Specifications

Publication GMC-SG001E-EN-P — June 2001
4-32 1394 Drive System Family
AxisLink Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx)
Specification Configuration Description
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 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