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Ensemble »ç¾ç
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 ?s 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 |
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