Table of contents |

# Kogna Hardware and Software Specification

## Hardware

Parameter | Specification
--- | ---
Processor
CPU | TMS320C67-456MHz DSP 2.7 GFLOP
Memory | 32/64-Bit Native Floating Point FLASH 512MBytes SDRAM 16 Mbytes
Interface
Host | Ethernet 100M
Connectors
JP7 I/O General Purpose | 26 pin Header
JP5 I/O Com | 8 pin RJ45
JP4 Aux#0 IO | 16 pin Header
JP6 Aux#1 IO | 16 pin Header
JP9 Aux#2 IO | 16 pin Header
J14 Ethernet | RJ45
J3 USB | Micro USB
JP8 Differential Inputs / DACs | 40 pin Header
JP10 Differential Outputs / ADCS / Hi-Res PWMs | 40 pin Header
JP12 SPI / RS422/485 / EX_IO / Opto Relay Drivers | 40 pin Header
JP14 - Differential Inputs / Differential Outputs | 50 pin Header
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 | 16
Type | MicroStep/Step Dir/Servo/Brushed/Brushless
Logic Supply
Voltage | +5V ±10%
Max Current | 2.5 A
Typical Current | 0.35 A
Analog Supplies
+15V on-board Generator | 1W
-15V on-board Generator | 1W
User I/O
Digital - 3.3V LVTTL | 70 multipurpose Gen Purpose (24 are 5V Tolerant)
Digital - Differential Outputs | 24
Digital - Differential Intputs | 24
24V Opto-Isolated Relay Drivers | 4
A/B Quadrature Encoder Inputs | (20) 5 MCounts/sec
Step/Dir Pulse Generators | (16) 2.5MHz Pulse rate
PWM 8-bit | (8) 16.7MHz Clock rate 60KHz or prescaled by 1-256
Hi-Res PWM 16-bit | (4) 228MHz Clock rate Programmable Period
DACS | (8) +/-10V 12-bit 90us Update
ADCS | (4) 0-5V 10.5-bit 1620us Update
SPI | 76MHz Clock rate max
I2C | 400KHz Clock rate max
RS422/485 | 1.5Mbaud max
Environment
Operating Temperature | 0-40º C
Storage Temperature | 0-40º C
Humidity | 20-90% Relative Humidity, non-condensing
Dimensions
Length | 3.5 inches (89 mm)
Width | 5.0 inches (127 mm)
Height | 0.75 inches (19 mm)

## Software

Parameter | Specification
--- | ---
User Programs
Language | C
Number concurrent | 7
Stand alone mode | Yes
Host Requirements
OS | MS Windows™ 7 through 11
Interface | USB 2.0
Interface Library
Multi-Thread | Yes
Multi-Process | Yes
Multi-Board | Yes
MS Windows™ VC++ | Supported
MS Windows™ VB | Supported
MS Windows™ C# | Supported
MS Windows™ .NET | Supported
C Compiler
TCC67 | Included
G Code
Interpreter | Included
Script Language
ASCII Commands | Included
Trajectory Planner
Coordinated Motion | 6 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