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.11.2
Connecting Main Power ................................................................................. xv
.11.3
Low power Auxiliary Supply (optional) ...................................................... xvi
.12
Main Feedback ............................................................................................................. xviii
.13
Pulse and Direction (YA[4]=0).................................................................................... xxiv
.14
I/O ................................................................................................................................. xxvi
.14.1
Digital Input ................................................................................................. xxvii
.14.2
Digital Output ............................................................................................... xxix
.14.3
Analog Input ................................................................................................. xxix
.15
Communications ........................................................................................................... xxx
.15.1
RS-232 Communication ................................................................................ xxx
.15.2
CANopen Communication .......................................................................... xxxi
.16
Powering Up .............................................................................................................. xxxiii
.17
Initializing the System ............................................................................................... xxxiii
Technical Specifications .................................................................................................... xxxiv
.18
Features ....................................................................................................................... xxxiv
.19
Built-In Protection ...................................................................................................... xxxvi
.20
Trio Dimensions ........................................................................................................ xxxvii
.21
Power Ratings .......................................................................................................... xxxviii
.22
Control Specifications ................................................................................................ xxxix
.22.1
Current Loop ............................................................................................... xxxix
.
22.2
Velocity Loop .................................................................................................... xl
.22.3
Position Loop .................................................................................................... xl
.23
Feedbacks ......................................................................................................................... xli
.23.1
Incremental Encoder ....................................................................................... xli
.23.2
Feedback Supply Voltage ............................................................................... xli
.23.3
Digital Halls .................................................................................................... xlii
.23.4
Interpolated Analog Encoder (Sine/Cosine) ............................................... xlii
23.5
Resolver .......................................................................................................... xliii
.23.6
Tachometer* ................................................................................................... xliii
.23.7
Potentiometer ................................................................................................. xliv
.24
I/Os ................................................................................................................................ xliv
