| Available Configurations | 1 axis |
Operating modes
| Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
|
Position range
| -2,147,483,648 to +2,147,483,647 counts
|
Velocity range
| Velocity-contouring profile mode: -32,768 to +32,767 counts/sample with
a resolution of 1/65,536 counts/sample
All others: 0 to 32,767 counts/sample with a resolution of 1/65,536
counts/sample
|
Acceleration and deceleration ranges
| -32,768 to +32,767 counts/sample² with a resolution of 1/65,536 counts/
sample² |
Jerk range
| 0 to 1/2 counts/sample³, with a resolution of 1/ 4,294,967,296 counts/sample³ |
Profile modes
| S-curve point-to-point (Velocity, acceleration, jerk, and position parameters)
Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position
parameters)
Velocity-contouring (Velocity, acceleration, and deceleration parameters)
User-defined (Velocity, acceleration, jerk, time and position parameters)
|
Filter modes
| Scalable PID+Vel feedforward + acceleration feedforward + bias.
Also includes integration limit, settable derivitive sampling time, and output
motor command limiting.
|
Filter parameter resolution
| 16 bits
|
Motor output modes
| PWM: 9-bit resolution at 20 kHz
DAC: 16 bits
|
Maximum encoder rate
| Incremental: Up to 5 Mcounts/sec
Parallel-word: Up to 160.0 Mcounts/sec
|
Parallel encoder word size
| 16 bits
|
Parallel encoder read rate
| 20 kHz (reads alls axes every 50 µsec)
|
| Hall sensors inputs | 3 Hall effect inputs per axis (TTL level signals) |
| Commutation rate | 20 kHz |
Servo loop timing range
| 153 μsec to 3355 msec
|
Minimum servo loop time
| 153 μsec (nominal; Exact time is 153.6 μsec) per enabled axis.
|
Limit switches
| 2 per axis: one for each direction of travel
|
Position-capture triggers
| 2 per axis: index and home signals
|
Analog input
| 8 10-bit analog inputs
|
User defined discrete I/O
| 256 16-bit wide user defined I/O
|
| Storage Temperature (Ts) | -55º C to 150º C
|
Operating Temperature (Ta)
| 0º C to 70º C; an industrial version with an operating temperature of -40° to +85°C is also available. |
Power Dissipation (Pd)
| 650 mW |
Nominal Clock Frequency (Fclk)
| 20.0 MHz
|
Supply Voltage limits (Vcc)
| -0.3 V to +7.0 V
|
Supply Voltage operating range (Vcc)
| 4.75 V to 5.25 V
|
Analog Inputs
| 0 to 5.0 Vdc |
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