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MC2100 Datenblatt(PDF) 11 Page - List of Unclassifed Manufacturers

Teilenummer MC2100
Bauteilbeschribung  Motion Processors
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MC2100 Technical Specifications
11
2 Functional Characteristics
2.1
Configurations, parameters, and performance
Available configurations
4 axes (MC2140), 2 axes (MC2120), or 1 axis (MC2110)
Operating modes
Closed loop (motor command is driven from output of servo filter)
Open loop (motor command is driven from user-programmed register)
Communication modes
8/8 parallel (8 bit external parallel bus with 8 bit internal command word size)
8/16 parallel (8 bit external parallel bus with 16 bit internal command word size)
16/16 parallel (16 bit external parallel bus with 16 bit internal command word
size)
Point to point asynchronous serial
Multidrop asynchronous serial
Serial port baud rate range
1,200 baud to 416,667 baud
Position range
-2,147,483,648 to +2,147,483,647 counts
Velocity range
-32,768 to +32,767 counts/sample with a resolution of 1/65,536 counts/sample
Acceleration/deceleration ranges
-32,768 to +32,767 counts/sample2 with a resolution of 1/65,536 counts/sample2
Jerk range
0 to ½ counts/sample3 with a resolution of 1/4,294,967,296 counts/sample3
Profile modes
S-curve point-to-point (Velocity, acceleration, jerk, and position parameters)
Trapezoidal point-to-point (Velocity, acceleration, deceleration, and position
parameters)
Velocity-contouring (Velocity, acceleration, and deceleration parameters)
Electronic Gear (Encoder or trajectory position of one axis used to drive a
second axis. Master and slave axes and gear ratio parameters)
Electronic gear ratio range
-32,768 to +32,767 with a resolution of 1/65,536 (negative and positive
direction)
Filter modes
Scalable PID + Velocity feedforward + Acceleration feedforward + Bias. Also
includes integration limit, settable derivative sampling time, and output motor
command limiting
Filter parameter resolution
16 bits
Position error tracking
Motion error window (allows axis to be stopped upon exceeding programmable
window)
Tracking window (allows flag to be set if axis exceeds a programmable position
window)
Axis settled (allows flag to be set if axis exceeds a programmable position
window for a programmable amount of time after trajectory motion is compete)
Motor output modes
PWM (10-bit resolution at 20 kHz)
DAC (16 bits)
Maximum encoder rate
Incremental (up to 5 million counts/sec)
Parallel-word (up to 160 million counts/sec)
Parallel encoder word size
16 bits
Parallel encoder read rate
20 kHz (reads all axes every 50
µsec)
Servo loop timing range
102.4
µsec to 32.767 milliseconds
Minimum servo loop time
102.4
µsec per enabled axis.


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