Features

• Adopt high-performance DSP and FPGA technology
• Each card can control 4 servo/step motors
• Programmable sampling rate. The minimum interpolation period of four axes is 200µs. The minimum control period of single-axis point-to-point motion is 25µs.
• Modes of motion: point-to-point motion, linear interpolation, circular interpolation, velocity control, interface to manual pulse generator, and electronic gearing
• Programmable trapezoid curve planning and S-curve planning and update parameters on-the-fly
• All registers for computational parameters and trajectory planning parameters are 32 bits
• Hardware capture of home switch and index signal of encoder
• Set following-error limit, acceleration limit and output limit, to ensure safe and reliable control
• PID (Proportional-Integral-Derivative) digital filter with velocity and acceleration feed-forward, and with integral limit and bias compensation (for SV card)
• Network communication port (Ethernet, Profibus-DP, RS232, RS232/485) (Optional)
  User-defined coordinate system for ease of programming
• Coordinated motion of 4 axes, linear interpolation of two to four axes, and circular interpolation of any two axes
• Continuous interpolation function
• On-board memory buffer to improve communication efficiency
• Programmable event interrupt: external input interrupt, even interrupt and time interrupt
• On-board EEPROM to update firmware and parameters
• Drivers and DLL for Windows98/2000/NT/XP, C and C++ function library

 

Specification

Axis Channels

• 4 channels of 16-bit analog voltage output signal or pulse output signal with a frequency up to 1MHz
• 4 channels of quadrature incremental encoder input : 4 channels used for feedback signal input of each axis, 2
  channels are used for the auxiliary encoder input
• Encoder sampling rate up to 8MHz
• Flexible combination of analog voltage output and pulse output mode

Analog Input (Optional)

• 8 channels of independent 12-bit ±10V analog input

Uncommitted Digital Input/Output

• 16 channels of uncommitted opto-isolated digital input
• 16 channels of uncommitted opto-isolated digital output

Dedicated Digital Input/Output

• Dedicated opto-isolated inputs for each axis: 2 channels for limit switch signal, 1 channel for home signal, and 1 channel for drive alarm signal input
• Dedicated opto-isolated outputs for each axis: 1 channels for drive enable signal and 1 channel for drive alarm signal reset

Position Capture

• 1 channel of probe input for capturing the positions of 4 axes simultaneously, 1 channel of home capture signal and 1 channel index capture signal for each axis

Bus Type

• Standard ISA/PC104 bus
• Standard PCI bus
• Stand-alone through standard network interface (Optional)

System Software

• Demo software in Windows environment
• Windows 98/2000/NT/XP equipment drivers
• C/C++ function library and demo software in DOS

Power Consumption

• +5V, Icc = 2A, power supplied from PC
• ±12V, Icc = 60mA, power supplied from PC
• +24V or +12V, Icc = 2A, external power provided by user

Operating Environment

• Operating temperature: 0-60°C
• Relative humidity: 5% - 90%, non-condensing

Mechanical Dimension

• 122mm x 185mm

Basic Accessories

• GT-400-ACC1 interconnect board
• GT-400-ACC2 terminal board
• GT-400-ACC3 62-pin shielded cable (x2)
• GT-400-ACC4 60-pin flat cable

Ordering Guide

Type	Model	No of Axes	Motor Type	Control Mode	PC Bus Type
4 axis, for point to point motion control	GT-400-PG-G	4	Servo / Step	Pulse output. Open Loop control	ISA / PC104 or PCI
	GT-400-PV-G	4	Servo / Step	Analog output & Pulse output, close loop control, encode input	ISA / PC104 or PCI
4 axis, for point -to-point & Interpolation motion control	GT-400-SG-G	4	Servo / Step	Pulse output. Open Loop control	ISA / PC104 or PCI
	GT-400-SP-G	4	Servo / Step	Pulse output. Open Loop control, Encoder input	ISA / PC104 or PCI
	GT-400-SV-G	4	Servo / Step	Analog output & Pulse output, close loop control, encode input	ISA / PC104 or PCI
	GT-400-SG-S	4	Servo / Step	Pulse output. Open Loop control, High interpolating accuracy	ISA / PC104 or PCI