Compact Model 5951B has digital signal processor, I/O chip, high resolution encoder, and 3.6 kHz servo update speed, all of which provide smooth motion control. Servo algorithms use PID with velocity feedforward filtering for each axis. Controller has current-limiting resistors for industrial environments and high-speed clamping diodes for protection against transients, spikes, and noise. It comes with 16- and 32-bit libraries with C and Visual Basic examples. Configuration is accomplished via software, eliminating need for pots and jumpers.