| output voltage | <= power supply voltage  |  | 
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| motor slip compensation |  AdjustableAutomatic whatever the loadCan be suppressedNot available in permanent magnet motor law  |  | 
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| acceleration and deceleration ramps |  Linear adjustable separately from 0.01...9999 sS, U or customized  |  | 
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| braking to standstill |  By DC injection  |  | 
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| protection type |  Thermal protection motorSafe torque off motorMotor phase break motorThermal protection driveSafe torque off driveOverheating driveOvercurrent between output phases and earth driveOverload of output voltage driveShort-circuit protection driveMotor phase break driveOvervoltages on the DC bus driveLine supply overvoltage driveLine supply undervoltage driveLine supply phase loss driveOverspeed driveBreak on the control circuit drive  |  | 
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| frequency resolution |  Display unit 0.1 HzAnalog input 0.012/50 Hz  |  | 
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| electrical connection |  Control screw terminal 0.5...1.5 mm² AWG 20...AWG 16DC bus screw terminal 4...10 mm² AWG 12...AWG 8Line side screw terminal 4...10 mm² AWG 12...AWG 8Motor screw terminal 4...10 mm² AWG 12...AWG 8  |  | 
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| connector type |  2 RJ45 Ethernet IP/Modbus TCP on the control block1 RJ45 Modbus serial on the control block  |  | 
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| physical interface |  2-wire RS 485 Modbus serial  |  | 
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| transmission frame |  RTU Modbus serial  |  | 
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| transmission rate |  10/100 Mbit/s Ethernet IP/Modbus TCP4.8, 9.6, 19.2, 38.4 kbit/s Modbus serial  |  | 
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| exchange mode |  Half duplex, full duplex, autonegotiation Ethernet IP/Modbus TCP  |  | 
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| data format |  8 bits, configurable odd, even or no parity Modbus serial  |  | 
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| type of polarization |  No impedance Modbus serial  |  | 
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| number of addresses |  1…247 Modbus serial  |  | 
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| method of access |  Slave Modbus TCP  |  | 
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| supply |  External supply for digital inputs 24 V DC 19…30 V), <1,25 mA overload and short-circuit protectionInternal supply for reference potentiometer (1 to 10 kOhm) 10.5 V DC +/- 5 %, <10 mA overload and short-circuit protectionInternal supply for digital inputs and STO 24 V DC 21…27 V), <200 mA overload and short-circuit protection  |  | 
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| local signalling |  Local diagnostic 3 LED mono/dual colour)Presence of voltage 1 LED red)Embedded communication status 3 LED dual colour)Communication module status 4 LED dual colour)  |  | 
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| width |  246 mm  |  | 
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| height |  420 mm  |  | 
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| depth |  242 mm  |  | 
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| net weight |  22 kg  |  | 
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| analogue input number |  3  |  | 
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| analogue input type |  AI1, AI2, AI3 software-configurable voltage 0...10 V DC 30 kOhm 12 bitsAI1, AI2, AI3 software-configurable current 0...20 mA/4...20 mA 250 Ohm 12 bits  |  | 
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| discrete input number |  10  |  | 
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| discrete input type |  DI1...DI8 programmable, 24 V DC <= 30 V)3.5 kOhmDI7, DI8 programmable as pulse input 0…30 kHz, 24 V DC <= 30 V)STOA, STOB safe torque off, 24 V DC <= 30 V)> 2.2 kOhm  |  | 
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| input compatibility |  DI1...DI8 discrete input level 1 PLC EN/IEC 61131-2DI7, DI8 pulse input level 1 PLC IEC 65A-68STOA, STOB discrete input level 1 PLC EN/IEC 61131-2  |  | 
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| discrete input logic |  Positive logic (source) DI1...DI8), < 5 V, > 11 VNegative logic (sink) DI1...DI8), > 16 V, < 10 VPositive logic (source) DI7, DI8), < 0.6 V, > 2.5 VPositive logic (source) STOA, STOB), < 5 V, > 11 V  |  | 
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| analogue output number |  2  |  | 
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| analogue output type |  Software-configurable voltage AQ1, AQ2 0...10 V DC 470 Ohm 10 bitsSoftware-configurable current AQ1, AQ2 0...20 mA 500 Ohm 10 bits  |  | 
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| discrete output number |  2  |  | 
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| discrete output type |  Logic output DQ+ 0…1 kHz <= 30 V DC 100 mAProgrammable as pulse output DQ+ 0…30 kHz <= 30 V DC 20 mALogic output DQ- 0…1 kHz <= 30 V DC 100 mA  |  | 
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| sampling duration |  2 ms +/- 0.5 ms DI1...DI8) - discrete input5 ms +/- 1 ms DI7, DI8) - pulse input1 ms +/- 1 ms AI1, AI2, AI3) - analog input5 ms +/- 1 ms AQ1, AQ2) - analog output  |  | 
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| accuracy |  +/- 0.6 % AI1, AI2, AI3 for a temperature variation 60 °C analog input+/- 1 % AQ1, AQ2 for a temperature variation 60 °C analog output  |  | 
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| linearity error |  AI1, AI2, AI3 +/- 0.15 % of maximum value analog inputAQ1, AQ2 +/- 0.2 % analog output  |  | 
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| maximum switching current |  Relay output R1 resistive, cos phi = 1 3 A 250 V ACRelay output R1 resistive, cos phi = 1 3 A 30 V DCRelay output R1 inductive, cos phi = 0,4 7 ms 2 A 250 V ACRelay output R1 inductive, cos phi = 0,4 7 ms 2 A 30 V DCRelay output R2, R3 resistive, cos phi = 1 5 A 250 V ACRelay output R2, R3 resistive, cos phi = 1 5 A 30 V DCRelay output R2, R3 inductive, cos phi = 0,4 7 ms 2 A 250 V ACRelay output R2, R3 inductive, cos phi = 0,4 7 ms 2 A 30 V DC  |  | 
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| relay output number |  3  |  | 
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| relay output type |  Configurable relay logic R1 fault relay NO/NC 100000 cyclesConfigurable relay logic R2 sequence relay NO 1000000 cyclesConfigurable relay logic R3 sequence relay NO 1000000 cycles  |  | 
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| refresh time |  Relay output R1, R2, R3)5 ms +/- 0.5 ms)  |  | 
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| minimum switching current |  Relay output R1, R2, R3 5 mA 24 V DC  |  | 
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| isolation |  Between power and control terminals  |  | 
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| mounting mode |  Wall mount  |  | 
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