Motion Control

The ADM3061E/ADM3062E/ADM3063E/ADM3064E/ ADM3065E/ADM3066E/ADM3067E/ADM3068E are 3.0 V to 5.5 V, IEC electrostatic discharge (ESD) protected RS-485 transceivers, allowing the devices to withstand ±12 kV contact discharges on the transceiver bus pins without latch-up or damage. The ADM3062E/ADM3064E/ADM3066E/ADM3068E feature a V_IO logic supply pin that allows a flexible digital interface capable of operating as low as 1.62 V.

The ADM3065E/ADM3066E/ADM3067E/ADM3068E are suitable for high speed, 50 Mbps, bidirectional data communication on multipoint bus transmission lines. The ADM3061E/ ADM3062E/ADM3063E/ADM3064E/ADM3065E/ADM3066E/ ADM3067E/ADM3068E feature a 1/4 unit load input impedance that allows up to 128 transceivers on a bus. The ADM3061E/ADM3062E/ADM3063E/ADM3064E models offer all of the same features as the ADM3065E/ADM3066E/ ADM3067E/ADM3068E models at a low 500 kbps data rate that is suitable for operation over long cable runs.

The ADM3061E/ADM3062E/ADM3065E/ADM3066E are halfduplex RS-485 transceivers, fully compliant to the PROFIBUS^® standard with increased 2.1 V bus differential voltage at V_CC ≥ 4.5 V. The ADM3063E/ADM3064E/ADM3067E/ADM3068E are full duplex RS-485 transceiver options.

The RS-485 transceivers are available in a number of spacesaving packages, including the 10-lead, 3 mm × 3 mm lead frame chip-scale package (LFCSP), the 8-lead or 10-lead, 3 mm × 3 mm mini small outline package (MSOP), and the 8-lead or 14-lead, narrow body standard small outline packages (SOIC_N). Models with operating temperature ranges of −40°C to +125°C and −40°C to +85°C are available.

Excessive power dissipation caused by bus contention or by output shorting is prevented by a thermal shutdown circuit. If a significant temperature increase is detected in the internal driver circuitry during fault conditions, this feature forces the driver output into a high impedance state.

The ADM3061E/ADM3062E/ADM3063E/ADM3064E/ ADM3065E/ADM3066E/ADM3067E/ADM3068E guarantee a logic high receiver output when the receiver inputs are shorted, open, or connected to a terminated transmission line with all drivers disabled.

Table 2 presents an overview of the ADM3061E/ADM3062E/ ADM3063E/ADM3064E/ADM3065E/ADM3066E/ADM3067E/ ADM3068E data rate capability across temperature, power supply, and package options. Refer to the Ordering Guide section for model numbering.

Applications 

• Industrial fieldbuses
• Process control
• Building automation
• PROFIBUS networks
• Motor control servo drives and encoders 

The ADM3061E/ADM3062E/ADM3063E/ADM3064E/ ADM3065E/ADM3066E/ADM3067E/ADM3068E are 3.0 V to 5.5 V, IEC electrostatic discharge (ESD) protected RS-485 transceivers, allowing the devices to withstand ±12 kV contact discharges on the transceiver bus pins without latch-up or damage. The ADM3062E/ADM3064E/ADM3066E/ADM3068E feature a V_IO logic supply pin that allows a flexible digital interface capable of operating as low as 1.62 V.

The ADM3065E/ADM3066E/ADM3067E/ADM3068E are suitable for high speed, 50 Mbps, bidirectional data communication on multipoint bus transmission lines. The ADM3061E/ ADM3062E/ADM3063E/ADM3064E/ADM3065E/ADM3066E/ ADM3067E/ADM3068E feature a 1/4 unit load input impedance that allows up to 128 transceivers on a bus. The ADM3061E/ADM3062E/ADM3063E/ADM3064E models offer all of the same features as the ADM3065E/ADM3066E/ ADM3067E/ADM3068E models at a low 500 kbps data rate that is suitable for operation over long cable runs.

The ADM3061E/ADM3062E/ADM3065E/ADM3066E are halfduplex RS-485 transceivers, fully compliant to the PROFIBUS^® standard with increased 2.1 V bus differential voltage at V_CC ≥ 4.5 V. The ADM3063E/ADM3064E/ADM3067E/ADM3068E are full duplex RS-485 transceiver options.

