mcDSA-Bx family vs mcDSA-Ex family

The mcDSA-B4x/B6x family has a reduced functionality compared to mcDSA-E4x/E6x family. The following limitations and differences of mcDSA-B4x/B6x family must be noticed:

Software differences:

• only one TxPDO and one RxPDO
  
• only CAN bus on board, no other bus systems like EtherCAT are possible
  
• no DS402 profile
• no S² ramps
  
• no brake management
  
• no interpolation
  
• no HALL diagnostic
• no HALL counters
• no HALL tuning
• no MODULO positioning
• no clock synchronization via CAN bus
  
• no PWM mode (only symmetric PWM)
  
• no cadence braking (limiting of Up during braking)
  
• MPU memory is smaller
• the processor is slower (higher timeouts for the SDO communication, slower controller cycle times, etc.)

Hardware differences

• no incremental encoder
  
• no hex switches
  
• no I/O expansion via mcSPI possible
  
• only one PWM frequency (25 kHz), no possibility to change it