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A-2
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Appendix A
Specifications
System Safety
Watchdog timer function...................................Resets board to startup state
Watchdog timeout .....................................63 ms
Shutdown input
Voltage range ............................................0 to 5 V
Input low voltage ..............................0.8 V
Input high voltage .............................2 V
Polarity..............................................Rising edge
Control ......................................................Disable all axes and command outputs
Motion I/O
Encoder inputs ..................................................Quadrature, incremental, single-ended
Maximum count rate.................................20 MHz
Minimum pulse width...............................Programmable; depends on digital filter settings
Voltage range ............................................0 to 5 V
Input low voltage ..............................0.8 V
Input high voltage .............................2 V
Minimum index pulse width .....................Programmable; depends on digital filter settings
Maximum resolution.................................2
28
- 1, programmable
Forward, reverse, and home inputs
Number of inputs ......................................12 (3 per axis)
Voltage range ............................................0 to 5 V
Input low voltage ..............................0.8 V
Input high voltage .............................2 V
Polarity......................................................Programmable, active-high or active-low
Minimum pulse width...............................1 ms with filter enabled;
60 ns without filter enabled
Control ......................................................Individual enable/disable, stop on input, prevent
motion, Find Home
Trigger inputs
Number of inputs ......................................4 (Encoders 1 through 4)
Voltage range ............................................0 to 5 V
Input low voltage ..............................0.8 V
Input high voltage .............................2 V
Polarity......................................................Programmable, active-high or active-low
Minimum pulse width...............................100 ns
Capture latency .........................................<100 ns
Capture accuracy.......................................1 count
Maximum repetitive capture rate..............100 Hz