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Specifications
The following specifications are typical for the range -40 to 70 °C unless otherwise noted. All
voltages are relative to COM unless otherwise noted.
Stepper Performance (NI 9512 only)
Stepper accuracy............................................... 1 full, half, or microstep
Interpolation/spline rate.................................... 20 kHz max
Servo Performance (NI 9514, NI 9515, and
NI 9516 only)
Module modes of operation.............................. Position loop and torque loop
Control loop rate
1
.............................................. 20 kHz max (position loop)
Servo control loop modes ................................. PID, PIVff, and Dual-Loop
Motion Command Signals
Stepper outputs
Output type ............................................... Software-selectable: single-ended or differential
Digital logic levels, single-ended
High, V
OH
................................................. 5.25 V max
Sourcing 20 mA................................ 3.5 V min
Sourcing 12 mA................................ 3.7 V min
Sourcing 4 mA.................................. 3.9 V min
Low, V
OL
Sinking 20 mA.................................. 0.9 V max
Sinking 12 mA.................................. 0.7 V max
Sinking 4 mA.................................... 0.5 V max
Digital logic levels, differential (Step/Dir(+) - Step/Dir(-))
At 20 mA .......................................... ±1 V min
At 12 mA .......................................... ±1.5 V min
At 4 mA ............................................ ±2 V min
1
When using a torque loop, the control loop rate depends on the processor speed and communication bus
bandwidth. Refer to the
NI SoftMotion Module
book of the
LabVIEW Help
for more information.
