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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
Incremental 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 Potentiometer
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