Specifications
Precision MicroControl Corp.
174
Analog Command Axis Specifications
Function
Closed Loop Servo Motor Control
Operating Modes
Position, Velocity, Contouring, Torque, and Gain
Filter Algorithm
PID with Velocity, Accel / Decel Feed-Forward (PID-VAFF)
Servo Filter Update Rate
4, 2, or 1 KHz - software selectable
Trajectory Generator
Trapezoidal, Parabolic or S-Curve
Independent Acceleration and Deceleration
Command output
Analog Signal (+/- 10 vdc @ 10 ma, 16 bit)
Position Feedback
Incremental Encoders with Index and Hardware Error Detection
Position and Velocity Resolution
64 bit floating point
Encoder
Encoder and Index Inputs
Differential or Single-ended, -25 to +25 vdc max.
Encoder Count Rate
Up to 20,000,000 Quadrature Counts/sec. per axis
Encoder Supply Voltage
+5 vdc or +12 vdc
Minimum Phase differential
200mV
Hardware Error Checking
Yes (for differential encoders)
Axis Inputs (Optically isolated)
Limit+, Limit-, Home, Amplifier/Drive Fault
Device conducting
minimum voltage = 3V
maximum voltage = 25V
Minimum current required
0.25 mA
Axis Outputs (Open Collector)
Amplifier/Drive Disable, Amplifier/Drive Enable
Maximum voltage
30V
Maximum current sink
100 ma
Position Capture (Latch) input
TTL (0 - +5V), 1 per servo axis pair
Active level
Rising edge (TTL high, > 2.4 VDC)
Minimum pulse duration
100 nanosecond
Maximum trigger frequency
1 KHz
Position Compare (trigger) output
TTL (0 - +5V), 1 per four servo axes
Active level
Programmable, default = TTL high
Minimum pulse duration
<1 nanosecond
Maximum repeat frequency
>1 MHz (programmable trigger modes)
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