User Manual

Publication 1398-5.0 – October 1998
Specifications G-3
Update Rate 5 kHz
-3dB Bandwidth 150 Hz
-45° Bandwidth 50 Hz
Ripple ±2 RPM @ 1000 RPM
Resolution 16-bit
Position Regulation
Type Digital, PID with Feedforward
Filters
Low Pass Digital, 0 - 1000 Hz, -3 dB Bandwidth, Selectable
Software Controls
Data Collection (2) 128 samples @ 5 kHz Sample Rate
Firmware Field Upgradeable via Flash Memory
Operating Modes Torque or Velocity
Command Sources Analog
Auxiliary Encoder
Presets
Step/Direction
CW/CCW
Indexing
Autotuning Position and
Velocity Loop
Manual Tuning Position or
Velocity Loop
User Set-up ULTRA Master or TouchPad
Diagnostics Motor or Auxiliary Encoder Checks
Digital Output Override
Analog Output Override
Serial Protocol 7-bit ASCII, Checksum, Active Response
Power-Up Faults EPROM Checksum
EEPROM Checksum
SRAM Write/Read
Watchdog Reset
A/D Conversion
D/A Conversion
Interprocessor Communication
Item Specification