| CP
Electrical Specifications |
| Logic Input
Voltage |
VAC |
85
to 240 |
| Bus Input
Voltage |
VAC |
14
to 240 |
| Output Voltage |
VDC |
20
to 320 |
| Peak Output
Current |
Apk |
10
to 30 |
| Continuous
Output Current |
A |
5
to 15 |
| PWM Switching
Frequency |
kHz |
20 |
| Power Amplifier
Bandwidth |
kHz |
Software
Selectable |
| Minimum Load
Inductance |
mH |
0.1
@ 160 VDC (1 mH @ 320 VDC) |
|
Digital Inputs and Outputs |
Standard |
4
opto inputs; 2 high-speed opto inputs; 4 opto outputs |
|
Optional |
16 additional opto inputs; 16 additional
opto outputs |
|
Analog Inputs and Outputs |
Standard |
1
(±10 VDC, 16-bit) input; 1 (±10 VDC, 16-bit) output |
|
Optional |
1 additional (±10 VDC, 12-bit) input;
1 additional (±10 VDC, 16-bit) output |
|
Encoder Inputs |
TTL
RS-422 standard, and auxiliary encoder input; optional amplified
sine encoder input on primary encoder channel; programmable
resolution up to 1024 times the analog encoder resolution;
250 kHz amplified sine primary |
| Operating
Temperature |
°C |
0
to 50 |
| Storage Temperature |
°C |
-30
to 85 |
| Weight |
kg
(lb) |
1.6
(3.6) |
| MP
Electrical Specifications |
| Logic Input
Voltage |
VDC |
24
to 80 |
| Bus Input
Voltage |
VDC |
10
to 80 |
| Output Voltage |
VDC |
10
to 80 |
| Peak Output
Current |
Apk |
10 |
| Continuous
Output Current |
A |
5 |
| PWM Switching
Frequency |
kHz |
20 |
| Power Amplifier
Bandwidth |
kHz |
Software
Selectable |
| Minimum Load
Inductance |
mH |
0.1
@ 80 VDC |
|
Digital Inputs and Outputs |
Standard |
None |
|
Optional |
8 opto inputs; 8 opto outputs |
|
Analog Inputs and Outputs |
Standard |
1
(±10 VDC, 16-bit) input |
|
Optional |
1 additional (±10 VDC, 12-bit) input;
1 (additional ±10 VDC, 16-bit) output |
|
Encoder Inputs |
TTL
RS-422 standard, and auxiliary encoder input; optional amplified
sine encoder input on primary encoder channel; programmable
resolution up to 1024 times the analog encoder resolution;
250 kHz amplified sine primary |
| Operating
Temperature |
°C |
0
to 50 |
| Storage Temperature |
°C |
-30
to 85 |
| Weight |
kg
(lb) |
0.45
(1.0) |
|
|
|
|
| CL
Electrical Specifications |
|
Logic Input Voltage |
VAC |
85-240 |
|
Bus Input Voltage |
VAC |
56 VAC (center tapped transformer; two
28 VAC windings) |
|
Output Voltage |
VDC |
±40 |
|
Peak Output Current |
Apk |
10 (load dependent) |
|
Continuous Output Current |
A |
5 (load dependent) |
|
Power Amplifier Bandwidth |
kHz |
Software Selectable |
|
Minimum Load Inductance |
mH |
0 |
|
Digital Inputs and Outputs |
Standard |
4 opto inputs; 2 high-speed opto inputs;
4 opto outputs |
|
Optional |
16 additional opto inputs; 16 additional
opto outputs |
|
Analog Inputs and Outputs |
Standard |
1 (±10 VDC, 16-bit) input; 1 (±10 VDC,
16-bit) output |
|
Optional |
1 additional (±10 VDC, 12-bit) input;
1 additional (±10 VDC, 16-bit) output |
|
Encoder Inputs |
TTL RS-422 standard, and auxiliary encoder
input; optional amplified sine encoder input on primary
encoder channel; programmable resolution up to 1024 times
the analog encoder resolution; 250 kHz amplified sine primary |
|
Operating Temperature |
°C |
0 to 50 |
|
Storage Temperature |
°C |
-30 to 85 |
|
Weight |
kg (lb) |
3.8 (8.4) |
|
|
|
|
| Feature |
Details |
| Axes |
Up to
10 axes of coordinated motion |
| Axis Loop
Type/Update Rate |
PID
loop with up to 20 kHz servo update rate with feedforward;
four user-configurable digital filters (e.g., notch, low pass) |
|
On-Board Memory |
Program Storage |
2 MB flash memory
for user programs, parameters, miscellaneous storage |
|
Program Execution |
8 MB RAM |
| Driver Type
Compatibility |
Brushless
(linear or rotary) servo with on-board commutation DC brush
servo Stepper/microstepper (on-board commutation) |
| Position Feedback |
Encoder
interface, differential RS-422 signal, sine, cosine, and marker;
32 MHz input data rate; optional onboard analog encoder interpolation
(of up to 1024-times encoder multiplication) |
| Position Modes |
Absolute,
incremental, dynamic trajectory correction |
|
Motion Types |
Independent Motions |
Point-to-point
incremental; target position or velocity; velocity profiles;
time based; free run |
|
Coordinated Motions |
Advanced queuing and deferred execution features for simultaneous
command execution |
|
Interpolated Motions |
Up to 10-axis linear and circular interpolation |
|
Digitally Geared Motions |
Gearing with optional auxiliary encoder input |
|
Advanced Features |
Automatic PID loop gain computation (autotuning) |
|
Contouring |
Cubic spline curve-fitting; velocity profiling |
|
Error Mapping |
2D error mapping, backlash compensation |
| Acceleration
Profiles |
Linear
and jerk limiting parabolic; independent acceleration and
deceleration profiles possible |
| Acceleration
Ramp |
Rate,
time, or distance based; independent acceleration and deceleration
capability |
| Programmable
Multitasking |
Up to
5 independent tasks |
| Programming |
Command Set |
AeroBASICTM, LabVIEW®,
VB.Net, C# |
|
Command Execution Modes |
AUTO |
Program runs complete
upon startup |
|
SINGLE |
Full debug capability to step, step over, step into individual
program lines |
|
IMMEDIATE |
Commands are executed upon entry |
|
REMOTE |
Command execution controlled by remote host through Ethernet,
RS-232, or IEEE-488 communications port via ASCII strings |
| Process Time |
Command
execution up to 1000 lines of code per 1 ms (from command
sent to motion start); read request @ 1 ms; average is 7 µs
per program line (e.g., c = a + b) |
|
Additional Interfaces |
Serial |
10/100 Base-T
Ethernet communication interface for system setup, application
networking, embedded programming, immediate commands, and
Modbus over TCP; USB communication interface for system setup,
application networking, Windows® PC control interface |
|
Machine Control |
Estop discrete input to stop all axes |
