• Dual Processor Architecture:
  • 20MHz Intel 80C196KD for high-level tasks and management
  • 80MHz SB2500 ACS Servo Processor per 0axis for real-time control tasks
• Memory:
  Firmware: 256k
  RAM: 256k
  Nonvolatile Memory: 128k, 100,000 write cycles
  User Program Memory: 32k

POSITION CONTROL:

• Sampling Rate: 20kHz
  
• Control Algorithms: Pgain, acceleration feed-forward, automatic velocity feed-forward, anti-reset windup
  
• Trajectory Calculation Rate: 1kHz
  
• Range: ±999,999,999 counts
  Accuracy: ±1 encoder count
  
• Position Feedback:
  Primary: Incremental encoder (+ Hall) or resolver
  Secondary: Incremental encoder only
  
• Encoder: Incremental, 3 channel (A, B, I), differential line drivers, 0-5V
  Supply Voltage: 5V
  Maximum current consumption from onboard supply: 100mA per encoder (400mA total) (Use external supply if higher current is needed.)
  
• Hall: 3 channel, 0-5V or equivalent commutation tracks
  
• Resolver (must be specified with order):
  Onboard RDC: 12-Bit resolution (4096 counts/rev), 1kHz bandwidth
  Frequency: 5-7kHz
  Reference Voltage: 4V±20% rms
  Reference Current (@5kHz): <25mA rms
  Transformation Ratio: 0.5
  DC Resistance: Rotor >15ohms, stator >40ohms
  Pole Pairs: 1

Dual Loop Capabilities:
Primary feedback (encoder only) for velocity and commutation; secondary feedback (encoder only) for position

• Position Registration Delay: <1µsecond
  
• Position Event Generator (PEG™):
  Output: Differential line driver, 0-5V
  Delay: <0.2µsecond
  Position Compare Accuracy: ±1 count at up to 5,000,000 counts/second
  Repetition Rate:
  Random Mode: 5 events/0.001 second
  Incremental Mode: up to 1MHz

VELOCITY CONTROL:

• Sampling Rate: 20kHz
  
• Control Algorithm: PI + second order low pass filter
  
• Range: Up to 128,000,000 counts/second
  
• Resolution: 1 count/second
  
• Incremental Encoder Count Rate: Up to 32,000,000 counts/second
  
• Velocity Accuracy:
  Long Term: 0.005%
  Short Term: 0.01% - 0.5% (system-dependent)
  Acceleration Range: Up to 2,000,000,000 counts/second²

COMMUNICATIONS:

• Standard: RS232/422/485, up to 57,600 baud
  
• Optional: CAN networking with CANopen protocol, up to 1 Mbit/second

DRIVE:

• Type: PWM, digital current control
  
• PWM Frequency: 20kHz/40kHz, programmable
  
• Motor Types: AC induction, DC brush, DC brushless (AC servo/synchronous)
  
• Current Loop Sampling Rate: 20kHz
  
• Control Algorithm: PI
  
• Current Resolution: 12 bit
  
• Bus Voltage: 24-60VDC (18-45VAC)
  
• Phase Current (Sine Wave Amplitude): 7.5A continuous, 15A peak for 1 second
  
• Minimum Inductance: 0.25mH
  
• Current Ripple: <0.1A (60VDC, 6A, L=2mH)

I/O:

• Safety Inputs: Left and right limit per axis, E-stop
  
• General Purpose Inputs: 16
  
• General Purpose Outputs: 16, 50mA/output, maximum total current 350mA
  
• Features Common to Safety & General Purpose I/O: Fed by common external supply via the I/O connector
  Type: Source, Opto-isolated (contact factory for other configurations)
  Response Time: <1msecond
  External Supply Range: 5VDC (10%) or 24VDC (20%), detected automatically
  
• Analog Inputs: One per axis. Differential, ±10V, 12-bit resolution
  
• Analog Outputs: One per axis. Single ended, ±10V, 10-bit resolution

POWER SUPPLIES:

• Separate Supplies: Drive and control (For I/O, see I/O section)
  
• Drive: 24-60VDC (18-45VAC)
  
• Control (Backup): 24VDC ±20% or 18VAC ±20%, 20W
  
• Regeneration: R = 100ohms, 30W