The RS-485 transceivers are available in a number of spacesaving packages, including the 10-lead, 3 mm × 3 mm lead frame chip-scale package (LFCSP), the 8-lead or 10-lead, 3 mm × 3 mm mini small outline package (MSOP), and the 8-lead or 14-lead, narrow body standard small outline packages (SOIC_N). Models with operating temperature ranges of −40°C to +125°C and −40°C to +85°C are available.

Excessive power dissipation caused by bus contention or by output shorting is prevented by a thermal shutdown circuit. If a significant temperature increase is detected in the internal driver circuitry during fault conditions, this feature forces the driver output into a high impedance state.

The ADM3061E/ADM3062E/ADM3063E/ADM3064E/ ADM3065E/ADM3066E/ADM3067E/ADM3068E guarantee a logic high receiver output when the receiver inputs are shorted, open, or connected to a terminated transmission line with all drivers disabled.

Table 2 presents an overview of the ADM3061E/ADM3062E/ ADM3063E/ADM3064E/ADM3065E/ADM3066E/ADM3067E/ ADM3068E data rate capability across temperature, power supply, and package options. Refer to the Ordering Guide section for model numbering.

Applications 

• Industrial fieldbuses
• Process control
• Building automation
• PROFIBUS networks
• Motor control servo drives and encoders 

The ADuCM4050 microcontroller unit (MCU) is an ultra low power integrated microcontroller system with integrated power management for processing, control, and connectivity. The MCU system is based on the ARM^® Cortex^®-M4F processor. The MCU also has a collection of digital peripherals, embedded static random access memory (SRAM) and embedded flash memory, and an analog subsystem that provides clocking, reset, and power management capabilities in addition to an analog-to-digital converter (ADC) subsystem.

This data sheet describes the ARM Cortex-M4F core and memory architecture used on the ADuCM4050 MCU. It does not provide detailed programming information about the ARM processor.

The system features include an up to 52 MHz ARM Cortex-M4F processor, 512 kB of embedded flash memory with error correction code (ECC), an optional 4 kB cache for lower active power, and 128 kB system SRAM with parity. The ADuCM4050 features a power management unit (PMU), multilayer advanced microcontroller bus architecture (AMBA) bus matrix, central direct memory access (DMA) controller, and beeper interface.

The ADuCM4050 features cryptographic hardware supporting advanced encryption standard (AES)-128 and AES-256 with secure hash algorithm (SHA)-256 and the following modes: electronic code book (ECB), cipher block chaining (CBC), counter (CTR), and cipher block chaining-message authentication code (CCM/CCM*) modes.

The ADuCM4050 has protected key storage with key wrap/ unwrap, and keyed hashed message authentication code (HMAC) with key unwrap.

The ADuCM4050 supports serial port (SPORT), serial peripheral interface (SPI), I²C, and universal asynchronous receiver/ transmitter (UART) peripheral interfaces.

The ADuCM4050 features a real-time clock (RTC), general-purpose and watchdog timers, and programmable general-purpose input/output (GPIO) pins. There is a hardware cyclic redundancy check (CRC) calculator with programmable generator polynomial. The device also features a power on reset (POR) and power supply monitor (PSM), a 12-bit successive approximation register (SAR) ADC, a red/green/blue (RGB) timer for driving RGB LED, and a true random number generator (TRNG).

To support low dynamic and hibernate power management, the ADuCM4050 MCU provides a collection of power modes and features such as dynamic- and software-controlled clock gating and power gating.

For full details on the ADuCM4050 MCU, refer to the ADuCM4050 Ultra Low Power ARM Cortex-M4F MCU with Integrated Power Management Hardware Reference.

Product Highlights

1. Ultra low power consumption.
2. Robust operation.
3. Full voltage monitoring in deep sleep modes.
4. ECC support on flash.
5. Parity error detection on SRAM memory.
6. Leading edge security.
7. Fast encryption provides read protection to user algorithms.
8. Write protection prevents device reprogramming by unauthorized code.
9. Failure detection of 32 kHz low frequency external crystal oscillator (LFXTAL) via interrupt.
10. SensorStrobe^™ for precise time synchronized sampling of external sensors. Works in hibernate mode, resulting in drastic current reduction in system solutions. Current consumption reduces by 10 times when using, for example, the ADXL363 accelerometer. Software intervention is not required after setup. No pulse drift due to software execution.

