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Appendix A Specifications
NI 7340 User Manual A-2 ni.com
Servo command analog outputs
Voltage range...................................±10 V
Resolution........................................16 bits (0.000305 V/LSB)
Programmable torque (velocity) limits
Positive limit ............................±10 V (–32,768 to +32,767)
Negative limit...........................±10 V (–32,768 to +32,767)
Programmable offset .......................±10 V (–32,768 to +32,767)
Stepper Performance
Trajectory update rate range...................62.5 to 500 µs/sample
Maximum update rate......................62.5 µs/axis
4-axis update rate.............................250 µs total
Multi-axis synchronization.....................<1 update sample
Position accuracy
Open-loop stepper ...........................1 full, half, or microstep
Encoder feedback ............................±1 quadrature count
Analog feedback..............................±1 LSB
Double-buffered trajectory parameters
Position range..................................±2
31
steps
Maximum relative move size ..........±2
31
steps
Velocity range .................................1 to 4,000,000 steps/s
Acceleration/deceleration
1
...............±512,000,000 counts/s
2
S-Curve time range..........................1 to 32,767 samples
Following error range......................0 to 32,767 counts
Gear ratio.........................................±32,767:1 to ±1:32,767
Stepper outputs
Maximum pulse rate........................4 MHz (full, half, and microstep)
Minimum pulse width......................120 ns at 4 MHz
Step output mode.............................Step and direction or CW/CCW
1
Assumes a PID update rate of 250 µs and a 2,000-count encoder.