©
National Instruments Corporation
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NI 951x User Manual
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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 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 ..................................... Programmable: 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
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.