• 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:

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

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
  
• Registration Delay: <1 µseccond
  
• PEG™ (Position Event Generator):
  
• Output: Differential line driver, 0-5V
  
• Delay: <0.2 µsecond
  
• 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 count/second
  
• Resolution: 1 count/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 CONTROL:

• 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 (encoder only) for position

I/O:

• External I/O Supply: 5VDC (±10%) or 24VDC (±20%), detected automatically
  
• Safety Inputs: Left and right limit per axis, E-stop, <1msecond propagation delay
  
• General Purpose Inputs: 12 inputs, <1msecond propagation delay
  
• Fast Inputs (Marks): 4 inputs, <0.1µsecond propagation delay
  
• Safety, General and Fast Input Type: Source (can be reconfigured to sink-type), opto-isolated
  
• General Purpose Outputs: 16 outputs. 50mA current per output, Maximum total current 700 mA, <1msecond propagation delay, opto-isolated
  
• PEG Outputs: Two high-speed differential outputs, <0.2µsecond propagation delay
  
• 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

DRIVE INTERFACE:

• Commands: Two analog, differential, non-isolated, per axes, ±10V, 10-bit resolution
  
• Maximum Offset ±50mV.
  
• Drive Enable Output: One per axis
  
• Type: Open collector/open emitter
  
• Collector Emitter Voltage Range: 5-30VDC
  
• Output Current: 50mA
  
• Propagation Delay: <1msecond
  
• Drive Fault Input: 1 per axis
  
• Type: Source/sink.
  
• Input Voltage Range (External Supply): 5VDC (±10%) or 24VDC (±20%), Automatic detection, <1msecond propagation delay

COMMUNICATIONS:

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

INPUT SUPPLY:

• 24VDC (±10%), 1.5A