Applications

• Internet of Things (IoT)
• Smart agriculture, smart building, smart metering, smart city, smart machine, and sensor network
• Wearables
• Fitness and clinical
• Machine learning and neural networks

The ADuM4120/ADuM4120-1 are 2 A isolated, single-channel drivers that employ Analog Devices, Inc., iCoupler^® technology to provide precision isolation. The ADuM4120/ADuM4120-1 provide 5 kV rms isolation in the 6-lead wide body SOIC package with increased creepage. Combining high speed CMOS and monolithic transformer technology, these isolation components provide outstanding performance characteristics, such as the combination of pulse transformers and gate drivers.

The ADuM4120/ADuM4120-1 operate with input supplies ranging from 2.5 V to 6.5 V, providing compatibility with lower voltage systems. In comparison to gate drivers employing high voltage level translation methodologies, the ADuM4120/ ADuM4120-1 offer the benefit of true, galvanic isolation between the input and the output.

Options exist for models with and without an input glitch filter. The glitch filter helps reduce the chance of noise on the input pin triggering an output.

As a result, the ADuM4120/ADuM4120-1 provide reliable control over the switching characteristics of insulated gate bipolar transistor (IGBT)/metal-oxide semiconductor field effect transistor (MOSFET) configurations over a wide range of switching voltages.

Applications

• Switching power supplies 
• IGBT/MOSFET gate drivers
• Industrial inverters 
• Gallium nitride (GaN)/silicon carbide (SiC) power devices

The FlexMC Motor Control Development Platform^TM is a rapid development system for any motor control solution. The FlexMC Kit^TM enables you to accelerate time-to-market and increase performance with powerful model-based design tools. This solution combines hardware and software with out-of-the-box functionality for a permanent magnet synchronous motor (PMSM) with hall sensor, encoder, or sensorless feedback.

Solution Overview
The FlexMC Kit has the hardware and software required to spin the kit’s motor under open or closed loop speed control in conjunction with an ADSP-CM408 EZ Kit. The software is provided as an executable file which can be flashed to the ADSP-CM408 processor using the ADI serial boot-loader utility. A .NET-based graphical user interface (GUI) is provided to enable motor start-stop, speed control, and data visualization. Sample C-code is also provided for open loop Volts/Hertz control of a motor.

The FlexMC Kit hardware comes in two variants. The kit option includes a PMSM motor with encoder, a 24V motor drive board, and a power supply. The board-only option includes the motor drive board only. In this case users can connect their own motor and power source. In both cases, the power board connects directly to an Analog Devices ADSP-CM408 Mixed-Signal Control Processor EZ Kit (sold separately). Easy connection to motors and the CM408 EZ Kit make this system perfect for your prototyping needs.

Additional rapid prototyping MATLAB/Simulink tools and support can be obtained by purchasing this kit from Boston Engineering

• Low Voltage Motor Control Board, 12-36V, 10A
• 24V, 3-phase PMSM (not included in board-only option)
• Quadrature Incremental Encoder (not included in board-only option)
• SOLD SEPERATELY: ADI ADSP-CM408 EZ Kit

• Executable Demo Application
• Sample application C code

Note: To get started, download software and to get technical support on the FlexMC kit go to EngineerZone:
Sample C Code for EV-MCS-LVDRV-Z platform
Getting started with the EV-MCS-LVDRV-Z motor control platform

The circuit in Figure 1 is a completely isolated current sensor with an isolated power source. The circuit is highly robust and can be mounted close to the sense resistor for accurate measurements and minimum noise pickup. The output is a single 16 MHz bit stream from a sigma-delta modulator that is processed by a DSP using a sinc³digital filter.

The circuit is ideal for monitoring the ac current in solar photovoltaic (PV) converters where the peak ac voltage can be several hundred volts, and the current can vary between a few mA and 25 A.

The circuit shown in Figure 1 is a complete low cost implementation of an analog-to-analog isolator. The circuit provides isolation of 2500 V rms (1 minute per UL 1577).

