Elmo Tuba Digital Servo manual

Tuba Digital Servo Drive Installation Guide April 2008 (Ver. 1.3) www.elmomc.com[...]

Notice This guide is de livered subject to th e following conditions and re strictions:  This guide con tains proprietary info rmation belonging to Elmo Motion Control Ltd. Such information is supplied so lely for the purpos e of assistin g users of th e Tuba servo drive in its ins tallation.  The text and graph ics included in this manual ar[...]

Contents Chapter 1: Safet y Inform ation ............................................................................................... 1-1 1.1 Warn ings .................................................................................................................... 1-2 1.2 Cautions .............................................................[...]

3.4.7.4 Pulse-an d-Direction In put Optio n on FEEDBACK B (YA[4]= 0) .......... 3-31 3.4.8 I/O Cables.............................................................................................................. 3-33 3.4.8.1 Analog Inputs ............................................................................................ 3-33 3.4.8.2 Di gi[...]

A.14.7 Packing .................................................................................................................. A-18 A.14.8 Environmental ...................................................................................................... A-18 Index ................................................................................[...]

Chapter 1: Safety Information In order to achieve the optimum, safe operation of the Tuba servo drive, it is imperative that you implement th e safety proce dures included in this installation gu ide. This information is provided to protect you and to keep your work area safe when operating the Tuba and accompanying equipment. Please read this chap[...]

1.1 Warnings To avoid electric arcing and hazards to personnel and electrical contacts, never connect/disconnect the servo drive while the power source i s on. Power cables can carry a high voltage, even when t he motor i s not in motion. Disconnect the Tuba from all voltage sources before it is opened for servicin g. The Tuba servo dri ve cont ain[...]

1.3 Directives and Standards The Tuba conforms to the following industry safety standards: Safety Standard Item Recognized UL508c Power Conversion Equipment In compliance with UL840 Insulation Coordination, Including Clearance and Creepage Distances of Electri cal Equi pment In compliance with UL60950-1 (formerly UL1950) Safety of Informati on Tech[...]

Tuba In stallation Gu ide MAN-TUBIG ( Ver. 1.3) 2-1 Chapter 2: Introduction This install ation guide d escribes the Tub a servo dri ve and the steps for i ts wiring, installation and powering up. Following the se guideline s ensure s maximum fun ctionality of the drive and the system to which it is connect ed. 2.1 Drive Description The Tuba is a po[...]

Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-2 2.2.3 Position Control  Programmable PIP cont rol filter  Programmable not ch and low-pass filters  Position follow er mode for monitoring the motion of the s lave axis relative to a master axis, via an au xiliary encoder inpu t  Pulse- and-direction in puts  Sample tim[...]

Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-3  Elmo drives provide suppl y voltage for all the feedback opt ions 2.2.7 Fault Protection The Tuba includes built-in protection against possible f ault conditions, in cluding:  Software error handling  Status reporting for a large number of possible fault conditions  Prote[...]

Tuba In stallation Gu ide Introduction MAN-TUBIG ( Ver. 1.3) 2-4 2.4 How to Use this Guide In order to install and ope rate your Elmo Tuba servo drive, you will use this manual in conjunction with a set of Elmo documentation. Installation is your first step; after carefully readin g the safe ty instructions in the first c hapter, the fo llowing cha[...]

Chapter 3: Installation 3.1 Before You Begin 3.1.1 Site Requirements You can guarantee the safe operation of the Tuba by ensuring that it is installed in an appropriate environment. Feature Value Ambient operating temperature 0 °C – 40 °C (32 °F – 104 °F) Maximum rel ati ve hum id it y 90% non-condensing Operating area atmosphere No flammab[...]

3.1.2.3 Power Connectors C o m p o n e n t Connector Described in Section Photo External DC Link Cable B1, B2 on External DC Link Cable 3.4.2.3 Main Power Cable PE, AC1, AC2, and AC3 on Power Connector 3.4.2.2 Motor Cable M1, M2, M3, PE on Power Connector 3.4.2.1 Auxiliary Po wer Cable 24v +, - 0 3.1.2.4 Communication Connectors Component P o r t o[...]

