Product Description:

The EL7201-9014 servo drive terminal is produced by Beckhoff for the EL EtherCAT Terminals series. The device combines a single-axis amplifier, safety inputs, and an EtherCAT interface inside a 12 mm-wide housing, giving machine designers a board-mount option for decentralized motion control. It is designed to operate a permanent-magnet, three-phase synchronous motor. The terminal supplies phase current, evaluates incremental encoder data transmitted through One Cable Technology conductors, and initiates Safe Torque Off when required.

The drive can deliver a continuous phase current of 2.8 A RMS to the connected motor, while short overloads of up to 5.7 A for 1 s accommodate acceleration peaks. A fast current control loop running at 32 kHz regulates torque, and pulse-width modulation at 16 kHz generates the three sinusoidal outputs. Motion commands and diagnostic data are exchanged through the EtherCAT protocol, so the terminal occupies one node on the fieldbus without requiring additional communication cabling. Internally, the speed loop is updated at 16 kHz to maintain velocity accuracy at the rated motor speed. A direct motor connection using OCT simplifies wiring by carrying power, encoder, and brake conductors in one hybrid cable.

The terminal measures only 12 mm × 100 mm × 68 mm in the I/O row and controls one motion axis. Power contacts rated for 10 A feed the motor phases, while the electronics receive power from the same 24 V DC line. An integrated brake switch supplies up to 0.5 A at 24 V to release a holding brake when motion is commanded. For position verification and safety, the terminal provides two end-position inputs, a feedback line for the OCT encoder, and a separate STO input that interrupts gate signals. The end-position inputs allow limit sensors to be wired directly to the terminal without requiring separate external terminals, which reduces the amount of cabinet wiring needed for the axis.