Hardware reference guide

Intelligent/Special Purpose
35013379 02 October 2007 399
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.
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
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.
This document provided by Barr-Thorp Electric Co., Inc. 800-473-9123 www.barr-thorp.com