MOTION CONTROL BASE SPECIFICATIONS:
• 4 or 8 axes of simultaneous servo / stepper control
• All axes independent or coordinated in any combination
• Multitasking of up to 16 motion programs and 64 asynchronous PLC programs
• Communications: Ethernet, & USB
• Easy-to-use, high-level programming language
• 128K X 24 SRAM memory (programs, variables, tables)
• Linear, circular, rapid, B-spline, Hermite-spline interpolation
• Embedded forward and inverse kinematics routines for Non-Cartesian geometries
• True S-curve accel/decel for jerk-limited profiles
• PID/notch/feedforward servo algorithms
• Dynamic multi-move lookahead for robust acceleration control and efficient cornering/contouring
• Coordinate system translation and rotation, 2D and 3D
• Tool-radius compensation
• Hardware position capture and compare for high precision
• On-board G-code execution

AMPLIFIER BASE SPECIFICATIONS:
• Motor types: Brushless (AC/DC), DC Brush, Stepper
• DC Bus (Input) Voltage: 12 VDC to 60 VDC
• Output Current: 5A continuous, 15A peak (1 sec.)
• PWM Frequency: 2KHz to 15 KHz
• Status display: 7 segment
• Protections: voltage (over/under), over temperature, short circuit, and over current

OPTIONS:
• Axes: 8 (default = 4)
• CPU: 240 MHZ CPU, 4Mx8 flash (80 MHz, 1MB flash standard)
• Dual Port Ram (required for NC program)
• Digital I/O (additional): 16 inputs (12V-24V), 8 outputs (24V @ 0.5A)
• Analog Inputs: 2 or 4 channels, +/- 5V, 16 bit resolution
• Analog outputs: 2 or 4 channels , +/- 10V, 12 bit resolution
• RS232 interface
• MACRO (Fiber Optic or RJ45)
• Modbus TCP Master/Slave communications
• FieldBus: DeviceNet, Profibus, EtherCAT, CanOpen, CC-Link

CONNECTORS:
• Motor connectors: Terminal Block
• Power (Logic & DC Bus): Terminal Block
• Watchdog: Terminal Block
• Encoders: D-Sub, 15
• Limits & Flags: D-Sub, 25
• General Purpose Digital I/O: D-Sub, 37
• RS232 (opt.): D-Sub, 9
• Analog I/O (opt.): D-Sub, 9

Hardware Features
80 MHz DSP56303 Turbo PMAC CPU ( * 240 MHz optional)
256k x 24 user SRAM (firmware, compiled PLC’s, phasing, user servos)
128k x 24 user SRAM (motion, PLC’s, variables, tables, & buffers)
1M x 8 flash memory for user backup & firmware
Latest released firmware version
100 Mbps Ethernet interface
480 Mbps USB 2.0 interface
RS-232 serial interface *
4 (or 8 *) channels axis-interface circuitry, each including:
3-channel differential/single-ended encoder input
4 input flags (Home, Limit +, Limit -, User)
1 output flag (Compare)
UVW TTL-level “hall” inputs
Pulse-&-direction digital outputs (for use with external stepper driver)
PID/notch/feedforward servo algorithms
Digital Inputs: 16 channels, optically isolated, 12V to 24V ( * 5V opt.)
* Additional 16 channels optional
Digital Outputs: 8 channels, thermal-fuse, 24V @ 0.5A (sink or source)
* Additional 8 channels optional
Analog I/O *: In - 2 or 4, +/- 5V, 16 bit Out - 2 or 4, +/- 10V, 12 bit
Dual Ported Ram *

Amplifier - Specifications
4 channels (standard) / 8 channels * (optional)
DC Bus (Input) Voltage: 12 VDC to 60 VDC
Output Current: 5A continuous, 15A peak (1 sec.)
Power Dissipation (per axis): 240W
PWM Frequency: 2KHz to 15 KHz
Status display: 7 segment
Protections: voltage (over/under), temperature (over),
short circuit, current (0ver)
Input Logic Power (req.): +24 VDC (2A, +/- 20%)
Cooling: Fully rated cooling standard (none additional required)

Motion Features
Trajectory Generation
Linear interpolation mode with S-curve accel/decel
Circular interpolation mode with S-curve accel/decel
Rapid point-to-point move mode
Cubic B-spline interpolation mode
Cubic Hermite-spline (PVT) interpolation mode
Automatic move-until-trigger functions with hardware capture
Altered destination on the fly
Interactive jog moves
Multi-move lookahead for velocity and acceleration limiting
Servo
Standard digital PID feedback filter
Velocity, acceleration, and friction feedforward
2nd-order notch/low-pass filter
Gains changeable at any time
Programmable input, integrator, and output limits
Alternate 35-term “pole-placement” servo filter
Alternate user-written high-level “Open Servo” algorithms
Commutation
Sinusoidal commutation of AC servo motors
Digital current-loop closure with direct digital PWM control
Cartesian geometries
Electronic gearing (no programming required)
Electronic cams with programmable profiles
Compensation
Position compensation tables (1D & 2D)
Torque compensation tables
Backlash compensation
Tool radius compensation
Safety
Hardware and software overtravel limits
Amplifier enable/fault handshaking
Following error limits
Integrated current limit
Watchdog timer
Program and communications checksums
Computational
Real-time multi-tasking operating system
48-bit floating-point math for user programs
Trigonometric and transcendental functions
Automatic type-matching of different variable types
User-defined pointer variables to any registers
Coordination and Master/Slave
User-defined coordinate systems for auto coordination of axes
Separate coordinate systems for independent motion of axes
Multi-motor axis support (e.g. gantries)
Dynamic axis transformations (e.g. offsets, rotations, mirroring)
User-written forward and inverse-kinematic algorithms for non-
Motion Program
High-level programming language for up to 8 axes of control
Automatic sequenced execution of moves
Calculations and I/O synchronous to motion
Axes programmed in user engineering units
Motion values as constants or expressions
Automatic coordination of multiple axes
Ability to execute G-code programs

PLC Features
Execution asynchronous to programmed motion
I/O control as in hardware PLC
Executive functions for standalone applications
Safety and status monitoring
Servo gain scheduling
Data reporting functions
Access to all registers in controller
ModBus I/O control *

Supported Feedback types / devices
Digital quadrature encoders
Potentiometers *
Sinusoidal encoders, Resolver, SSI, EnDat, Sigma II, HiperFace *
Amplifier - Supported Motor types include
Brushless (AC/DC, Rotary/Linear)
DC Brush
Stepper (open / closed loop)


Digital quadrature encoders
Potentiometers *
Sinusoidal encoders, Resolver, SSI, EnDat, Sigma II, HiperFace *