ElmoMC AC Input Digital Servo Drives-Tuba - Manual (Page 6)

Tuba Installation Guide Table of Contents
MAN-TUBIG (Ver. 1.502)
6
3.4.4. Feedback and Control Cable Assemblies ....................................................... 30
3.4.5. Main Feedback Cable (Feedback A) ............................................................... 30
3.4.6. Main and Auxiliary Feedback Combinations ................................................. 39
3.4.7. Auxiliary Feedback (FEEDBACK B) .................................................................. 41
3.4.7.1. Main Encoder Buffered Outputs or Emulated Encoder Outputs
Option on FEEDBACK B (YA[4]=4) ................................................. 41
3.4.7.2. Differential Auxiliary Encoder Input Option on FEEDBACK B
(YA[4]=2) ....................................................................................... 43
3.4.7.3. Single-Ended Auxiliary Input Option on FEEDBACK B - (YA[4]=2) 45
3.4.7.4. Pulse-and-Direction Input Option on FEEDBACK B - (YA[4]=0) .... 47
3.4.8. I/O Cables ...................................................................................................... 50
3.4.8.1. Analog Inputs ................................................................................ 50
3.4.8.2. Digital Inputs (on the GENERAL I/O Port) ..................................... 51
3.4.8.3. Digital Outputs (on the COMMITTED I/O Port) ............................ 54
3.4.9. Communication Cables .................................................................................. 56
3.4.9.1. RS-232 Communication (on the COMM.1 Port) ........................... 56
3.4.9.2. CAN Communication (on the COMM.2 Ports) .............................. 57
3.5. Powering Up ................................................................................................................. 59
3.6. Initializing the System ................................................................................................... 59
Chapter 4: Technical Specifications ................................................................................ 60
4.1. Features ........................................................................................................................ 60
4.1.1. Motion Control Modes .................................................................................. 60
4.1.2. Advanced Positioning Motion Control Modes .............................................. 60
4.1.3. Advanced Filters and Gain Scheduling........................................................... 60
4.1.4. Fully Programmable ....................................................................................... 60
4.1.5. Feedback Options .......................................................................................... 61
4.1.6. Input/Output ................................................................................................. 61
4.1.7. Built-In Protection ......................................................................................... 62
4.2. Tuba Dimensions .......................................................................................................... 63
4.3. Mounting Dimensions .................................................................................................. 64
4.4. Mechanical Specifications ............................................................................................ 64
4.5. Power Ratings ............................................................................................................... 65
4.6. Environmental Conditions ............................................................................................ 65
4.7. Tuba Connections ......................................................................................................... 66
4.7.1. Auxiliary Supply ............................................................................................. 67
4.8. Control Specifications ................................................................................................... 67
4.8.1. Current Loop .................................................................................................. 67
4.8.2. Velocity Loop ................................................................................................. 68
4.8.3. Position Loop ................................................................................................. 68
4.9. Feedbacks ..................................................................................................................... 69
4.9.1. Feedback Supply Voltage ............................................................................... 69
4.9.2. Incremental Encoder Input ............................................................................ 69
4.9.3. Digital Halls .................................................................................................... 70
4.9.4. Interpolated Analog (Sine/Cosine) Encoder .................................................. 70