4-Axis Position (Pulse) Command Motion Controller
Digital I/O
Specifications
Performance
Inputs................................................... 8, sinking or sourcing
Outputs................................................ 8, sinking or sourcing
Trajectory update rate range .............. 62.5 to 500 µs/sample
Maximum update rate.................... 62.5 µs/axis
4-axis update rate .......................... 250 µs total
Multiaxis synchronization................... <1 update period
Trajectory parameters
Absolute position range ................. 231 steps
Maximum relative move size ......... 231 steps
S-curve time range ......................... 1 to 32,767 samples
Following error range ..................... 1 to 32,767 counts
Velocity range................................. 1 to 4,000,000 steps/s
Acceleration/deceleration.............. 244 to 512,000,000 steps/s2
at a PID update rate of 250 µs
Bus Power Requirements
+5 V ( 5ꢀ)........................................... 600 mA maximum
+12 V ( 5ꢀ)......................................... 50 mA maximum
Physical Characteristics
Dimensions.......................................... 17.8 by 9.9 cm (7.03 by 3.9 in.)
Motion I/O connector.......................... 100-pin SCSI
Environment
Operating temperature ....................... 0 to 55 °C
Storage temperature........................... -20 to 70 °C
Relative humidity ................................ 10 to 90ꢀ, noncondensing
Stepper outputs
Maximum pulse rate ...................... 4 MHz (full, half, and microstep)
Minimum pulse width .................... 50 ns at 4 MHz
Step output mode........................... Step and direction or CW/CCW
Voltage range ................................. 0 to 5 V optically isolated
System Reset
Watchdog timer function.................... Resets board to startup state
Motion I/O
Quadrature encoder inputs
Maximum count rate ...................... 4 MHz quadrature
Forward, reverse, and home inputs
Number of inputs............................ 12 (3 per axis)
Control ............................................ Individual enable/disable,
stop on input, prevent motion,
find reference
Trigger (position capture) inputs......... 4 (one per axis)
Maximum repetitive capture rate .. 100 Hz
Breakpoint (position compare) outputs.. 4 (one per axis)
Maximum repetitive rate................ 100 Hz
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NI [ National Instruments ]
