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Appendix B: Specifications
Motion Profiles
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Trapezoidal profile
•
S-curve profile
•
Parabolic profile
•
Custom (user-defined)
Kinematic Ranges
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Position: 32-bit (±2.15 billion counts)
•
Velocity: 32-bit (±6.7 million
•
Acceleration: 32-bit (±13.4 billion counts/sec2 at 2 kHz sampling)
User I/O
•
24-44 user I/O TTL
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Configurable as inputs or outputs
Dedicated I/O (per axis)
•
6 TTL per axis
•
Inputs: positive and negative limits, home, amp-fault
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Outputs: in-position, amp-enable
Servo Loop Update Rate
•
User-programmable rate
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Maximum: 10 kHz (1 axis), 3 kHz (4 axes), 1.6 kHz (8 axes)
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Default: 1.25 kHz
Servo Output
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±10V DC at 16-bit resolution
•
±18 mA current
•
Wide range dynamic PID control with VFF and AFF
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Friction compensation
•
High inertia compensation
Step Output
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Maximum step frequency (open or closed loop): 375kHz
•
Single-ended or differential outputs
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±20 mA current
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Step/direction
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Clock up/clock down *
•
Pulse width: 50% duty cycle
Analog Inputs
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12-bit resolution, ± ½ LSB linearity
•
8 channel multiplexed inputs with track-and-hold
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Software configurable for 4-channel differential mode
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0-5 V unipolar, ± 2.5 V bipolar
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