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Appendix A Specifications
7344/7334 Hardware User Manual A-2 ni.com
Feedforward (Aff, Vff) gains ..........0 to 32,767
Velocity feedback (Kv) gain ...........0 to 32,767
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
Max 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
Max relative move size....................±2
31
steps
Velocity range .................................1 to 4,000,000 steps/s
RPM range.......................................10
–5
to 10
6
revolutions/minute
Acceleration/deceleration................4,000 to 128,000,000 steps/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.........................................±32,767:1 to 1:32,767
Stepper outputs
Max pulse rate .................................4 MHz (full, half, and microstep)
Min pulse width...............................120 ns at 4 MHz
Step output mode.............................Step and direction or CW/CCW