Hardware reference guide

Intelligent/Special Purpose
370
35013379 11/2011
Operational Specifications
The following table shows the operational specifications for the servo.
The following table shows the operations specifications for communication.
The following table shows the operational specifications for the application program.
NOTE: A majority of the instructions typically take 1 ms to execute. The execution
time of an instruction, though, is not constant. The execution time can increase due
to factors such as: if the Sync Ratio Mode is on, how often the position generator
must execute to plan out new moves, how many "whenever"s are enabled, and the
number of sources requesting commands to be executed (e.g., backplane, internal
program, Modbus port), etc. If timing is extremely critical to an application, actual
time must be determined experimentally by running the actual application program.
The following table shows the operational specifications for high speed input.
Servo
Commutation Update Rate 0.25 ms
Velocity Loop Update Rate 0.5 ms
Velocity Loop Bandwidth > 100 Hz
Velocity Range 0 - 6000 rpm
Position Loop Update rate 1 ms
Position Accuracy - Resolver +/- 10 arc minutes typical, +/- 15 arc minutes max
Position Repeatability - Resolver +/- 5 arc minutes max
Position Accuracy - Encoder Encoder dependent, 0.5 arc minutes max
Communication
Protocol Modbus
Address (set by software) 1 default
Required Addressing 6 Words In, 6 Words Out
Baud Rate (set by software) 300 - 19200 baud, 9600 default
Application Program
Execution Rate See note below
Storage 650 instructions
High Speed Input
Position Capture Time 250 μs max
Isolation 500 V to system bus
Pulse Width 25 μs
Minimum Time Between Successive Captures 20 ms