Appendix a specifications, To appendix a, Specifications – National Instruments 7340 PCI User Manual
Page 44: Appendix a, Servo performance
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A-1
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Specifications
This appendix lists the hardware and software performance specifications
for the PXI/PCI-7340. Hardware specifications are typical at 25 °C, unless
otherwise stated.
Servo Performance
PID update rate range............................. 62.5 µs to 5 ms/sample
Maximum PID update rate.............. 62.5 µs/axis
4-axis PID update rate..................... 250 µs total
Multi-axis synchronization .................... <1 update sample
Position accuracy
Encoder feedback............................ ±1 quadrature count
Analog feedback ............................. ±1 LSB
Double-buffered trajectory parameters
Absolute position range .................. ±2
31
counts
Maximum relative move size.......... ±2
31
counts
Velocity range................................. 1 to ±20,000,000 counts/s
Acceleration/deceleration
1
.............. ±512,000,000 counts/s
2
S-Curve time range ......................... 1 to 32,767 samples
Following error range ..................... 1 to 32,767 counts and disabled
Gear ratio ........................................ ±32,767:1 to ±1:32,767
Servo control loop modes ...................... PID, PIVff, S-Curve, Dual Loop
PID (Kp, Ki, and Kd) gains ............ 0 to 32,767
Integration limit (Ilim) .................... 0 to 32,767
Derivative sample period (Td) ........ 1 to 63 samples
Feedforward (Aff, Vff) gains.......... 0 to 32,767
Velocity feedback (Kv) gain........... 0 to 32,767
1
Assumes a PID update rate of 250
µs and a 2,000-count encoder.