Mid-Range Stepper/Servo Motion Controllers
Digital I/O
Ports .................................................... 4, 8-bit TTL ports, bit
configurable, sink or source
24 mA outputs
Open-loop PWM outputs
Number of PWM outputs ............... 2, 50 kHz
Clock sources.................................. Internal or external
Specifications
Performance
PID update rate range.........................
Maximum PID update rate .............
4-axis PID update rate....................
Multiaxis synchronization...................
Trajectory parameters
Absolute position range .................
Maximum relative move size .........
S-curve time range .........................
Following error range .....................
Velocity range .................................
Velocity range .................................
Acceleration/deceleration..............
62.5 to 500 µs/sample
62.5 µs/axis
250 µs total
<1 update sample
±2
31
counts
±2
31
counts
1 to 32,767 samples
±32,767 counts
Servo: 1 to ±20,000,000 counts/s
Stepper: 1 to 4,000,000 steps/s
244 to 512,000,000 counts/s
2
at
a PID rate of 250 µs
Gear ratio........................................ ±32,767:1 to ±1:32,767
Servo-control loop modes................... PID, PIVff, S-curve, dual loop
PID (Kp, Ki, and Kd) gains............... 0 to 32,767
Stepper outputs
Maximum pulse rate ...................... 4 MHz (full, half, and microstep)
Minimum pulse width .................... 120 ns at >2 MHz
Step output mode ........................... Step and direction or CW/CCW
Voltage range ................................. 0 to 5 V
Power Requirements
PCI and PXI
+5 V (±3%) ......................................
+12 V (±3%) ....................................
-12 V (±10%) ...................................
Power consumption ........................
1A
30 mA
30 mA
5.7 W, maximum
Physical
Dimensions (not including connectors)
PCI................................................... 17.5 by 9.9 cm (6.9 by 3.9 in.)
PXI................................................... 16 by 10 cm (6.3 by 3.9 in.)
Connectors
Motion I/O connector ..................... 68-pin female high-density
VHDCI type
Digital I/O connector ...................... 68-pin female high-density
VHDCI type
System Safety
Watchdog timer function.................... Resets board to startup state
Shutdown input................................... Disable all axes and
command outputs
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity range...................... 10 to 90% (noncondensing)
Motion I/O
Servo command analog outputs
Voltage range ................................. ±10 V, 16 bits (0.000305 V/LSB)
Programmable torque (velocity) limits and
programmable offset.................. ±10 V (-32,768 to +32,767)
Encoder inputs .................................... Quadrature, incremental,
single-ended
Maximum count rate ...................... 20 MHz
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger inputs ...................................... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint outputs.............................. 4 (one per axis),
programmable polarity
Maximum repetitive rate................ 100 Hz
Inhibit/enable output .......................... 4 (one per axis),
programmable polarity
Analog inputs...................................... 4, 12-bit resolution, ±10 V range,
25 µs scan rate/enabled channel
Analog outputs.................................... 4, 16-bit resolution, ±10 V range
BUY ONLINE
at
ni.com
or
CALL 800 813 3693 (U.S.)
3
NI [ NATIONAL INSTRUMENTS CORPORATION ]
