Appendix A
Specifications
A-2
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Servo control loop modes .......................PID, PIVff, S-Curve, Dual Loop
PID (Kp, Ki and Kd) gains ..............0 to 32,767
Integration limit (Ilim).....................0 to 32,767
Derivative sample period (Td).........1 to 63 samples
Feedforward (Aff, Vff) gains ..........0 to 32,767
Velocity feedback (Kv) gain ...........0 to 32,767
Servo command analog outputs
Voltage range...................................±10 V
Resolution........................................16 bits (0.000305 V/ LSB)
Programmable torque (velocity) limits
Positive limit ............................±10 V (–32,768 to + 32,767)
Negative limit ...........................±10 V (–32,768 to + 32,767)
Programmable offset .......................±10 V (–32,768 to + 32,767)
Stepper Performance
Trajectory update rate range ...................62.5 to 500 µs/sample
Max update rate ...............................62.5 µs/axis
4-axis update rate.............................250 µs total
Multi-axis synchronization .....................< 1 update sample
Position accuracy
Open-loop stepper ...........................1 full, half, or microstep
Encoder feedback ............................±1 quadrature count
Analog feedback..............................±1 LSB
Long-term velocity accuracy ..................Oscillator based, ±100 ppm
Double-buffered trajectory parameters
Position range ..................................±2
31
steps
Max relative move size....................±2
31
steps
Velocity range .................................1 to 8,000,000 steps/s
RPM range.......................................10
–5
to 10
6
revolutions/minute
Acceleration/deceleration ................4,000 to 128,000,000 steps/s
2
RPS/s range .....................................10
–1
to 10
8
revolutions/s
2
S-curve time range...........................1 to 32,767 samples
Following error range ......................0 to 32,767 counts
Gear ratio .........................................±32,767:1 to 1:32,767
