| Operating system | DOS-like RTOS with integrated FAT16/32 compatible file system
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| File system | 8MB SDRAM and 8MB Flash RAM for program and data storage
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| DPRAM | additional 32KB DPRAM in FPGA for direct access by motion controller (support for external profile mode, tracking, data analysis aso.)
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Server system
| integrated Web, Telnet, FTP, TFTP, SSH server
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JAVA & Flash
| integrated support for JAVA and Flash applications accessible via Internet/Intranet
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CoDeSys supprt
| integrated runtime library for CoDeSys IEC 61131-3 support |
| Operation mode | Closed loop (torque demand control; PID controlled)
Open loop; (user-specified, programmable register)
|
Communication modes
| 1x RS232 with up to 115200 baud/sec.
2x selectable RS232/RS422/Rs485 with up to 115200 baud/sec.
2x CAN 2.0B with up to 1 Mbit/sec.
1x Ethernet 10/100 mBit/sec
1x USB1.1 (configurable for communication or external storage device support (external hard disk, USB stick aso.))
1x RS232 with up to 460 kBaud/sec. directly to motion control chip (bypassing micro controller
2x CAN2.0b with up to 1 mBit/sec. directly to motion control chip (bypassing micro controller)
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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 with Smoothing Factor (velocity, acceleration/deceleration, position and PID parameters); all parameters "on-the-fly" changes possible and s-curve similar profiling
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.
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| 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)
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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 or 8 Bit Resolution @ 80 kHz)
Stepper: Pulse & Direction @ 5 mHz
Microstepping: DAC (16 Bit) ±10V output
PWM (10 Bit Resolution @ 20 kHz or 8 Bit Resolution @ 80 kHz) |
Max. encoder rate
| Incremental up to 8 Mhz; SSI reads ea. axis 20.000/sec. (only for axis 1 to 4) |
Parallel encoder word size
| 16 Bit OPTION
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Parallel encoder read frequency
| 20 kHz (reads all axes all 50 µsec.) |
Servo loop update rate
| 51.2 - 76.8 µsec per activated Axis (depends on # of available and activated axes; all versions)
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Limit switches
| 2 per Axis: 1 for each direction; including special filtering w/ integrated time constant
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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
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Trace mode
| once
continuously
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| Max. # of Trace variables usable at the same time | 4 on POSYS® 4002/4004
8 on POSYS® 4008
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| Number of available Trace variables | 27
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Number of commands
| up to 180 (dependent on motor type and card version) |
I/Os
| POSYS® 4004:
8 digital inputs / TTL, active low; including special filtering w/ integrated time constant
8 digital outputs / TTL, active low
8 analog inputs
POSYS® 4008:
16 digital inputs / TTL, active low; including special filtering w/ integrated time constant
16 digital outputs / TTL, active low
16 analog inputs
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Special profile combinations
| Trapezoidal mode with Electronic Gearing
S-curve mode with Electronic Gearing
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
| POSYS® 4004/4008
4.80V to 5.25V; 1A
OR
9V to 32V; 1A
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