3.1.2.5 Feedback and I/O Connectors Component P o r t o n Tuba Described in Section Diagram Analog Inputs (if needed) ANALOG I/O 3.4.8.1 CEL0040A-DWG COR016A Digital Outputs Cable (if needed) COMMITTED I/O 3.4.8.2 Digital Inputs Cable (if needed) GENER AL I/O 3.4.8.3 Main Feedback Cable FEEDBACK A 3.4.5 Auxiliary Fee dback Cable (if needed) FEEDBAC[...]

3.1.2.6 Other Items Needed Component Described in Section Diagram PC for drive setup and tuning Motor data sheet or manual 3.2 Unpacking th e Drive Components Before you begin working with the Tuba system, verify that you have all of its components, as follows:  The Tuba servo drive  The Composer software and software manual The Tuba is shipp[...]

3.3 Mounting the Tuba The Tuba has been designed for two st andard mount ing opt ions:  Attaching directly to th e wall with s crews  Mounting on a DIN rail With either type of mounting, be sure to leave about 10 cm (4 in) above and below the instrument for heat dissipation. 3.3.1 Mount ing Direct ly onto Wall The vertical mounting strip at t[...]

3.3.2 Mount ing on a D IN Rail At the top rear of the Tuba, a horizontal groove lets you quickly and easily snap the drive onto a DIN rail in your work area. To mount the T uba on a DIN rail: 2. Be sure that the vertical mounting strip (with the hole at the top) is pressed down fully and does not protrude f rom the top of the in strument. Figure 3-[...]

Press the Tuba down to a vertical position until it clicks onto th e DIN rail. Figure 3-4: Tuba Mounted on DIN Rail 3.4 Connecting the Cables 3.4.1 Wiring the Tuba Once the Tuba is mounted, you are ready to wire the device. Proper wiring, grounding and shielding are e ssential f or ensuring s afe, immune and optimal servo performan ce of the Tuba. [...]

 Keep the motor wires as far away as possible from the feedback, control and communication cables.  Ensure that in normal operating conditions, the shielded wires and drain carry no current. The only time these conductors carry current is under abnormal conditions, when electrical equipment has become a potential shock or fire hazard while co[...]

Figure 3-5: Tuba Detailed Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-9[...]

3.4.2 Connecting the Power Cables Access th e power terminal conn ections on the Tuba servo drive by removing the front safety cover located at the bottom of the front panel of th e unit, as show n below: Figure 3-6: Removable Bottom Panel After removing the safety cover, the power terminal connections are visible, as follows: Figure 3-7: Tuba Powe[...]

3.4.2.1 Connecting the Motor Cable Connect the motor power cable to the M1, M2, M3 and PE terminals of the main power connector. Th e phase con nection order is arbitrary because the Composer w ill establish the proper commutation automatically during setup. How ever, if you plan to copy the s et-up to other drives, then the phase order on all copy[...]

3.4.2.2 Connecting the Main Power Cable Connect the main power supply cable to the AC1, AC2 and A C3 terminals of the main power connector. Conne ct the Protective Earth wire to the neare st PE terminal on th e terminal block. Notes for connecting the AC power cab le:  For best noise immunity, a shie lded (not twis ted) cable is recommended ( no[...]

3.4.3 Conne cting th e Auxiliary Supply Ca ble (24v) Connect th e auxiliary supply to the 24VDC terminal block on th e bottom of the Tuba. R emember, you are working with DC pow er; so be sure to exercise caution. Notes for 24 VDC auxiliary supply connections:  Us e a 24 AWG twis ted pair shielde d cable. For best res ults the s hield should h a[...]