The circuit is based on the AD7400A, a second-order, sigma-delta (Σ-Δ) modulator with a digitally isolated 1-bit data stream output. The isolated analog signal is recovered with a fourth-order active filter based on the dual, low noise, rail-to-rail AD8646 op amp. With the ADuM5000 as the power supply for the isolated side, the two sides are completely isolated and use only one power supply for the system. The circuit has 0.05% linearity and benefits from the noise shaping provided by the modulator of the AD7400A and the analog filter. The applications of the circuit include motor control and shunt current monitoring, and the circuit is also a good alternative to isolation systems based on optoisolators.

The circuit shown in Figure 1 provides a completely isolated connection between the popular USB bus and an RS-485 or RS-232 bus. Both signal and power isolation ensures a safe USB device interface to an industrial bus or debug port, allowing TIA/EIA-485/232 bus traffic monitoring and the convenience of sending and receiving commands to and from a PC that is not equipped with an RS-485 or RS-232 port.

Isolation in this circuit increases system safety and robustness by providing protection against electrical line surges and breaks the ground connection between bus and digital pins, thereby removing possible ground loops within the system.

The TIA/EIA RS-485 bus standard is one of the most widely used physical layer bus designs in industrial and instrumentation applications. RS-485 offers differential data transmission between multiple systems, often over very long distances. RS-485 communication offers additional robustness through differential communication when compared to the RS-232 standard.

TIA/EIA RS-232 devices are widely used in industrial machines, networking equipment, and scientific instruments. In modern personal computers, which are often used for debugging network problems, USB has displaced RS-232 from most of its peripheral interface roles, and many computers do not come equipped with RS-232 ports. The circuit in Figure 1 offers a robust and compact solution for both RS-232 and RS-485 interfaces.

The compact two-chip circuit shown in Figure 1 provides a contactless anisotropic magnetoresistive (AMR) measurement solution ideal for either angle or linear position measurements. The two-chip system is capable of providing better than 0.2° angular accuracy over 180°, and linear accuracy of 2 mil (0.002 inch) over a 0.5 inch range, depending on the size of the magnet used.

The circuit is ideal for applications where high speed, accurate, noncontact angle and length measurements are critical, such as machine tool speed control, crane angle control, brushless dc motors, and other industrial or automotive applications.

The circuits shown in Figure 1 demonstrate proven and tested electromagnetic compatibility (EMC) compliant solutions for three protection levels for popular RS-485 communication ports using the ADM3485E transceiver. Each solution was tested and characterized to ensure that the dynamic interaction between the transceiver and the protection circuit components functions correctly together to protect against the electrostatic discharge (ESD), electrical fast transients (EFT), and surge immunity specified in IEC 61000-4-2, IEC 61000-4-4, and IEC 61000-4-5, respectively. The circuits offer proven protection for RS-485 interfaces using the ADM3485E to the ESD, EFT, and surge levels often encountered in harsh environments.

Low voltage differential signaling (LVDS) is an established standard (TIA/EIA-644) for low power, high speed, point-to-point communication. It is used in instrumentation and control applications to send high volumes of data across backplanes or short cable links, or to distribute high speed clocks to different parts of an application circuit.

The circuit shown in Figure 1 demonstrates isolation of an LVDS interface. Advantages of isolating LVDS interfaces include protection against fault conditions (safety isolation) and improving robustness (functional isolation).

The ADuM3442 provides digital isolation of the logic inputs to the ADN4663 LVDS driver and the logic outputs from the ADN4664 LVDS receiver. Together with provision of isolated power using the ADuM5000, a number of challenges to isolating LVDS links in industrial and instrumentation applications are met that include the following:

• Isolation of the logic signals to/from the LVDS drivers/ receivers, ensuring standard LVDS communication on the bus side of the circuit.
• Highly integrated isolation using just two additional wide-body SOIC devices, the ADuM3442 and ADuM5000, to isolate the standard LVDS devices, the ADN4663 and ADN4664.
• Low power consumption compared to traditional isolation (opto-couplers). Low power operation is a feature of LVDS applications.
• Multiple channels of isolation. In LVDS applications, parallel channels are used to maximize data throughput. This circuit demonstrates quad-channel isolation (in this case, two transmit and two receive channels).
• High speed operation; the isolation can operate at up to 150 Mbps, facilitating basic LVDS speed requirements.

The circuit shown in Figure 1 isolates a dual-channel LVDS line driver and a dual-channel LVDS receiver. This allows demonstration of two complete transmit and receive paths on a single board.

