3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)..........3-31
3.4.8 I/O Cables..............................................................................................................3-33
3.4.8.1 Analog Inputs............................................................................................3-33
3.4.8.2 Digital Inputs (on GENERAL I/O Port).................................................3-34
3.4.8.3 Digital Outputs (on COMMITTED I/O Port)........................................ 3-36
3.4.9 Communication Cables........................................................................................ 3-38
3.4.9.1 RS-232 Communication (on the COMM.1 Port).....................................3-38
3.4.9.2 CANopen Communication (on the COMM.2 Ports).............................3-39
3.5 Powering Up............................................................................................................3-41
3.6 Initializing the System............................................................................................3-41
Appendix: Technical Specifications....................................................................................A-1
A.1 Features.....................................................................................................................A-1
A.1.1 Motion Control Modes.......................................................................................... A-1
A.1.2 Advanced Positioning Motion Control Modes..................................................A-1
A.1.3 Advanced Filters and Gain Scheduling.............................................................. A-1
A.1.4 Fully Programmable.............................................................................................. A-1
A.1.5 Feedback Options...................................................................................................A-1
A.1.6 Input/Output......................................................................................................... A-2
A.1.7 Built-In Protection.................................................................................................. A-2
A.2 Tuba Dimensions..................................................................................................... A-3
A.3 Mounting Dimensions.............................................................................................A-4
A.4 Mechanical Specifications.......................................................................................A-4
A.5 Power Ratings...........................................................................................................A-5
A.6 Environmental Conditions......................................................................................A-5
A.7 Tuba Connections.....................................................................................................A-6
A.7.1 Auxiliary Supply.................................................................................................... A-7
A.8 Control Specifications..............................................................................................A-7
A.8.1 Current Loop.......................................................................................................... A-7
A.8.2 Velocity Loop..........................................................................................................A-8
A.8.3 Position Loop..........................................................................................................A-8
A.9 Feedbacks..................................................................................................................A-9
A.9.1 Feedback Supply Voltage..................................................................................... A-9
A.9.2 Incremental Encoder Input................................................................................... A-9
A.9.3 Digital Halls.......................................................................................................... A-10
A.9.4 Interpolated Analog Encoder (Sine/Cosine)................................................... A-10
A.9.5 Resolver................................................................................................................. A-11
A.9.6 Tachometer*.......................................................................................................... A-11
A.9.7 Potentiometer....................................................................................................... A-12
A.9.8 Encoder Outputs.................................................................................................. A-12
A.10 I/Os A-13
A.10.1 Digital Input Interfaces (on GENERAL I/O port)...........................................A-13
A.10.2 Digital Output Interface (on COMMITTED I/O port)................................... A-14
A.10.3 Analog Input.........................................................................................................A-15
A.11 Communications....................................................................................................A-15
A.12 Pulse Width Modulation (PWM)..........................................................................A-16
A.13 Single-phase Operation.........................................................................................A-16
A.14 Standards Compliance...........................................................................................A-17
A.14.1 Quality Assurance................................................................................................A-17
A.14.2 Design.................................................................................................................... A-17
A.14.3 Safety..................................................................................................................... A-17
A.14.4 EMC....................................................................................................................... A-17
A.14.5 Workmanship....................................................................................................... A-17
A.14.6 PCB.........................................................................................................................A-18
Tuba Installation Guide Contents
MAN-TUBIG (Ver. 1.3)
ii