3.4.4 Feedback and Co ntrol Ca ble Assemblies The Tuba features easy-to-use D-sub ty pe connections for al l Cont rol and Feedb ack cabl es. Below are instructions and diagrams describing how to assemble those cables.  Use 24, 26 or 28 A WG twisted-pair shielded cables (24 AWG cable is recommended). For best results , the shie ld should have alu[...]

3.4.5 Main Feedback Ca ble (Feedback A) The main feedback cable i s used to transfer feedb ack data from the motor t o the driv e. The Tuba accepts the following as a main feedback mechanism:  Incremental encoder only  Incremen tal encoder w ith digital Hall sen sors  Digital Hall sen sors only  Interpolated Analog (Sine/Cosine) encoder[...]

Absolute Encoders TUB XX/YYY Q Pin Signal Hei denhain Stegmann 1 HC Hal l C Hall C 2 HA Hall A Hall A 3 S UP RET Supply return Supply ret urn 4 + 5V EnDat (Heidenhain) Encoder +5 supply Halls supply +5V 5 A - Sine A co mplement Sine A 6 A+ Sine A Sine A compl ement 7 DATA- Data complemen t Data complemen t 8 DATA+ DATA DAT A 9 SUP RET Supply ret ur[...]

10 15 14 8 7 Incremental Encoder with Hall Se ns o r Tuba Feedback A 1 Hal l C Hal l B CHB CHB - INDEX INDEX- CHA CHA- 2 5 12 Encoder / Hall +5v Supply Hall / Encoder Supply / V oltage Return 3 HC HB CHB CHB- INDEX INDEX- CHA CHA- +5V SUPRET TUB0 004A 6 Hal l A HA +5V 4 9 11 13 Figure 3-13: Main Feedback- Incremental Encoder with Digital Hall Senso[...]

5 8 7 4 3 Sine / Cosine Enco der Feedback A 6 TUB0005A 15 14 Encoder +5v S upply Encoder Supply Return B+ B- R+ R- A+ A- +5v SUPRET Tuba B+ B- R+ R- A+ A- Figure 3-14: Main Feedback – Interpolated Analog Encoder Connection Diagram TUB0006A 5 8 7 Feedback A 6 15 14 S2 S4 R1 R2 S1 S3 Resolver Tuba S2 S4 R1 R2 S1 S3 Figure 3-15: Main Feedback – Re[...]

only one tachom et er port is a v ailable at a time Figure 3-16: Main Feedback – Tachometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3-17: Main Feedback – Tachometer Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-19[...]

Figure 3-18: Main Feedback – Potentiometer Feedback with Digital Hall Sensor Connection Diagram for Brushless Motors Figure 3-19: Main Feedback – Potentiometer Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-20[...]

Figure 3-20: Main Feedback – Stegmann Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-21[...]

Figure 3-21: Main Feedback – Heidenhain Feedback Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-22[...]

3.4.6 Main an d Auxiliary Feedbac k Combina tion s The Main Fe edback is always u sed in motion con trol devices wh ereas Aux iliary Feedback is often, but not alw ays used. The A uxiliary Feedback co nnector on the Tuba, “FEED BACK B” has two ports, Port B1 and Port B2. When used in combination with the Main Feedback port, “FEEDBACK A”, th[...]

FEEDBACK B Ports B1 and B2 FEED- BACK A YA[4] = 4 YA[4] = 2 YA[4] = 0 Potentiometer Input B1 - output B2 - output same as B1 A - input Potentiom eter Potentiometer Position Data Emulated in Incremental Encoder Format (signals are quadrature, differential & buffered) B1 - input B2 - output Differential or Single- ended Auxiliary Incremental Enco[...]

3.4.7 Auxiliary Feedbac k (FEEDBACK B ) When using on e of the aux iliary feedback options, th e relevant func tionality of FEEDBACK B ports are software selected for that option. Refer to the Tuba Command Reference Manual for detailed information about FEEDBAC K B setup. 3.4.7.1 Main Encoder Buffered Outputs or Emulated Encoder Outputs Opti on on [...]

