3-4 FEATURES & SPECIFICATIONS
SB1391 Hardware and Setup Guide - Document revision no. 1.14
3.2. Product Specifications
3.2.1. Position Control
Sampling Rate: 20kHz
Control Algorithms: Pgain, acceleration
feed-forward, automatic velocity feed-
forward, anti-reset windup
Trajectory Calculation Rate: 1kHz
Range: ±999,999,999 counts
Accuracy: ±1 encoder count
Position Feedback:
Primary: Incremental encoder (+ Hall)
or resolver
Secondary: Incremental encoder only
Encoder: Incremental, 3 channel
(A, B, I), differential line drivers, 0-5V
Supply Voltage: 5V
Maximum current consumption from
onboard supply: 100mA per encoder
(200mA total) (Use external supply if higher
current is needed)
Hall: 3 channel, 0-5V or equivalent
commutation tracks
Resolver (option must be specified
with order):
Onboard RDC: 12-bit resolution (4096
counts/rev), 1kHz bandwidth
Reference Frequency: 5-7kHz
Reference voltage: 4V ±20% rms
Reference current (@5kHz): <25mA rms
Transformation Ratio: 0.5
DC Resistance: Rotor >15
Stator>40
Pole Pairs: 1
Dual Loop Capability: Primary feedback
(encoder only) for velocity and
commutation, secondary feedback (encoder
only) for position
Position Registration Delay: <1µsecond
Position Event Generator (PEG™):
Output: Differential line driver, 0-5V
Delay: <0.2µsecond
Position Compare Accuracy: ±1 count at
up to 5,000,000 counts/second
Repetition Rate:
Random Mode: 5 events/0.001second
Incremental Mode: Up to 1MHz
3.2.2. Velocity Control:
Sampling Rate: 20kHz
Control Algorithm:
PI + second order low pass filter
Range: Up to 128,000,000 counts/second
Resolution: 1 count/second
Incremental Encoder Count Rate:
Up to 32,000,000 counts/second
Velocity Accuracy:
Long Term: 0.005%
Short Term: 0.01%-0.5% (system-
dependent)
Acceleration Range: Up to 2,000,000,000
counts/second
2
Acceleration build-up time (Smooth
Factor): 1-255 millisecond
3.2.3. Communications
Standard:
RS-232/422/485, up to 57,600 baud
3.2.4. Drive
Type: PWM, digital current control
PWM Frequency: 20kHz
Motor Types: AC induction, DC brush,
AC servo/synchronous (DC brushless)
Current Loop Sampling Rate: 20kHz.
Control Algorithm: PI
Current Resolution: 12-bit
Bus Voltage: 120-370Vdc (85-265Vac)
Phase Current
(Sine Wave Amplitude):
SB1391A: 5A Continuous,
10A Peak (1 sec.)
SB1391B: 10A Continuous,
20A Peak (1 sec.)
SB1391C: 15A Continuous,
30A Peak (1 sec.)
Minimum Inductance: 0.5mH
Current Ripple:
<0.25A (320Vdc, 6A, L=2mH)
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