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| Runtime system | integrated motion logic system | ● | ● | ● | ● | ● |
| 多任务 | | ● | ● | ● | ● | ● |
| 数据管理 | | ● | ● | ● | ● | ● |
| 存储 | 启动项目 | ● | ● | ● | ● | ● |
| 作为压缩归档文件的可编程逻辑控制器项目 | ● | ● | ● | ● | ● |
| 内部存储器和移动存储器中的用户数据 | ● | ● | ● | ● | ● |
| 支持 | 系统事件 | ● | ● | ● | ● | ● |
| 带同步功能的探针 | | ○ | ○ | ○ | ○ | ○ |
| 用户存储器 | Total: Code, data | 4 MB | 4 MB | 512 kB | 512 kB | 512 kB |
| 非易失性存储器 | Total: System, user | 32 kB | 32 kB | 32 kB | 32 kB | 32 kB |
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| Status display （boot, SERCOS, test） | 表現 | ● | ● | ● | ● | - |
| 错误、警告、提示、系统重置 | 显示器、按键 | ● | ● | ● | ● | - |
| Ethernet settings （IP address） | 显示器、按键 | ● | ● | ● | ● | - |
| 电压检测，看门狗 | | ● | ● | ● | ● | ● |
| 继电器输出就绪 | | ● | ● | ● | ● | ● |
| IndraMotion Service Tool | | ▼ | ▼ | - | - | - |
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| sercos III | 实时以太网总线 | ● | ● | ○ | ○ | ▼ |
| 实时以太网总线 | ○ | ○ | ○ | ○ | ▼ |
| Multi-Ethernet | | ● | ● | ● | ○ | ▼ |
| sercos II | 实时运动总线 | ○ | ○ | ○ | ○ | ○ |
| PROFIBUS | Slave | ○ | ○ | ○ | ○ | - |
| PROFINET IO | Device （Slave） | ○ | ○ | ○ | ○ | ▼ |
| EtherNet/IP | Adapter （Slave） | ○ | ○ | ○ | ○ | ▼ |
| DeviceNet | Slave | - | ○ | - | ○ | - |
| EtherCAT | Slave | ○ | ○ | ○ | ○ | ▼ |
| 以太网 TCP/IP 协议 | | ● | ● | ● | ○ | ▼ |
| ModbusTCP | Server （Slave） | ○ | ○ | ○ | ○ | ▼ |
| CANopen | Slave | ▼ | ○ | ▼ | ◇ | - |
| RS232 | 主板技术 | - | ● | - | ● | - |
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| Encoder | 数量 | max. 2 | max. 2 | max. 2 | max. 2 | max. 1 |
| 编码器仿真 | 数量 | - | max. 1 | - | max. 1 | - |
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| IndraControl VCP, VCH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
| IndraControl VEP, VEH | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
| IndraControl VSP, VPP, VSB/VDP, VPB/VDP | Ethernet TCP/IP, OPC | ○ | ○ | ○ | ○ | ○ |
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| 数字输入 | 数量 | 5 | 3 | 5 | 4 | 5 |
| Digital inputs/outputs （user-defined settings） | 数量 | 1 | 4 | 1 | 3 | 1 |
| 快速数字输入 | Number of I/O / sample rate | 2/500 µs | 2/41 µs | 2/500 µs | 1/83 µs | 2/500 µs |
| 模拟输入/输出 | | 1 / - | 1 / 2 | 1 / - | max. 2 / - | - |
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| 模拟输入/输出 | | - | max. 2 / 2 | - | max. 2 / 2 | - |
| Digital inputs/outputs | | - | max. 16/16 | - | max. 16/16 | - |
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| sercos III | 主板技术 | ● | ● | ○ | ○ | ▼ |
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| IndraLogic 1G 内核 | Conforming with IEC 61131-3 | ● | ● | ● | ● | ● |
| Program organization | According to IEC 61131-3 | ● | ● | ● | ● | ● |
| IEC-61131-3 应用程序的加载和执行 | | ● | ● | ● | ● | ● |
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| 可自由规划的任务（优先 0-20） | Cyclic, free-running, event-controlled, extern event-controlled | 4 | 4 | 4 | 4 | 4 |
| 输入/输出进程映像的同步时钟处理 | | ● | ● | ● | ● | ● |
| 输入/输出进程映像的同步时钟处理 | | ● | ● | ● | ● | ● |
| min. PLC cycle time | Synchronous with system cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
