Rockwell Automation 1326 Digital AC Multi-Axis Motion Control System User Manual - Manual (Page 212)

Publication 1394-5.0 — May 2000
A-14 Specifications
GMC System Specifications
The table below lists the specifications for the GMC system module
(1394x-SJTxx-C-xx, -L-xx, and -T-xx systems).
The: Is:
Servo loop sample and update
rate 250 Hz to 2 kHz for 4 axes
Maximum feedback frequency 4 MHz (4,000,000 feedback counts per second)
Absolute position range ± 1,000,000,000 feedback counts for linear axes; infinite
number for rotary axes
Absolute position resolution 15 position unit digits or 32 feedback count bits, whichever
is less
Speed range 0.00001 feedback counts per servo update to 4,000,000
feedback counts per second
Speed resolution 15 position unit digits or 15 feedback count bits, whichever
is less
Acceleration/deceleration range 0.00001 feedback counts per servo update to 4,000,000
feedback counts per second
Acceleration/deceleration
resolution 15 position unit digits or 15 feedback count bits, whichever
is less
Electronic gearing gear ratio
range 0.00001:1 to 9.99999:1 (slave counts:master counts)
Electronic gearing gear ratio
resolution 8 position unit digits or 32 feedback count bits
Servo gain resolution 32-bit floating point
Servo output limit range 0 to 100%
Servo gain units P = proportional gain (counts per millisecond/error count)
I = integral gain (counts per millisecond/error count)
V = velocity gain (millivolts/counts per millisecond)
F = feedforward gain (counts per millisecond/ counts per
millisecond)