Product data

48 ULTRA Series
Publication 1398-2.0 - August 1999
Resolutions, Ranges, Accuracy, and Speeds
Serial I/O
Tuning and Compensation
Specification Description
Position:
Range
Repeatability
32 bits (±2,147,483,648 encoder counts)
±1 encoder count
Velocity command:
Range
Resolution
4,294,967,296:1
0.000229 RPM (2000-line encoder)
Acceleration:
Range
Resolution
Type
4,294,967,296:1
0.00381 rev/s/s (2000-line encoder)
Linear or S-curve
Electronic gearing 32767:1 to 1:32767 (+/-)
Registration input 2 (35 µs ± 15 µs)
Latched input 1.5 µs maximum (Encoder 1 or Encoder 2)
Specification Description
Serial ports 2 (or 1 with daisy chain)
Type RS-232C/RS-422
Baud rate 1,200 to 19,200
Multi-drop Up to 63 addresses
Specification Description
Position loop:
KP
KP2
PZone
KFF
KI
IZone
Proportional gain
Proportional gain when within PZone
KPZ active zone
Velocity feed forward gain
Integral gain
KI active zone
Velocity loop:
PGain
IGain
FGain
Filter
Proportional gain
Integral gain
Acceleration feed forward gain
Filters undesirable high frequency
Auto-tune application Six levels, adjustable
Manual tuning:
Command generator Real-time adjustments