| Synchronous with sercos cycle | 1 ms | 1 ms | 1 ms | 1 ms | 1 ms |
| min. Motion cycle time | 用于控制器优化的实际值发生器 | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms |
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| 1000 个指令的标准处理时间 | 指令混合（实数、整数、布尔值等） | 50 | 50 | 100 | 260 | 260 |
| 布尔操作 | 50 | 50 | 100 | 270 | 270 |
| 字操作 | 45 | 45 | 90 | 240 | 240 |
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| Number of axes | 实时 / 虚拟 / 编码器 / 连接 | 1 / 10 / 2 / 1 | 1 / 10 / 2 / 1 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 | 1 / 1 / 2 / 0 |
同步站
（ELS – 电子直线轴） | 实轴
（伺服驱动器） | ● | ● | ● | ● | ● |
虚轴
（虚拟主轴） | ● | ● | ● | ● | ● |
编码器轴
（实际主轴） | ● | ● | ● | ● | ● |
连接轴
（交叉通信） | ● | ● | - | - | - |
| Dynamic synchronization | ● | ● | ● | ● | ● |
| Master axis cascading | ● | ● | - | - | - |
| Positioning | Single-axis | ● | ● | ● | ● | ● |
| Electronic gears | | ● | ● | ● | ● | ● |
| Electronic cams | 极值点表
（集成在驱动器内部，zui大 1024 个极值点） | 4 | 4 | 4 | 4 | 4 |
电子运动轮廓
（集成在驱动器内部，zui大 8 个分段的运动轮廓） | 2 | 2 | 2 | 2 | 2 |
| Torque control | | ● | ● | ● | ● | ● |
| Velocity control | | ● | ● | ● | ● | ● |
| Motion commands according to PLCopen （choice） | MC_MoveAbsolute | ● | ● | ● | ● | ● |
| MC_MoveRelative | ● | ● | ● | ● | ● |
| MC_MoveVelocity | ● | ● | ● | ● | ● |
| MC_CamIn, MC_CamOut | ● | ● | ● | ● | ● |
| MC_GearIn, MC_GearOut | ● | ● | ● | ● | ● |
| Extended motion commands （choice） | MB_ReadListParameter | ● | ● | ● | ● | ● |
| MB_WriistParameter | ● | ● | ● | ● | ● |
| MB_GearInPos | ● | ● | ● | ● | ● |
| MB_PhasingSlave | ● | ● | ● | ● | ● |
| MB_Home | ● | ● | ● | ● | ● |
| MB_ClearAllError | ● | ● | ● | ● | ● |
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| 凸轮驱动装置 | ○ | ○ | ○ | ○ | ○ |
| Encoder | ○ | ○ | ○ | ○ | ○ |
| Fault tolerance concerning malfunction of connected devices | ● | ● | ○ | ○ | ○ |
| Deactivation of | 输入/输出 | ● | ● | ○ | ○ | ○ |
| Drives | ● | ● | - | - | - |
| Ring Recovery and Redundancy | ● | ● | ○ | ○ | ○ |
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| 打印标记控制器 | | ○ | ○ | ○ | ○ | ○ |
| 横切机 | | ○ | ○ | - | - | - |
| 飞锯机 | | ○ | ○ | ○ | ○ | ○ |
| 应力调节器 | | ○ | ○ | - | - | - |
| Register Control | | ○ | ○ | ○ | ○ | ○ |
| 卷绕机 | | ○ | ○ | ○ | ○ | ○ |
| Smart belt | | ○ | ○ | ○ | ○ | ○ |
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诊断
（状态、警告、出错） | 功能块
（软件） | ● | ● | ● | ● | ● |
诊断存储器的参数读取
（软件） | ● | ● | ● | ● | ● |
本地显示
（控制器硬件） | ● | ● | ● | ● | ● |
轴监测
（如：功率、编码器、极限值） | ● | ● | ● | ● | ● |
诊断存储器
（64 kB, zui大 999 条信息） | ● | ● | ● | ● | ● |
| Debugging monitor for IEC applications | | ● | ● | ● | ● | ● |
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| IndraDrive | | ● | ● | - | - | - |
| IndraDrive Mi | Firmware MPB | ▼ | ▼ | - | - | - |
| IndraDrive Cs | | ● | ● | - | - | - |
| 主通信 | sercos III | ● | ● | ● | ● | ● |
| min. sercos III cycle time | | 0.25 ms | 0.25 ms | 1 ms | 1 ms | 1 ms |
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| IndraWorks | | ○ | ○ | ○ | ○ | ○ |
| IndraMotion Service Tool | | ▼ | ▼ |
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