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Appendix: Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque - up to 14 kHz sampling rate
• Velocity - up to 7 kHz sampling rate
• Position - up to 3.5 kHz sampling rate
A.1.2 Advanced Positioning Motion Control Modes
• PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop
• Fast event capturing inputs
• Fast output compare (OC)
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands
• Event capturing interrupts
• Event triggered programming
A.1.5 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 - 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 (inputs for ±20 V max. voltage and for ±20 V max. voltage)
• Potentiometer (0 ~ 5 V input voltage provided by the Tuba)
• Elmo drives provide supply voltage for all the feedback options
Tuba Installation Guide
MAN-TUBIG (Ver. 1.3)
A-1