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Motion FAQs

  1. What is the maximum number of servo axes that can exist on a single controller?

    2600XM and 2700-5 controllers: 10
    2600XM-10, 2700-10, and 2700-16 controllers: 16
    Model 2700:  up to 32 (with 2703APX upgrade)
    Model 5100: up to 4
    Model 5200: up to 12
    Model 5300:  up to 16

    Note that maximum number of axes available for a given controller depends on the other resources, such as I/O, that are required by the application.  Also, for larger applications that exceed the capacity of a single controller, two or more controller units may frequently be combined to meet the application's requirements.  CTC recommends that you call your CTC sales representative or distributor for additional information.

  2. What are three different ways to Filter the command output on a 2219 servo module?
    1. PID - Used with servo amplifiers/drives operating in torque or current mode.
    2. PAV - Used with servo amplifiers/drives operating in velocity mode.
    3. Direct - Used to directly specify the command voltage with no feedback loop.

    The filter selection can be made in Registers 17001, 17011, etc. for axis 1, axis 2, etc. See the Quick Reference Register Guide or the 2219 Installation Guide for more details.

  3. What events will cause an axis on a 2219 servo module to become uninitialized?

    Note that the servo is by default uninitialized at startup. Thereafter, the following events will cause a 2219 module to become uninitialized:

    • The servo experiences following error exceeding +/- 32768 steps.
    • The kill input for the servo axis becomes active.

    In either case a complete profile instruction must be executed to re-initialize the axis.

  4. During registration, how can I program the servo to accept the registration input at any location instead of specifying a registration window?

    Store the value -2,147,483,648 (the most negative number that can be represented with a 32 bit number) to the registration window (Register 16001 for axis 1, 16011 for axis 2, etc.) to allow registration to occur at any servo position. Then store 0 to the Registration Status (Register 16004 for axis 1, 16014 for axis 2, etc.) to enable registration.

  5. What are the maximum speed and acceleration values for CTC's motion control modules?
    Model Speed Accel (steps/sec2)
    2000 Series controllers:
    2206: 250,000 130M
    2214: 250,000 130M
    2219: 4M 130M
    Model 5100 controllers:
    SS: 6M 130M
    TT: 1M 130M
    Model 5200 controllers:
    M1-40A: ±6M 130M
    M1-50A: ±1M 130M
    Model 5300 controllers:
    M3-40A: ±20M  
    M3-40B: ±4M  
    M3-40C: ±4M  
  6. What range of values may be used for the P, I, and D gain values set in a Quickstep profile command?

    P: 1 to 255
    I and D: 0 to 255

  7. What range of values may be used with the Velocity Feed Forward registers (14501 - 14516) and Acceleration Feed Forward registers (14801 - 14816) when operating the 2219 servo module in Velocity mode with the PAV filter.2.

    Both: 0 - 32767

  8. What registers are used to set up limit switch inputs for servo axes on 5100 controllers?
      Axis 1 Axis 2 Axis 3 Axis 4
    Start 15160 15170 15180 15190
    Reset 15161 15171 15181 15191
    Home 15162 15172 15182 15192
    Forward Limit 15163 15173 15183 15193
    Reverse Limit 15164 15174 15184 15194

    Only the first 16 inputs in the controller can be used as limit switch inputs. See the Module SS installation and application guides for more information on using limit switch inputs with the model 5100 controller.

  9. On the 5x00 series controller with encoder option, what input numbers can be used to monitor the master encoder Registration 1 and Registration 2 inputs?

    Registration 1: Input 999
    Registration 2: Input 1000