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Specifications
This appendix lists the hardware and software performance specifications for the National
Instruments PXI/PCI-7340. Hardware specifications are typical at 25 °C, unless otherwise
stated.
Servo Performance
PID update rate range ....................................... 62.5 µs to 5 ms/sample
Maximum PID update rate ....................... 62.5 µs/axis
4-axis PID update rate .............................. 250 µs total
Multi-axis synchronization ............................... <1 update sample
Double-buffered trajectory parameters
Absolute position range ............................ ±2
Maximum relative move size ................... ±2
Velocity range ........................................... 1 to ±20,000,000 counts/s
Acceleration/deceleration
S-Curve time range ................................... 1 to 32,767 samples
Following error range ............................... 1 to 32,767 counts and disabled
Gear ratio .................................................. ±32,767:1 to ±1:32,767
Servo control loop modes ................................. PID, PIVff, 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
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)
1
Refer to the NI-Motion Help for more information.
31
31
1
........................ 244 to 512,000,000 counts/s
rate of 250 µs
counts
counts
© National Instruments | A-1
A
2
at a PID update
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