Controller operating mode	PWM-MOSFET power output stage Cascade controller with P position controller PI speed controller Proportional and integral controller for electricity
Rotor position sensor	Absolute single turn encoder
Rotary position encoder measuring principle	Magnetic
Protective function	I²t monitoring Temperature monitoring Current monitoring Voltage failure detection Drag error monitoring Software end-position detection
Safety function	Safe torque off (STO)
Safety Integrity Level (SIL)	Safe torque off (STO)/SIL 2
Performance level (PL)	Safe torque off (STO)/category 3, performance level d
Display	LED
Max. speed	3,300 1/min
Nominal rotary speed	3,150 1/min
Braking resistor, external	6 Ohm
Diagnostic coverage	90 %
Digital logic output characteristics	Freely configurable to a given extent Not electrically isolated
Hardware fault tolerance	1
Max. current, digital logic outputs	100 mA
Max. positive test pulse with logic 0	10,000 µs
Max. negative test pulse with logic 1	600 µs
Nominal motor power	150 W
Nominal voltage DC	24 V
Nominal current	7.2 A
Parameters configuring interface	Ethernet
Protocol	CANopen
SFF Safe Failure Fraction	> 90 %
Max. number of positioning sets	64
Rotor position encoder resolution	12 Bit
Peak motor power	200 W