Tuba Tuba Tuba Tuba Figure 3-22: Main Encoder Buffered Output or Emulated Encoder Output on FEEDBACK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-26[...]

3.4.7.2 Differentia l Auxiliary Enco der Input Opt ion on FEEDBACK B (YA[4] =2) The Tuba can be used as a slave by recei ving t he positi on of the mast er encoder data (on Port B1) in Follower or EC AM mode. In this mode Port B2 provides differential bu ffered auxiliary outputs for the next slave axis in follower or ECAM mode. Below are the s igna[...]

Tuba Tuba Tuba Tuba Figure 3-23: Differential Auxiliary Encoder Input Option on FEEDBA CK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-28[...]

3.4.7.3 Single-ended Auxiliary Inpu t Optio n on FEEDB ACK B (YA[4]=2) The Tuba can be used as a slave by recei ving t he positi on data of the m aster encoder (on Port B1) in Follower or EC AM mode. In this mode Port B2 provides differential bu ffered auxiliary outputs for the next slave axis in Follower or ECAM mode. Below are the s ignals on the[...]

Tuba Tuba Tuba Tuba Figure 3-24: Single-ended Auxiliary Input Option on FEEDBA CK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-30[...]

3.4.7.4 Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0) This mode is us ed for input of differential or s ingle-ende d pulse-and- direction position commands on Port B1. In this mode Port B2 provides different ial buff ered pulse-and- directi on outputs for another axis. Below are the s ignals on the A uxiliary Feedback ports w hen set up [...]

Tuba Tuba Tuba Tuba Figure 3-25: Single-Ended Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Figure 3-26: Differential Pulse-and-Direction Input Option on FEEDBACK B - Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-32[...]

3.4.8 I/O Cables The Tuba has three I/O ports ( ANALOG INPUTS, D IGITAL IN PUTS AND D IGITAL OUTPU TS ) which can be used to connect 2 analog inputs, 10 separate digital inputs and 6 separate digital outputs: LABEL I/O ANALOG INPUTS GENERAL I/O COMMITTED I/O To tal Analog Input 2 - - 2 Digital Input - 10 - 10 Digital Output - - 6 6 3.4.8.1 Analog I[...]

3.4.8.2 Digital Inputs (on GENERAL I/O Port) The Tuba servo drive is equipped with a 25-pin D-sub plug for digital inputs. When assembling an I/O cable for digital input follow the instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 25-pin D-sub socket with a metal case. The pins are described below. Pin Signal Function Pi[...]

Figure 3-28: Digital Inputs (on General I/O port) Connection Diagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-35[...]

3.4.8.3 Digital Outputs (on COMMITTED I/O Port) The Tuba servo drive is equipped with a 15-pin, high-density, D-sub socket for digital outputs. When assembling an I/ O cable for digital ou tputs follow th e instructions in Section 3.4.4 (Feedback and Control Cable Assemblies) using a 15-pin high density D-sub plug with a metal case. The pins are de[...]

Tuba Digital Outputs Figure 3-29: Digital Outputs (on COMMITTED I/O port) Connection D iagram Tuba In stallation Gu ide In stallation MAN-TUBIG ( Ver. 1.3) 3-37[...]

3.4.9 Communication Cables The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen ports on the front of the Tuba. The communication interface may diffe r according to the user’s ha rdware. The Tuba can communicate using the f ollowing options: a. RS-232, full duplex b. CANopen RS-232 communication requir es a stan[...]

Figure 3-30: RS-232 Connection Diagram 3.4.9.2 CANopen Communication (on the COMM.2 Ports) Notes for connecting the C ANopen commun ication cable:  Us e 26 or 28 AWG twis ted pair shielded c ables. For best res ults, the s hield should have aluminum foil and covered by copper braid with a drain wire  Con nect the sh ield to the ground of th e[...]

