User manual

Publication 1394-5.0 — May 2000
A-16 Specifications
AxisLink Specifications
The table below lists the AxisLink specifications for the system
module (1394x-SJTxx-C-xx, -L-xx, and -T-xx systems).
The: Is:
Baud rate Standard and extended node
configuration
One megabit per second
Extended length configuration 500 kbits per second
Cable type Standard and extended node
configuration
Allen-Bradley 1770-CD RIO cable (Belden 9463 or
equivalent)
Extended length configuration Belden 9182, Carol C8014, or equivalent
Cable length Standard and extended node
configuration
25 m (82 ft) maximum. 1 m (3 ft) minimum between
controllers.
Extended length configuration 125 m (410 ft) maximum. 1 m (3 ft) minimum between
controllers.
Number of motion controllers Standard and extended length
configurations
8 maximum for a total of 32 possible axes
Extended node configuration 16 maximum for a total of 64 possible axes
Addressing Standard and extended length
configurations
User-selectable address via rotary selector switch on
front panel
Extended node configuration User-selectable address via GML
Number of virtual master axis Standard configuration 4 maximum; 1 per motion controller. Any axis on any
motion controller can be a virtual master axis to any
other motion controller. Each motion controller can
define a total of 2 separate axes on any other motion
controllers as virtual master axes, but only one can be
active any time. A total of 4 different axes can be active
as virtual master axes at any time.
Extended length and extended
node configurations
2 maximum; 1 per motion controller. Any axis on any
motion controller can be a virtual master axis to any
other motion controller. Each motion controller can
define a total of 2 separate axes on any other motion
controllers as virtual master axes, but only one can be
active any time. A total of two different axes can be
active as virtual master axes at any time.
Type of virtual master axes All configurations Command and actual. Each virtual master axis may be
defined to report its command or actual position.
Slave axes Standard and extended length
configuration
31 maximum total per virtual master axis (3 local + 4 x
7 other motion controllers = 31).
Extended node configuration 63 maximum total per virtual master axis (3 local + 4 x
15 other motion controllers = 63).
Number of discrete I/O All configurations 112 inputs maximum and 16 user-defined outputs per
motion controller. Any motion controller can read 16
discrete outputs of any other motion controller, giving a
maximum of 7 x 16 = 112 discrete inputs per motion
controller. For extended node configuration, discrete I/
O can still only be obtained from a maximum of 7 other
controllers (112 inputs maximum), not from all 15 other
controllers available in a 16 node maximum extended
node configuration.
Discrete I/O response All configurations
≤
1 millisecond