Modern microprocessors and microconverters are generally low power and operate on low supply voltages. Source and sink current for 2.5 V CMOS logic outputs ranges from μA to mA . Driving an H-bridge switching 12 V with a 4 A peak current requires the use of carefully selected interface and level translation components, especially if low jitter is needed.

The ADG787 is a low voltage CMOS device that contains two independently selectable single-pole double-throw (SPDT) switches. With a 5 V dc power supply, a voltage as low as 2 V is a valid high input logic voltage. Therefore, the ADG787 provides appropriate level translation from the 2.5 V controlling signal to the 5 V logic level needed to drive the ADuM7234 half-bridge driver.

The ADuM7234 is an isolated, half-bridge gate driver that employs Analog Devices’ iCoupler^® technology to provide independent and isolated high-side and low-side outputs making it possible to use N-channel MOSFETs exclusively in the H-bridge. There are several benefits in using N-channel MOSFETs: N-channel MOSFETs typically have one third of the on resistance of P-channel MOSFETs and higher maximum current; they switch faster, thereby reducing power dissipation; and the rise time and fall time is symmetrical.

The 4 A peak drive current of the ADuM7234 ensures that the power MOSFETs can switch on and off very fast, thereby minimizing the power dissipation in the H-bridge stage. The maximum drive current of the H-bridge in this circuit can be up to 85 A, which is limited by the maximum allowable MOSFET current.

The ADuC7061 is a low power, ARM7 based precision analog microcontroller with integrated pulse width modulated (PWM) controllers that have outputs that can be configured to drive an H-bridge after suitable level translation and conditioning.

The circuit shown in Figure 1 monitors current in systems with high positive common-mode dc voltages of up to +500 V with less than 0.2% error. The load current passes through a shunt resistor, which is external to the circuit. The shunt resistor value is chosen so that the shunt voltage is approximately 500 mV at maximum load current.

The AD8212 accurately amplifies a small differential input voltage in the presence of large positive common-mode voltages greater than 500 V when used in conjunction with an external PNP transistor.

Galvanic isolation is provided by the ADuM5402 quad channel isolator. This is not only for protection but to isolate the downstream circuitry from the high common-mode voltage. In addition to isolating the output data, the ADuM5402 digital isolator can also supply isolated +3.3 V for the circuit.

The measurement result from the AD7171 is provided as a digital code utilizing a simple 2-wire, SPI-compatible serial interface.

This combination of parts provides an accurate high voltage positive rail current sense solution with a small component count, low cost, and low power.

Modern complex systems using various combinations of FPGAs, CPUs, DSPs, and analog circuits typically require multiple voltage rails. In order to provide high reliability and stability, the power system must not only provide the multiple voltage rails but also include proper sequencing control and necessary protection circuits.

The module shown in Figure 1 is a reference solution for multivoltage power systems. The design can easily be adapted to customer requirements and provides the most popular system voltages. The circuit uses an optimum combination of switching and linear regulators to provide an overall efficiency of approximately 78% when the outputs are fully loaded. Output power delivered under full load is approximately 25 W.

This circuit, shown in Figure 1, monitors bidirectional current from sources with dc voltages of up to ±270 V with less than 1% linearity error. The load current passes through a shunt resistor, which is external to the circuit. The shunt resistor value is chosen so that the shunt voltage is approximately 100 mV at maximum load current.

The AD629 amplifier accurately measures and buffers (G = 1) a small differential input voltage and rejects large positive common-mode voltages up to 270 V.

The dual AD8622 is used to amplify the output of the AD629 by a factor of 100. The AD8475 funnel amplifier attenuates the signal (G = 0.4), converts it from single-ended to differential, and level shifts the signal to satisfy the analog input voltage range of the AD7170 sigma-delta ADC.

Galvanic isolation is provided by the ADuM5402 quad channel isolator. This is not only for protection but also to isolate the downstream circuitry from the high common-mode voltage. In addition to isolating the output data, the ADuM5402 digital isolator can supply isolated +5.0 V for the circuit.

The measurement result from the AD7170 is provided as a digital code utilizing a simple 2-wire, SPI-compatible serial interface.

This combination of parts provides an accurate high voltage positive and negative rail current sense solution with a small component count, low cost, and low power.

