GMC-SG001E-EN-P-JUN01 Motion Control Selection Guide

4-32 1394 Drive System Family
AxisLink Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx)
Specification Configuration Description
Baud rate
Cable type
Cable length
Number of motion controllers
Addressing
Number of virtual master axis
Type of virtual master axes
Slave axes
Standard and extended node
configuration
Extended length configuration
Standard and extended node
configuration
Extended length configuration
Standard and extended node
configuration
Extended length configuration
Standard and extended length
configurations
Extended node configuration
Standard and extended length
configurations
Extended node configuration
Standard configuration
Extended length and extended
node configurations
All configurations
One megabit per second
500 kbits per second
Allen-Bradley 1770-CD RIO cable (Belden 9463 or equivalent)
Belden 9182, Carol C8014, or equivalent
25 m (82 ft) maximum. 1 m (3 ft) minimum between controllers.
125 m (410 ft) maximum. 1 m (3 ft) minimum between controllers.
8 maximum for a total of 32 possible axes
16 maximum for a total of 64 possible axes
User-selectable address via rotary selector switch on front panel
User-selectable address via GML
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.
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.
Command and actual. Each virtual master axis may be defined to report its command
or actual position.
Standard and extended length
configuration
31 maximum total per master axis (3 local + 4 x 7 other motion controllers = 31).
Extended node configuration 63 maximum total per 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
Publication GMC-SG001E-EN-P — June 2001