Rockwell Automation 999 IMC S Class Compact Motion Controller (Cat. No. 4100-999-122) - Manual (Page 26)

2-10 Introduction
Publication 999-122 - January 1997
Flex I/O Compatibility
Specifications
Servo Performance
Specifications
Maximum Number of
Flex I/O Modules 8.
Compatible
Modules
1794-IB16 16 24V DC Discrete Inputs
1794-IA8 8 115V AC Discrete Inputs
1794-IE8 8 Current/Voltage Analog Inputs
1794-OB16 16 24V DC Discrete Outputs
1794-OA8 8 115V AC Discrete Outputs
1794-OE4 4 Current/Voltage Analog Outputs
1794-IE4XOE2 4 Current/Voltage Analog Inputs
2 Current/Voltage Analog Outputs
S Class Interface Direct-no 1794-ASB or other adapter required.
Servo Loop
Sample and Update
Rate 250 Hz to 2 kHz for each of 2 or 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 AxisAxis:Linearlinear axes;
R 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 update2 to 4,000,000,000 feedback
counts per second2.
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 Output Limit
Resolution 305
µ
(voltage output); 4.58
µΑ
(current output).