KFLOP Hardware and Software Specification

Hardware

Parameter	Specification
Processor
CPU	TMS320C67-100MHz DSP 600 MFLOP
Memory	32/64-Bit Native Floating Point FLASH 512KBytes SDRAM 16 Mbytes
Interface
Host	USB 2.0 Full Speed
Connectors
Motor/Power	37 pin DSUB
I/O	40 pin Header
Aux IO	16 pin Header
USB	Type B
System Power	Molex 4-pin (Disk drive type)
Servo Loop
Sample Rate	90µs
Compensation	PID + (3) IIR bi-quad Stages/Axis
Feed Forward	Acceleration + Velocity
Axis
Number	4
Type	MicroStep/Servo/Brush/Brushless
Power Amps
Number	8 Full H-Bridges
Type	Switching 30KHz
Cont. Current	3 A each Axis
Peak Current	6 A
Max Supply	+55V
Min Supply	+12V
Independent Supply Inputs	Yes
Thermal Protection	Yes
Over Current Protection	Yes
Under Voltage Protection	Yes
Current Measurement	Yes
Logic Supply
Voltage	+5V ±10%
Max Current	2.5A
User I/O
Digital	28 Gen Purpose LVTTL
Encoders	(4) single-ended, 1 MHz
Analog	(4) ±10V ADCs - (4) 0-4V ADC - (4) ±10V DACs
Environment
Operating Temperature	0-40º C
Storage Temperature	0-40º C
Humidity	20-90% Relative Humidity, non-condensing
±15V
On-board DC-DC Generator	2 Watts (70ma each supply)
Dimensions
Length	6.5 inches (165 mm)
Width	5.0 inches (127 mm)
Height	2.0 inches (50 mm)

Function	Parameter	Specification
User Programs
	Language	C
	Number concurrent	7
	Stand alone mode	Yes
Host Requirements
	OS	MS Windows™ 2000, MS Windows™ XP
	Interface	USB 2.0
Interface Library
	Multi-Thread	Yes
	Multi-Process	Yes
	Multi-Board	Yes
	MS Windows™ VC++	Supported
	MS Windows™ VB	Supported
C Compiler
	TCC67	Included
G Code
	Interpreter	Included
Script Language
	ASCII Commands	Included
Trajectory Planner
	Coordinated Motion	4 Axis
Executive Application
	Configuration	Upload/Download/Save/Load Motor Config
	Tuning	Move/Step Response, Bode Plot, Calc Filters
	User Programs	Integrated IDE - Edit/Compile/Download/Exec
	G Code	Integrated
	Command Console	ASCII Command Entry - Log Console
	Status Display	Axis/Analog/Digital