80 MHz DSP56303 CPU (120 MHz PMAC equivalent) (fast internal memory for 1st 15 axes servo & commutation)

128k x 24 SRAM compiled/assembled program memory (5C0) (for firmware, compiled PLCs, user-written servo & phase)

128k x 24 SRAM user buffer memory (5C0) (for motion & uncompiled PLC progs, variables, tables, buffers)

1M x 8 flash memory for user backup & firmware (5C0)

Latest released firmware version

RS-422 serial interface, VME bus interface

4 channels axis interface circuitry, each including:

16-bit +/-10V analog output

3-channel A, B, C, Quad per Axis differential/single-ended encoder input

4 input flags, 2 output flags

Interface to external 16-bit serial ADC

Display, control panel, muxed I/O, direct I/O interface ports

PID/notch/feedforward servo algorithms

Extended "pole-placement" servo algorithms

1-year warranty from date of shipment

Linear interpolation mode with S-curve accel/decel

Circular interpolation mode with S-curve accel/decel

Rapid point-to-point move mode

Cubic B-spline interpolation mode

Cubic Hermite-spline (PVT) interpolation mode

Automatic move-until-trigger functions with hardware capture

Altered destination on the fly

Interactive jog moves

Multi-move look ahead for velocity and acceleration limiting

Standard digital PID feedback filter

Velocity, acceleration, and friction feedforward

2nd-order notch/low-pass filter

Gains changeable at any time

Programmable input, integrator, and output limits

Alternate 35-term “pole-placement” servo filter

Alternate user-written high-level “Open Servo” algorithms

Sinusoidal commutation of AC servo motors

Vector control of AC induction motors

Digital current-loop closure with direct PWM output (PMAC2)

Position compensation tables (1D & 2D)

Torque compensation tables

Backlash compensation

Tool radius compensation

Hardware and software over travel limits

Amplifier enable/fault handshaking

Following error limits

Integrated current limit

Encoder loss detection (some versions)

Watchdog timer

Program and communications checksums

Real-time multi-tasking operating system

48-bit floating-point math for user programs

Trigonometric and transcendental functions

Automatic type-matching of different variable types

User-defined pointer variables to any registers

User-defined coordinate systems for automatic coordination of axes

Separate coordinate systems for independent motion of axes

Multi-motor axis support (e.g. gantries)

Dynamic axis transformations (e.g. offsets, rotations, mirroring)

User-written forward and inverse-kinematic algorithms for non-Cartesian geometries

Electronic gearing (no programming required)

Electronic cams with programmable profiles

High-level programming language

Automatic sequenced execution of moves

Calculations and I/O synchronous to motion

Axes programmed in user engineering units

Motion values as constants or expressions

Automatic coordination of multiple axes

Ability to execute G-code programs

Execution asynchronous to programmed motion

I/O control as in hardware PLC

Executive functions for standalone applications

Safety and status monitoring

Servo gain scheduling

Data reporting functions

Access to all registers in controller

OPT-1V - 4 additional channels axis interface circuitry

OPT-7V - Plate mounting for standalone applications

OPT-2V - On-board 8Kx16 Dual Ported RAM

OPT-10 - Firmware version specification

OPT-5AF - 40 MHz CPU

OPT-5CF - 80 MHz CPU

OPT-5CL - 80 MHz DSP56303 CPU (8Kx24 internal memory)

OPT-5EF - 160 MHz DSP563xx CPU

OPT-0 - Removal of VME interface (for standalone applications)

OPT-14 - Replacement of flag opto isolators with socketed shunts

OPT-15 - V-to-F Converter to use Control Port Analog Input

OPT-16 - 16K x 24 battery-backed parameter RAM

OPT-8A - High-accuracy clock crystal (+/-15ppm)

OPT-3V - Extended VME front plate for additional 5 connectors

OPT-3VG - Enclosed plastic PLC style front plate