POSITION CONTROL:
Sampling Rate: Position Control:
Sampling Rate: 20kHz
Control Algorithms: Pgain, acceleration feed-forward, automatic velocity feed-forward, anti-reset windup
Trajectory Calculation Rate: 1kHz
Range: ±999,999,999 counts
Accuracy: ±1 encoder count
Position Feedback:
Primary: Incremental encoder (+ Hall) or resolver
Secondary: Incremental encoder only
Encoder: Incremental, 3 channel (A, B, I), differential line drivers, 0-5V
Supply Voltage: 5V
Maximum current consumption from onboard supply: 100mA per encoder (200mA total) (Use external supply if higher current is needed)
Hall: 3 channel, 0-5V or equivalent commutation tracks
Resolver: (option must be specified with order)
Onboard RDC: 12-bit resolution (4096 counts/rev), 1kHz bandwidth
Frequency: 5-7kHz
Reference voltage: 4V±20% rms
Reference current (@5kHz): <25mA rms
Transformation Ratio: 0.5
DC Resistance: Rotor >15ohms, stator >40ohms
Pole Pairs: 1

Dual Loop Capability:
Primary feedback (encoder only) for velocity and commutation, secondary feedback (encoder only) for position
Position Registration Delay: <1µsecond
Position Event Generator (PEG™):
Output: Differential line driver, 0-5V
Delay: <0.2µsecond
Position Compare Accuracy: ±1 count at up to 5,000,000 counts/second
Repetition Rate:
Random Mode: 5 events/0.001second
Incremental Mode: Up to 1MHz

VELOCITY CONTROL:
Sampling Rate: 20kHz
Control Algorithm: PI + second order low pass filter.
Range: Up to 128,000,000 counts/second
Resolution: 1 count/second
Incremental Encoder Count Rate: Up to 32,000,000 counts/second
Velocity Accuracy:
Long Term: 0.005%
Short Term: 0.01%-0.5% (system-dependent)
Acceleration Range: Up to 2,000,000,000 counts/second²

COMMUNICATIONS:
Standard: RS232/422/485, up to 57,600 baud
Optional: CAN interface with CANopen protocol, up to 1 Mbit/second

DRIVE:
Type: PWM, digital current control
PWM Frequency: 20kHz
Motor Types: AC induction, DC brush, DC brushless (AC servo/synchronous)
Current Loop Sampling Rate: 20kHz.
Control Algorithm: PI
Current Resolution: 12 bit
Bus Voltage: 120-370VDC (85-264VAC)
Phase Current (Sine Wave Amplitude):
SB1391A: 5A Continuous, 10A Peak (1 sec.)
SB1391B: 10A Continuous, 20A Peak (1 sec.)
SB1391C: 15A Continuous, 30A Peak (1 sec.)
Minimum Inductance: 0.5mH
Current Ripple: <0.25A (320VDC, 6A, L=2mH)

I/O:
Safety Inputs: Left limit, right limit, E-stop
General Purpose Inputs: Eight
General Purpose Outputs: Eight, 50mA/output, maximum total current 350mA, fully protected against overloads
Features Common to Safety & General Purpose I/O: Fed by common external supply via the I/O connector
Type: Source, opto-isolated (contact factory for other configurations)
Response Time: <1msecond
External Supply Range: 5VDC (±10%) or 24VDC (±20%), detected automatically
Analog Input: Differential, ±10V, 12-bit resolution
Analog Output: Single ended, ±10V, 10-bit resolution

POWER SUPPLIES:
Separate Supplies: Drive and control (For I/O supply, see I/O section above)
Drive: 85-265VAC, single phase
Control (Backup): 24VDC (±20%) or 18VAC (±20%), 20W
Regeneration:
Built-in: R = 140ohms, 100W
External: Power resistor with R > 15ohms
Recommended Power: >200W

CONTROLLER:
Dual Processor Architecture:
• 20MHz Intel 80C196KD for high-level tasks and management
• 80MHz SB2500 SV Servo Processor per 0axis for real-time control tasks
Memory:
Firmware: 256k
RAM: 256k
Nonvolatile Memory: 128k, 100,000 write cycles
User Program Memory: 32k