National Instruments 7334 - Manual (Page 42)

© National Instruments Corporation A-1 7344/7334 Hardware User Manual
A
Specifications
This appendix lists the hardware and software performance specifications
for the 7344/7334 controller.
Servo Performance (7344 only)
PID update rate range............................. 62.5 to 500 µs/sample
Max PID update rate ....................... 62.5 µs/axis
4-axis PID update rate..................... 250 µs total
Trajectory update rate ............................ Same as PID update rate
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
Max relative move size ................... ±2 31 counts
Velocity range................................. 1 to ±20,000,000 counts/s
RPM range ...................................... 10 –5 to 10 6 revolutions/minute
Acceleration/deceleration ............... 4,000 to 128,000,000 counts/s 2
RPS/s range..................................... 10 –1 to 10 8 revolutions/s 2
S-Curve time range ......................... 1 to 32,767 samples
Following error range ..................... 0 to 32,767 counts
Gear ratio (7344 only)..................... ±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