CONTROLLER:

• Dual Processor Architecture:
  - 20MHz Intel 80C196KD for high-level tasks and management
  - 80MHz SB2500 ACS Servo Processor 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: 125mA per encoder (250mA total) (Use external supply if higher current is needed.)
  
• Hall: 3 channel, 0-5V or equivalent commutation tracks
  
• Resolver (This option 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
  Acceleration build-up time (Smooth Factor): 1-255 milliseconds
  

COMMUNICATIONS:

• Standard: RS232/422/485, up to 57,600 baud
  

DRIVE:

• Type: PWM, digital current control
  
• PWM Frequency: 20kHz
  
• 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:
  SB1381B: 24-60VDC
  SB1381C: 60-120VDC
  
• Phase Current (Sine Wave Amplitude):
  SB1381B: 7.5A continuous, 15A peak for 1 second
  SB1381C: 5A continuous, 10A peak for 1 second
  
• Minimum Inductance: 0.5mH
  
• Current Ripple: <0.25A (60VDC, 6A, L=2mH)

I/O:

• Safety Inputs: Left and right limit per axis, E-stop
  
• General Purpose Inputs: 8 (2 are fast inputs with propagation delay <0.2msec)
  
• General Purpose Outputs: 8, 50mA/output, 350mA maximum total current, overload protected
  
• 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: Differential, ±10V, 12-bit resolution
  
• Analog Outputs: Single ended, ±10V, 10-bit resolution

POWER SUPPLIES:

• Separate Supplies: Drive and control (For I/O, see I/O section)
  An isolated transformer must be used to meet CE requirements.
  
• Drive:
  SB1381B: 24-60VDC (17-45VAC)
  SB1381C: 60-120VDC (45-85VAC)
  Control (Backup): 24VDC (±20%), 30W
  
• Regeneration (Built in):
  SB1381B: R = 100ohms, 30W
  SB1381C: R = 200ohms, 60W