CONTROLLER:
- Dual
Processor Architecture:
• 20MHz Intel 80C196KD for high level tasks and management
• 80MHz SB2500 ACS Servo Processor per axis for real-time
control tasks
- Memory:
- Firmware:
256k
- RAM:
256k
Nonvolatile Memory: 128k, 100,000 write cycles
- User
Program Memory: 32k
COMMUNICATIONS:
- Bus:
ISA bus, 8-bit data width, through 1K FIFO in each direction
- Serial:
RS232, up to 57,600 baud
- CAN:
External CAN networking with CANopen support is available. Please
contact the factory.
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 encoder per axis, secondary encoder for Z and
T axis
-
Position
Capture Accuracy: ±1 count at up to 5,000,000 counts/second
-
Position
Event Generator (PEG™):
-
Position
Compare Accuracy: ±1 count at speed up to 5,000,000
counts/second with opto-isolation
-
Repetition
Rate:
-
Random
Mode: 5 events/0.001 second
-
Incremental
Mode: Up to 5MHz
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
POSITION
& VELOCITY FEEDBACK:
- Primary:
Incremental encoder per axis
- Secondary:
Incremental encoder per axis pair (X-Z, Y-T) (Option: Absolute
encoders (x and Y) via High Speed Serial Interface (HSSI))
- Encoder:
Incremental, 3 channel (A, B, I), differential line drivers, 0-5V,
count rate up to 32,000,000 counts/second
- Supply
Voltage: 5V
- Maximum
current consumption from onboard supply: 100mA per encoder
(600mA total) (Use external supply if higher current is needed.)
- Dual
Loop Capabilities:
Primary feedback (encoder only) for velocity and commutation;
secondary feedback for position
DRIVE
COMMAND:
- Two
per axis, analog (±10V) or PWM (jumper configured), 16-bit command
resolution, opto-isolated
I/O:
- General
Purpose Inputs: 16 inputs, 2.5mA current per output, 5V, opto-isolated
- General
Purpose Outputs: 16 outputs, 2.5mA current per output, 5V, opto-isolated
- Analog
Inputs: Two single-ended inputs (0-5V), 10-bit resolution; four
differential inputs (±10V), 12-bit resolution
- Analog
Output: One general purpose output, ±10V, 8-bit resolution;
four ±10V outputs, 10-bit resolution
POWER
CONSUMPTION:
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