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CONTROLLER:
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Dual Processor Architecture:
• 20MHz Intel 80C196KD for high level tasks and management
• 80MHz SB2500 ACS Servo Processor per 0axis for real-time control
tasks
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Memory:
Firmware: 256k
RAM: 256k
Nonvolatile Memory: 128k, 100,000 write cycles
User Program Memory: 32k
COMMUNICATIONS:
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Standard: RS232/422/485, up to 57,600 baud
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Optional: CAN networking with CANopen protocol, up to 1
Mbit/second
POSITION
CONTROL:
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Sampling Rate:
20 kHz
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Control Algorithms:
Pgain acceleration feed-forward, automatic
velocity feed-forward, anti-reset windup
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Trajectory Calculation Rate:
1kHz
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Range:
±999,999,999 counts
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Accuracy:
±1 encoder count
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Position Feedback:
Incremental encoder
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Encoder:
Incremental, 3 channel (A, B, I), differential line
drivers, 0-5V
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Supply Voltage:
5V
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Maximum Current Consumption (From Onboard Supply):
100mA per
encoder (Use external supply if higher current is needed.)
VELOCITY
CONTROL:
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Sampling Rate: 20kHz
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Control Algorithm: PI + second order low pass filter
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Range: Up to 128,000,000 counts/second
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Resolution: 1 count/second
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Incremental Encoder Count Rate: Up to 32,000,000 counts/second
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Velocity Accuracy:
Long term: 0.05%
Short term: 0.05-2.50% (system-dependent)
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Acceleration Range: Up to 2,000,000,000 counts/second2
DRIVE:
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Type: PWM, digital voltage control
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Motor Type: DC brush
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PWM Clock Frequency: 20kHz/40kHz, programmable
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Continuous Current: 3A
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Peak Current: 5A (for one second)
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Minimum Motor Inductance: 0.1mH
I/O:
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Single-Axis Module (standard):
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Inputs: Four, 5V, opto-isolated, also serve as limits and E-stop,
source type
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General Purpose Outputs: Two, 5V,
opto-isolated, open emiter and
collector, 5mA/output, 350mA
Dual-Axis
Module (per axis, optional):
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Safety Inputs: Left and right limit, and E-stop, opto-isolated,
source type
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General Purpose Inputs: Eight, opto-isolated inputs, 0-5V, source
type
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General Purpose Outputs: Eight, opto-isolated, 0-5V, open emiter
and collector, 5mA/output, 350mA
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Analog Inputs: One differential or two single ended, ±10V,
12-bit resolution
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Analog Output: ±10V, 10-bit resolution
POWER
SUPPLY:
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