Appendix A Specifications
NI 7350 User Manual A-2 ni.com
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
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 per 2 axes
8-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..................................±231 steps
Max relative move size....................±231 steps
Velocity range................................. 1 to 8,000,000 steps/s
RPM range1.....................................±1,200,000 revolutions/min
Acceleration/deceleration2...............244 to 512,000,000steps/s2
at a PID update rate of 250 µs
RPS/s range1....................................±256,000 revolutions/s2
1 Assumes a 2,000-count encoder.
2 Refer to the NI-Motion User Manual for more information.