| Axes |
One to ten axes |
| Axis Loop Type/Update Rate |
PID loop with up to 20 kHz servo update rate with feedforward;
eight 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 |
512 KB RAM for program and 512 KB for data |
| Driver Type Compatibility |
Brushless (linear or rotary) servo with on-board commutation
DC brush servo Stepper/microstepper (on-board commutation) |
| Position Feedback |
6-channel encoder interface, differential RS-422 signal,
sine, cosine, and marker; 20 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 6-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 |
1D and 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 |
AeroBasic™, LabVIEW®, VB.Net, C#, Managed C++, C Library |
| Interface |
On-board menu-driven program selection from front panel;
program editing and download with Windows® PC (Vista Ultimate, Vista Business, XP, or 2000 operating Systems) through Ethernet
or USB to Host PC, or ASCII commands via RS-232, IEEE-488,
or Ethernet |
| 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 |
| JOG |
Axes controlled with jog pad on front panel or optional
joystick |
| 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 eight motion lines 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) |
| Input/Output |
Standard |
Included with each amplifier axis: CW, CCW, and Home limits;
sin, cos, marker, Hall effects, Estop, encoder fault, brake,
motion overtemp; 1 channel of 16-bit A/D per axis (±10 VDC);
each Epaq includes joystick interface and optional RS-232
and GPIB |
| Optional IO Board (can be added to each amplifier axis) |
Eight opto-inputs with the IO board option; eight opto-outputs
with the IO board option; sinking and sourcing configurable
with parameters; 5-24 VDC can be used with any IO pins;
single axis PSO (each axis with optional IO; one additional
12-bit (±10 VDC) input and one additional 16-bit (±5 VDC)
output; brake relay: 0.5 amp solid-state relay available
with option board; secondary TTL RS-422 auxiliary encoder
input; position latch with 50 ns position capture latency |
| Encoder Inputs |
TTL RS-422 standard (also on optional IO auxiliary encoder
input); optional amplified sine encoder input on primary
encoder channel; programmable resolution up to 1024 times
the analog encoder resolution; 40 MHz TTL RS-422 square
wave primary or auxiliary encoder; 250 kHz amplified sine
primary (with optional onboard encoder multiplier) |
| Absolute Encoders |
EnDat 2.2 Renishaw RESOLUTE™ |
| Additional Interfaces |
Serial |
10/100 Base T Ethernet communication interface for system
setup, application networking, Epaq-to-Epaq communications,
embedded programming, immediate commands, and Modbus over
TCP; USB communication interface for system setup, application
networking, Windows® PC control interface; RS-232 port with
programmable baud rate, length, parity, stop bits (second
RS-232 port optional) |
| Fieldbus |
EtherNet/IP™,
Modbus TCP |
