Control Modes
• Cyclic Synchronous Position-Velocity-Torque (CSP, CSV, CST)
• Profile Position-Velocity-Torque, Interpolated Position, Homing
• Camming, Gearing
• Indexer
Command Interface
• CAN application layer over EtherCAT (CoE)
• ASCII and discrete I/O
• Stepper commands
• ±10V position/velocity/torque (2 inputs)
• PWM velocity/torque command
• Master encoder (Gearing/Camming)
Communications
• EtherCAT
• RS-232
Accessories
• External regen resistors
• External edge filter
Feedback
• Digital quad A/B encoder
Analog sin/cos incremental
Panasonic Incremental A Format
• SSI, EnDat, Absolute A
Tamagawa & Panasonic Absolute A
Sanyo Denki Absolute A,
BiSS,BiSS
• Aux. encoder / encoder out
• Resolver option
• Digital Halls
Safe Torque Off (STO)
• Two active inputs enable power stage
• One output confirms power stage status
I/O Digital
• 15 inputs, 6 outputs
I/O Analog
• 2, 16 bit inputs
• 1, 12-bit input
• 1, 12 bit output
Dimensions: in [mm]
• 7.9 x 5.5 x 2.3 [202 x 139 x 52]

Model Ic Ip Vac
XEL-230-18 6 18 100-240
XEL-230-36 12 36 100-240
XEL-230-40 20 40 100-240

Add -R for resolver feedback option.

EtherCAT RoHS XEL
DESCRIPTION
Xenus Plus set new levels of performance, connectivity, and flexibility. Ethernet based EtherCAT
operates in CAN application layer over EtherCAT (CoE) mode. A wide range of absolute interfaces
are built-in including EnDat, and BiSS.
High resolution A/D converters ensure optimal current loop performance. Both isolated and highspeed
non-isolated I/O are provided. For safety critical applications, redundant power stage enable
inputs can be employed.