Elmo 1.3, Tuba Digital Servo

Tuba Installation Guide Introduction

MAN-TUBIG (Ver. 1.3)

2-2

2.2.3 Position Control

 Programmable PIP control filter

 Programmable notch and low-pass filters

 Position follower mode for monitoring the motion of the slave axis relative

to a master axis, via an auxiliary encoder input

 Pulse-and-direction inputs

 Sample time: four times that of current loop

 Fast event capturing inputs

2.2.4 Advanced Position Control (Advanced model only)

 Position-based and time-based ECAM mode that supports a non-linear

follower mode, in which the motor tracks the master motion using an

ECAM table stored in flash memory

 PT and PVT motion modes

 Dual (position/velocity) loop

 Fast output compare (OC)

2.2.5 Communication Options

Depending on the application, Tuba users can select from two communication options:

 RS-232 serial communication

 CANopen for fast communication in a multi-axis distributed environment

2.2.6 Feedback Options

 Increm ental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second

 Digital Halls – up to 2 kHz

 Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts

per second for encoder

 Absolute Encoder

 Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)

• Internal Interpolation – programmable up to x4096

• Automatic Correction of:

♦ amplitude mismatch

♦ phase mismatch

♦ signals offset

• Encoder outputs, buffered, differential.

 Resolver

• Programmable 10~15 bit resolution

• Up to 512 revolutions per second (RPS)

• Encoder outputs, buffered, differential

 Tachometer and Pot entiometer

Two inputs for Tachometer Feedback:

• Up to ±50 VDC

• Up to ±20 VDC

Potentiometer Feedback:

• 0 ~ 5 V voltage range

• Resistance: 100 Ω to 1000 Ω