Table of contents |

# 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)

## Software

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