Operating Modes

Position, Velocity, Torque

Filter Algorithm

PID

Max. Servo Loop Rate

200 ?S

Trajectory Generator

Trapezoidal

Servo Position Feedback

Incremental Encoder with Index

Output (Standard)

PWM Motor Drive, 3 Amps Cont. and 6 Amps Peak at 50 VDC Max.

PWM Frequency

Approximately 19.531 KHz

Encoder and Index Input

Single-ended or Differential

Encoder Supply Voltage

5 VDC

Encoder Input Voltage

5.5 VDC Max., -0.1 VDC Min.

Encoder Count Rate

2 Million Quadrature Counts per Second

Position Range

32 Bits

Velocity Range

32 Bits

Acceleration Range

32 Bits

General Purpose Digital I/O

8 HCT TTL Inputs, 8 HCT TTL Outputs

Dedicated Digital Inputs

Limit+, Limit-, Home and Fault, all TTL

Analog Inputs

4 Channels With 10-Bit Resolution, 3 are user accessible

Expansion I/O

Optional Expansion to 64 I/O

Communication Interface

RS-232 Serial Interface, Adjustable Baud Rate, 8 Bits, 1 Stop Bit, No Parity, XON/XOFF Handshake

Supply Voltage

+11 To +50 VDC

Motor Voltage

+12 To +48 VDC

Dimensions

Approximately 5.0” Long by 3.3” Wide by 1.1” Thick

Weight

Approximately 1 Lb.