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| Runtime system | integrated motion logic system | ● | ● | ● | ● | ● |
| 多任務(wù) | | ● | ● | ● | ● | ● |
| 數(shù)據(jù)管理 | | ● | ● | ● | ● | ● |
| 存儲(chǔ) | 啟動(dòng)項(xiàng)目 | ● | ● | ● | ● | ● |
| 作為壓縮歸檔文件的可編程邏輯控制器項(xiàng)目 | ● | ● | ● | ● | ● |
| 內(nèi)部存儲(chǔ)器和移動(dòng)存儲(chǔ)器中的用戶數(shù)據(jù) | ● | ● | ● | ● | ● |
| 支持 | 系統(tǒng)事件 | ● | ● | ● | ● | ● |
| 帶同步功能的探針 | | ○ | ○ | ○ | ○ | ○ |
| 用戶存儲(chǔ)器 | Total: Code, data | 4 MB | 4 MB | 512 kB | 512 kB | 512 kB |
| 非易失性存儲(chǔ)器 | Total: System, user | 32 kB | 32 kB | 32 kB | 32 kB | 32 kB |
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| Status display （boot, SERCOS, test） | 表現(xiàn) | ● | ● | ● | ● | - |
| 錯(cuò)誤、警告、提示、系統(tǒng)重置 | 顯示器、按鍵 | ● | ● | ● | ● | - |
| Ethernet settings （IP address） | 顯示器、按鍵 | ● | ● | ● | ● | - |
| 電壓檢測(cè)，看門狗 | | ● | ● | ● | ● | ● |
| 繼電器輸出就緒 | | ● | ● | ● | ● | ● |
| IndraMotion Service Tool | | ▼ | ▼ | - | - | - |
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| sercos III | 實(shí)時(shí)以太網(wǎng)總線 | ● | ● | ○ | ○ | ▼ |
| 實(shí)時(shí)以太網(wǎng)總線 | ○ | ○ | ○ | ○ | ▼ |
| Multi-Ethernet | | ● | ● | ● | ○ | ▼ |
| sercos II | 實(shí)時(shí)運(yùn)動(dòng)總線 | ○ | ○ | ○ | ○ | ○ |
| PROFIBUS | Slave | ○ | ○ | ○ | ○ | - |
| PROFINET IO | Device （Slave） | ○ | ○ | ○ | ○ | ▼ |
| EtherNet/IP | Adapter （Slave） | ○ | ○ | ○ | ○ | ▼ |
| DeviceNet | Slave | - | ○ | - | ○ | - |
| EtherCAT | Slave | ○ | ○ | ○ | ○ | ▼ |
| 以太網(wǎng) TCP/IP 協(xié)議 | | ● | ● | ● | ○ | ▼ |
| ModbusTCP | Server （Slave） | ○ | ○ | ○ | ○ | ▼ |
| CANopen | Slave | ▼ | ○ | ▼ | ◇ | - |
| RS232 | 主板技術(shù) | - | ● | - | ● | - |
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| Encoder | 數(shù)量 | max. 2 | max. 2 | max. 2 | max. 2 | max. 1 |
| 編碼器仿真 | 數(shù)量 | - | max. 1 | - | max. 1 | - |
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| IndraControl VCP, VCH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
| IndraControl VEP, VEH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
| IndraControl VSP, VPP, VSB/VDP, VPB/VDP | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
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| 數(shù)字輸入 | 數(shù)量 | 5 | 3 | 5 | 4 | 5 |
| Digital inputs/outputs （user-defined settings） | 數(shù)量 | 1 | 4 | 1 | 3 | 1 |
| 快速數(shù)字輸入 | Number of I/O / sample rate | 2/500 µs | 2/41 µs | 2/500 µs | 1/83 µs | 2/500 µs |
| 模擬輸入/輸出 | | 1 / - | 1 / 2 | 1 / - | max. 2 / - | - |
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| 模擬輸入/輸出 | | - | max. 2 / 2 | - | max. 2 / 2 | - |
| Digital inputs/outputs | | - | max. 16/16 | - | max. 16/16 | - |
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| sercos III | 主板技術(shù) | ● | ● | ○ | ○ | ▼ |
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| IndraLogic 1G 內(nèi)核 | Conforming with IEC 61131-3 | ● | ● | ● | ● | ● |
| Program organization | According to IEC 61131-3 | ● | ● | ● | ● | ● |
| IEC-61131-3 應(yīng)用程序的加載和執(zhí)行 | | ● | ● | ● | ● | ● |
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| 可自由規(guī)劃的任務(wù)（優(yōu)先 0-20） | Cyclic, free-running, event-controlled, extern event-controlled | 4 | 4 | 4 | 4 | 4 |
| 輸入/輸出進(jìn)程映像的同步時(shí)鐘處理 | | ● | ● | ● | ● | ● |
| 輸入/輸出進(jìn)程映像的同步時(shí)鐘處理 | | ● | ● | ● | ● | ● |
| min. PLC cycle time | Synchronous with system cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