The circuit shown in Figure 1 is a complete linear variable differential transformer (LVDT) signal conditioning circuit that can accurately measure linear position or linear displacement from a mechanical reference. Synchronous demodulation in the analog domain is used to extract the position information and provides immunity to external noise. A 24-bit, Σ-Δ analog-to-digital converter (ADC) digitizes the position output for high accuracy.

LVDTs utilize electromagnetic coupling between the movable core and the coil assembly. This contactless (and hence frictionless) operation is a primary reason for why they are widely used in aerospace, process controls, robotics, nuclear, chemical plants, hydraulics, power turbines, and other applications where operating environments can be hostile and long life and high reliability are required.

The entire circuit, including the LVDT excitation signal, consumes only 10 mW of power. The circuit excitation frequency and output data rates are SPI programmable. The system has a programmable bandwidth vs. dynamic range trade-off. It supports bandwidths of over 1 kHz, and at a bandwidth of 20 Hz, the circuit has a dynamic range of 100 dB, making it ideal for precision industrial position and gauging applications.

The circuit shown in Figure 1 is a complete adjustment-free linear variable differential transformer (LVDT) signal conditioning circuit. This circuit can accurately measure linear displacement (position).

The LVDT is a highly reliable sensor because the magnetic core can move without friction and does not touch the inside of the tube. Therefore, LVDTs are suitable for flight control feedback systems, position feedback in servomechanisms, automated measurement in machine tools, and many other industrial and scientific electromechanical applications where long term reliability is important.

This circuit uses the AD698 LVDT signal conditioner that contains a sine wave oscillator and a power amplifier to generate the excitation signals that drive the primary side of the LVDT. The AD698 also converts the secondary output into a dc voltage. The AD8615 rail-to-rail amplifier buffers the output of the AD698 and drives a low power 12-bit successive approximation analog-to-digital converter (ADC). The system has a dynamic range of 82 dB and a system bandwidth of 250 Hz, making it ideal for precision industrial position and gauging applications.

The signal conditioning circuitry of the system consumes only 15 mA of current from the ±15 V supply and 3 mA from the +5 V supply.

This circuit note discusses basic LVDT theory of operation and the design steps used to optimize the circuit shown in Figure 1 for a chosen bandwidth, including noise analysis and component selection considerations.

The circuit shown in Figure 1 is a complete adjustment-free linear variable differential transformer (LVDT) signal conditioning circuit. This circuit can accurately measure linear displacement (position).

The LVDT is a highly reliable sensor because the magnetic core can move without friction and does not touch the inside of the tube. Therefore, LVDTs are suitable for flight control feedback systems, position feedback in servomechanisms, automated measurement in machine tools, and many other industrial and scientific electromechanical applications where long term reliability is important.

This circuit uses the AD598 LVDT signal conditioner that contains a sine wave oscillator and a power amplifier to generate the excitation signals that drive the primary side of the LVDT. The AD598 also converts the secondary output into a dc voltage. The AD8615 rail-to-rail amplifier buffers the output of the AD598 and drives a low power 12-bit successive approximation analog-to-digital converter (ADC). The system has a dynamic range of 82 dB and a system bandwidth of 250 Hz, making it ideal for precision industrial position and gauging applications.

The signal conditioning circuitry of the system consumes only 15 mA of current from the ±15 V supply and 3 mA from the +5 V supply, making this ideal for remote applications. The circuit can operate a remote LVDT from up to 300 feet away, and the output can drive up to 1000 feet.

This circuit note discusses basic LVDT theory of operation and the design steps used to optimize the circuit shown in Figure 1 for a chosen bandwidth, including noise analysis and component selection considerations.

The circuit shown in Figure 1 is a complete high performance resolver-to-digital (RDC) circuit that accurately measures angular position and velocity in automotive, avionics, and critical industrial applications where high reliability is required over a wide temperature range.

The circuit has an innovative resolver rotor driver circuit that has two modes of operation: high performance and low power. In the high performance state, the system operates on a single 12 V supply and can supply 6.4 V rms (18 V p-p) to the resolver. In the low power state, the system operates on a single 6 V supply and can supply 3.2 V rms (9.2 V p-p) to the resolver, with less than 100 mA of current consumption. Active filtering is provided in both the driver and receiver to minimize the effects of quantization noise.

The maximum tracking rate of the RDC is 3125 rps in the 10-bit mode (resolution = 21 arc min) and 156.25 rps in the 16-bit mode (resolution = 19.8 arc sec).