7 1 2 3 CAN_GND 120 Ω CAN - Contro ller 6 CAN_H CAN_L Drain Wir e 7 1 2 3 6 7 1 2 3 CAN - Inte rf a c e CAN_GND 6 CAN_H CAN_L 7 1 2 3 6 CAN_H CAN_L CAN_GND Drain Wire Drain Wire 7 1 2 3 6 7 1 2 3 6 CAN_GND CAN_GND Drain Wire Drain Wire 120 Ω Drain Wire Shield of R J con necto r Shield of R J con necto r Shield of R J con necto r Tuba 2 CAN - In[...]

3.5 Powering Up After the Tuba has been mounted, check t hat the cabl es are int act. The Tuba servo dri ve i s then ready to be powered up. Caution: Before applying power, ensure that the AC supply is within the range specified f or your specific type of Tuba. 3.6 Initializing the System After the Tuba has been connected and mounted, the system mu[...]

Appendix: Technical Specifications A.1 Features A.1.1 Mot ion Cont rol 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 Posit ioning Mo tion Co ntrol Mo des • PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop • Fast event capturi [...]

A.1.6 Inpu t/Output • Analog Inputs – up to 14-bit resolution • Programmable digital inputs, optically isolate d  Inhibit Enable motion  Software and analog reference stop  Motion limit sw itches  Begin on input  Abort motion  General-purpose  Homing • Fast event capt ure inputs, optically isol ated • Programmab le [...]

A.2 Tuba Dimensions Rear Vi ew Front V iew Side V iew Tuba In stallation Gu ide Tech nical Sp ecifications MAN-TUBIG ( Ver. 1.3) A-3[...]

A.3 Mounting Dimensions Rear View A.4 Mechanical Specifications Feature Details Mounting Method  Wall Mount ("Bookshelf")  DIN Rail Overall Dimensions 247 x 190 x 92 mm (9.7" x 7.5" x 3.6") Weight 2.7 kg (5.9 lbs) Tuba In stallation Gu ide Tech nical Sp ecifications MAN-TUBIG ( Ver. 1.3) A-4[...]

A.5 Power Ratings Feature Units 12/230 15/230 20/230 12/460 15/460 20/460 Minim um suppl y volt age VAC 60 140 Nomi nal suppl y voltag e VAC 1 x 115, 1 x 230, 3 x 230 3 x 400, 3 x 460 Maximum supply vo ltage VAC 1 x 270 or 3 x 270 3 x 505 Maximum continuous power output W 3600 4500 6000 6800 8500 11300 Efficiency at rated power (at nominal conditio[...]

A.7 Tuba Connections The following connectors are used for wi ring the Tuba. Pins Type Maker & Part No. Port 5 Motor M1, M2, M3 2 Ground PE, PE 3 P o w e r AC1, AC2, A C3 2 DC Lin k 10 pole 8 mm pitch Molex terminal block B1, B2 2 Auxiliary Powe r 2 p o l e 0.325” (8 mm) pitch Molex terminal strip +, - (24V) Connector Location Table A -1: Con[...]

A.7.1 Auxiliary Supply Feature Details Auxiliary powe r supply DC source only Auxiliary su pply input voltage 24 V + 15% Auxiliary su pply input power 20 W The Tuba CANNOT operate without a 24 Volt Auxiliary Power Supply Be sure to maintain p ower within the 24 V + 15% range as higher voltages will damage the fan. A.8 Control Specifications A.8.1 C[...]

A.8.2 Velocit y Loop Feature Details Controller type PI Velocity control  Fully digital  Program mable PI and FFW control filters  On-the-fly gain scheduling  Automatic, manual and advanced manual tuning Velocity and position fee dback options  I ncremental Encoder  Digital Halls  Interpolated Analog (sin/cos) Encoder (optional[...]

