Specifications

Performance

PID update rate range.........................

62.5 to 500 µs/sample

Maximum PID update rate .............

62.5 µs/axis

8-axis PID update rate....................

250 µs total

Multiaxis synchronization ...................

<1 update sample

Trajectory parameters

Absolute position range .................

Maximum relative move size .........

S-curve time range .........................

1 to 32,767 samples

Following error range .....................

±32,767 counts

Velocity range .................................

Servo: 1 to ±20,000,000 counts/s

Velocity range .................................

Stepper: 1 to 8,000,000 steps/s

Acceleration/deceleration ..............

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 ......................

8 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

System Safety

Watchdog timer function....................

Resets board to startup state

Shutdown input...................................

Disable all axes and

command outputs

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............................

24 (3 per axis)

Control ............................................

Individual enable/disable,

stop on input, prevent motion,

find reference

Trigger (position capture) inputs.........

8 (one per axis)

2 kHz per axis

Breakpoint (position compare) outputs..

8 (one per axis),

programmable polarity

Maximum periodic rate ..................

4 MHz

2 kHz per axis

Inhibit/enable output ..........................

8 (one per axis),

programmable polarity

Analog inputs ......................................

up to 8, 16-bit resolution,

±10 V range, 25 µs scan rate

Analog outputs....................................

8, 16-bit resolution, ±10 V range

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Assumes a PID update rate of 250 µs. 2 kHz per axis for PID rates between 62.5 and 250 µs,

and 1 kHz per axis for PID rates greater than 250 µs. This value must not exceed 8 kHz total for

all ongoing buffered breakpoint (position compare) and trigger (position capture) operations.

Digital I/O

Ports ....................................................

8, 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

Power Requirements

+3.3 V (±10%)......................................

2 A

+5 V (±5%)...........................................

2 A

+12 V (±5%).........................................

30 mA

-12 V (±10%) .......................................

0 mA

Power consumption ............................

18 W, maximum

Physical

Dimensions (not including connectors)

PXI ...................................................

16 by 10 cm (6.3 by 3.9 in.)

PCI ...................................................

17.5 by 9.9 cm (6.9 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

Environment

Operating temperature .......................

0 to 55 °C

Storage temperature...........................

-20 to 70 °C

Relative humidity range......................

10 to 90% (noncondensing)

High-Performance Stepper/Servo Motion Controllers

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BUY ONLINE at ni.com or CALL 800 813 3693 (U.S.)