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© 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