mcDSA-Bx family vs mcDSA-Ex family and mcDSA-Fx family

The mcDSA-B4x/B6x family has a reduced functionality compared to mcDSA-E4x/E6x and the mcDSA-F1x/F5x 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.)

Software differences Ex and Fx series:

• commutation type FOC
• certified STO variants
• non-certified Enable variants
• diagnostics of STO / Enable

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

Hardware differences Ex and Fx series:

• Two-channel output stage switch-off as STO or Enable variant
• Lower heat dissipation due to FOC commutation