| Operation mode | Closed loop (torque demand control; PID controlled)
Open loop; (user-specified, programmable register)
|
Communication modes
| 16/16 parallel (16 bit external parallel bus with 16 bit internal command word size) |
Position range
| -2,147,483,648 to +2,147,483,647 counts |
Velocity range
| -32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample |
| Acceleration/deceleration range (positive and negative) | -32,768 to +32,767 counts/sample² with a resolution of 1/65,536 counts/sample² |
Jerk range
| 0 to ½ counts/sample³, with a resolution of 1/4,294,967,296 counts/sample³ |
| Profile modes | S-curve point-to-point ramp (velocity, acceleration/deceleration, Smoothing and position parameters); change of parameters "on-the-fly" not possible in this mode
Trapezoidal point-to-point ramp (velocity, acceleration/deceleration, position and PID parameters); all parameters "on-the-fly" changeable during motion
Electronic Gear (actual or commanded positioning selectable to move one or more axes with upto ±16 bit resolution. Master and Slave Axes and Gear Ratio parameters)
External Profile Mode allows the usage of profile data previously generated by the host computer to be saved in the controller's memory. Therefore low host intervention for highly complex profile movements. This memory can be used in parallel for gathering data for diagnostic, maintenance and to optimize performance.
OPTION Trapezoidal point-to-point ramp with Smoothing Factor ("on-the-fly" changes of all parameters possible and s-curve similar profiling) |
| Electronic Gear range | -32,768 to +32,767 with a resolution of 1/65,536 (negative and positive direction) |
| Filter modes | Scalable PID (not for stepper motor versions) + Velocity feedforward + Acceleration feedforward + Bias. Integration limit, adjustable Derivative Sampling Time and limited torque demand output |
| Filter parameter resolution | 16 bit (servo)
|
Motion error detection
| Motion Error (32-Bit) can cause automatic (with abrupt stop or stop with ramp) stop or can be ignored.
Tracking Window (allows setting of flags if an axis exceeds a defined programmed positioning window for a defined time after end of motion. |
| Output signals | Servo: DAC (16 Bit) ±10V output
PWM (10 Bit Resolution @ 20 Khz)
Stepper: Pulse & Direction |
Max. encoder rate
| Incremental (up to 4,98 Mhz.); OPTION: Parallel (up to 160 Mhz.)
|
Parallel encoder word size
| 16 Bit OPTION
|
Parallel encoder read frequency
| 20 kHz (reads all axes all 50 µsec.) OPTION
|
Servo loop update rate
| 100 µsec nominal (exact time is 102,4 µsec) per activated Axis
|
Limit switches
| 2 per Axis: 1 for each direction |
Position capture triggers
| 2 per Axis: Index and Home |
| Other digital signals (per axis) | 1 AxisIn Signal per Axis, 1 AxisOut Signal per Axis |
| Software invertable signals | Encoder A/A, Encoder B/B¯, Index I/I¯, Home, AxisIn, AxisOut, PositiveLimit, NegativeLimit (all individually programmable per Axis) |
Analog inputs
| x8 10 bit analog inputs
|
Trace mode
| once
continuously
|
| Max. # of Trace variables usable at the same time | 4
|
| Number of available Trace variables | 27
|
Number of commands
| 118-168 (dependent on motor type and card version) |
I/Os
| 8 digital inputs / TTL, active low
8 digital outputs / TTL, active low
8 analog inputs
|
Special profile combinations
| Trapezoidal mode with Electronic Gearing
S-curve mode with Electronic Gearing
OPTION: Trapezoidal with Electronic Gearing and Smoothing Factor (eliminates overshooting, "on-the-fly" changes of Profile parameters) |
Master/Slave change
| Automatic Master/Slave change possible if programmed in host software |
Motor check
| programmable max. motion error detection with or without automatic motor shutdown |
"On the fly" control
| of profile and filter parameters with Pre-Load and individual or simultaneous update of the axes |
Power supply
| 4.80V to 5.25V; 1A |
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