Appendix A – Specifications
49
Interface/Communication
Connector
Drive connector: 9 pin D-subminiature plug.
Mating connector: 9 pin D-subminiature receptacle
RS-232: RS-485:*
Rx, Tx, Gnd 4-wire plus ground (Rx+, Rx-, Tx+, Tx-, Gnd)
9600 baud 9600 baud
8 data bits 8 data bits
1 stop bit 1 stop bit
no parity no parity
full duplex full duplex
*twisted pair cabling recommended (e.g. Belden 9842)
Performance
Accuracy: ±5 arc min (0.0833°), typical unloaded bidirectional with Compumotor
motors. Other motors may have different absolute accuracy.
±1 arc minute (0.0167°), loaded in addition to unloaded accuracy, per
each frictional load equal to 1% rated torque.
Repeatability: ±5 arc sec (0.0014°), typical unloaded one revolution returning to starting
point from same direction
Hysteresis: Less than 2 arc min (0.0334°) unloaded bidirectional
Resolution: User definable integer value between 200 and 128,000 steps per
revolution
Waveform: -20% through 10%, 0.01% resolution, continuously variable, 3
rd
harmonic,
(use DWAVEF command)
Amplifier
Type: 20 kHz fixed frequency, variable duty cycle PWM, current controlled,
recirculating, bipolar type, MOSFET construction.
2 Phases: bipolar motor configuration only.
Auto Standby: When enabled, motor current reduces to a percentage of present value
(defined by DAUTOS command), when no step pulses are received for
one second. Default is disabled (no current reduction). See DAUTOS
command.
Environmental Specifications
Operating Temperature: Still Air: 45°C (113°F) maximum
Moving air: 50°C (122°F) maximum
Minimum: 0°C (32°F)
Storage Temperature: -40°C – 85°C (-40°F – 185°F)
Humidity: 0 – 95%, non-condensing
Shock: 15g, 11msec half sine
Vibration: 10 – 2000 Hz at 2g
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