, Periodic task program, NC program |
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| Operation mode | RUN, STOP |
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| Restart mode | Cold, Warm |
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| Self-diagnosis function | Task cycle error, Task time occupancy rate exceed, memory abnormal, power abnormal, etc. |
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| Back-up method | Retain area setting in basic parameter or retain variable setting. |
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| Number of control axis Note2) | XMC-E32A,E32C | 32 axes (Real/Virtual axis), 4axes (Virtual axis), 64 slaves (Max 32 slaves in case of 32 axes (Servo, INV) control) |
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| XMC-E16A | 16 axes (Real/Virtual axis), 2axes (Virtual axis), 32 slaves (Max 16 slaves in case of 16 axes(Servo, INV) control) |
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| XMC-E08A | 8 axes (Real/Virtual axis), 1axis (Virtual axis), 16 slaves (Max 8 slaves in case of 8 axes(Servo, INV) control) |
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| CAM operation | XMC-E32A,E32C | 32 profiles/32,768 points |
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| XMC-E16A | 16 profiles/16,384 points |
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| XMC-E08A | 8 profiles/8,192 points |
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| Communication | EtherCAT (CoE: CANopen over EtherCAT, FoE: File Access over EtherCAT) |
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| Communication/Control period | 0.5ms, 1ms, 2ms, 4ms (Same with main task period) |
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| Servo drive | EtherCAT servo drive which supports CoE |
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| Control unit | Pulse, mm, inch, degree |
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| Control method | Position, Velocity, Torque (Servo drive support), Synchronous, Interpolation |
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| Range of position / Velocity | ±LREAL, 0 |
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| Torque unit | Rated torque % designation |
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| Acc./Dec. profile | Trapezoidal, S-curve(Regarding Jerk value set by function block) |
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| Rage of Acc/Dec | ±LREAL, 0 |
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| Manual operation | JOG operation |
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| Absolute system | Available (When using absolute encoder type servo drive) |
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| Encoder input | Channel | 2 channels |
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| Max.input | 500kpps |
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| Input method | Line drive input (RS-422A IEC specification), Available open collector output type encoder |
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| Input type | CW/CCW, Pulse/Dir, Phase A/B |
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