Specifications

Publication GMC-SG001E-EN-P — June 2001
4-30 1394 Drive System Family
1394 System Specifications (1394x-SJTxx-A-xx)
Encoder Output Specifications (1394x-SJTxx-A-xx)
GMC System Specifications (1394x-SJTxx-C-xx, -L-xx, and -T-xx)
Specification Description
Velocity Loop Update 250 µs
Velocity Loop Bandwidth 60 Hz maximum
Input A/D Sample Rate 250 µs
Specification Description
Maximum Velocity Range 0-6000 RPM
Output Type Optically isolated, differential TTL (SU) line driver
Input Power Required 5V ±5%, 1 Amp maximum
Specification Description
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)