| Synchronous with sercos cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
| min. Motion cycle time | 用于控制器優(yōu)化的實(shí)際值發(fā)生器 | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms |
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| 1000 個(gè)指令的標(biāo)準(zhǔn)處理時(shí)間 | 指令混合（實(shí)數(shù)、整數(shù)、布爾值等） | 50 | 50 | 100 | 260 | 260 |
| 布爾操作 | 50 | 50 | 100 | 270 | 270 |
| 字操作 | 45 | 45 | 90 | 240 | 240 |
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| Number of axes | 實(shí)時(shí) / 虛擬 / 編碼器 / 連接 | 1 / 10 / 2 / 1 | 1 / 10 / 2 / 1 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 |
同步站
（ELS – 電子直線軸） | 實(shí)軸
（伺服驅(qū)動(dòng)器） | ● | ● | ● | ● | ● |
虛軸
（虛擬主軸） | ● | ● | ● | ● | ● |
編碼器軸
（實(shí)際主軸） | ● | ● | ● | ● | ● |
連接軸
（交叉通信） | ● | ● | - | - | - |
| Dynamic synchronization | ● | ● | ● | ● | ● |
| Master axis cascading | ● | ● | - | - | - |
| Positioning | Single-axis | ● | ● | ● | ● | ● |
| Electronic gears | | ● | ● | ● | ● | ● |
| Electronic cams | 極值點(diǎn)表
（集成在驅(qū)動(dòng)器內(nèi)部，zui大 1024 個(gè)極值點(diǎn)） | 4 | 4 | 4 | 4 | 4 |
電子運(yùn)動(dòng)輪廓
（集成在驅(qū)動(dòng)器內(nèi)部，zui大 8 個(gè)分段的運(yùn)動(dòng)輪廓） | 2 | 2 | 2 | 2 | 2 |
| Torque control | | ● | ● | ● | ● | ● |
| Velocity control | | ● | ● | ● | ● | ● |
| Motion commands according to PLCopen （choice） | MC_MoveAbsolute | ● | ● | ● | ● | ● |
| MC_MoveRelative | ● | ● | ● | ● | ● |
| MC_MoveVelocity | ● | ● | ● | ● | ● |
| MC_CamIn, MC_CamOut | ● | ● | ● | ● | ● |
| MC_GearIn, MC_GearOut | ● | ● | ● | ● | ● |
| Extended motion commands （choice） | MB_ReadListParameter | ● | ● | ● | ● | ● |
| MB_WriistParameter | ● | ● | ● | ● | ● |
| MB_GearInPos | ● | ● | ● | ● | ● |
| MB_PhasingSlave | ● | ● | ● | ● | ● |
| MB_Home | ● | ● | ● | ● | ● |
| MB_ClearAllError | ● | ● | ● | ● | ● |
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| 凸輪驅(qū)動(dòng)裝置 | ○ | ○ | ○ | ○ | ○ |
| Encoder | ○ | ○ | ○ | ○ | ○ |
| Fault tolerance concerning malfunction of connected devices | ● | ● | ○ | ○ | ○ |
| Deactivation of | 輸入/輸出 | ● | ● | ○ | ○ | ○ |
| Drives | ● | ● | - | - | - |
| Ring Recovery and Redundancy | ● | ● | ○ | ○ | ○ |
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| 打印標(biāo)記控制器 | | ○ | ○ | ○ | ○ | ○ |
| 橫切機(jī) | | ○ | ○ | - | - | - |
| 飛鋸機(jī) | | ○ | ○ | ○ | ○ | ○ |
| 應(yīng)力調(diào)節(jié)器 | | ○ | ○ | - | - | - |
| Register Control | | ○ | ○ | ○ | ○ | ○ |
| 卷繞機(jī) | | ○ | ○ | ○ | ○ | ○ |
| Smart belt | | ○ | ○ | ○ | ○ | ○ |
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診斷
（狀態(tài)、警告、出錯(cuò)） | 功能塊
（軟件） | ● | ● | ● | ● | ● |
診斷存儲(chǔ)器的參數(shù)讀取
（軟件） | ● | ● | ● | ● | ● |
本地顯示
（控制器硬件） | ● | ● | ● | ● | ● |
軸監(jiān)測(cè)
（如：功率、編碼器、極限值） | ● | ● | ● | ● | ● |
診斷存儲(chǔ)器
（64 kB, zui大 999 條信息） | ● | ● | ● | ● | ● |
| Debugging monitor for IEC applications | | ● | ● | ● | ● | ● |
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| IndraDrive | | ● | ● | - | - | - |
| IndraDrive Mi | Firmware MPB | ▼ | ▼ | - | - | - |
| IndraDrive Cs | | ● | ● | - | - | - |
| 主通信 | sercos III | ● | ● | ● | ● | ● |
| min. sercos III cycle time | | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms |
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| IndraWorks | | ○ | ○ | ○ | ○ | ○ |
| IndraMotion Service Tool | | ▼ | ▼ |
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