Tuba Installation Guide Table of Contents
MAN-TUBIG (Ver. 1.503) 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