A.9 Feedbacks A.9.1 Feedback Supply Vo ltage Feature Details Main encoder supply voltage 5 V + 5% @ 200 mA maximum Auxiliary en coder supply voltage 5 V + 5% @ 200 mA maximum A.9.2 Incremental Encoder Input Feature Details Encoder format  A, B and Index  Differe ntial  Quadrature Interface: RS-422 Input resistance Differential: 120 Ω Max[...]

A.9.3 Digital Ha lls Feature Details Halls inpu ts  H A , H B , H C .  Single ended inputs  Built in hyste resis fo r noise immun ity. Input voltage Nominal operating range: 0 V < V In_Hall < 5 V Maximum absolute: -1 V < V In_Hall < 15 V High level inpu t voltage: V InHigh > 2.5 V Low level inpu t voltage: V InLow < 1 V I[...]

A.9.5 R esolver Feature Details Resolver format  Sine/Cosine  Differential Input resistance Differential 2.49 k Ω Resolution Programmable: 10 ~ 15 bits Maximum elect rical frequency (RPS) 512 revolutions/sec Resolver transfer ratio 0.5 Reference frequency 1/Ts (Ts = samp le time i n seconds) Reference voltage Supplied by the Tuba Reference [...]

A.9.7 Potentiometer Feature Details Potentiomete r Format Single-ended Operating Voltage Range 0 ~ 5 V supplied by the Tuba Potentiometer Resistance 100 Ω ~ 1 k Ω … ab ove this range, linearity may be affec ted detrimentally Input Resistance 100 k Ω Resolution 14 Bit A.9.8 Enco der Outputs Feature Details Encoder output format  A, B, Ind[...]

A.10 I/Os The Tuba has: 10 Digital Inputs 6 Digital Outputs 2 Analog Inputs A.10.1 Digital I nput I nterfaces (on GENERAL I /O por t) Feature Details Co nn ec to r Lo ca tio n Type of input  Optically isolate d  Single ended  PLC level Input current Ω − = 2500 5 . 6 V Vin Iin * Iin = 2.2 mA @ Vin = 12 V Input current for high speed inp[...]

A.10.2 Di gi tal Outp ut Interf ace (on COMM ITTED I/ O port) Feature Details Con ne cto r Lo ca tio n Type of output  Optically isolated  Open collector and open emitter Maximum supply output (Vcc) 30 V Max. output current Iout (max) (V out = Low) Iout (max) ≤ 15 mA VOL at maximum output voltage (low level) Vout (o n) ≤ 0.3 V + 0.02 * Io[...]

A.10.3 Analog Input Feature Details Maximum operating differen tial voltage ± 10 V Maximum absolute differen tial input voltage ± 16 V Differe ntial input resistance 3 k Ω Analog input command resolution 14-bit A.11 Communications Specification Details Connector L ocation RS-232 (Only one RS-232 Port can be used at a time) Signals:  RxD , Tx[...]

A.12 Pulse Width Modulation (PWM) Feature Details PWM resolution 12-bit PWM switching frequency on the load 2/Ts (factory default 22 kHz on the motor) A.13 Single-phase Operation When operating with a single-phase supply (TUB-x/230 only), the voltage drop must be considered. Volt age drop can be calculated using the fol lowing equation: Vout (Max P[...]

A.14 Standards Compliance A.14.1 Qualit y Assurance Specification Details ISO 9001:2000 Quality Management A.14.2 Design Specification Details MIL-HDBK- 217F Reliability prediction of e lectronic equipme nt (rating, de-rating, stress, etc.)  IPC-D-275  IPC-SM-782  IPC-CM-770  UL508c  UL840 Printed wiring for elect ronic equipment (cl[...]

A.14.6 PCB Specification Details In compliance with IPC-A-600 , leve l 2 Acceptability of printed circuit boards A.14.7 Packing Specification Details In compliance with EN100015 Protection of electrost atic sensitiv e devices A.14.8 Environmental Specification Details In compliance with WEEE 2002/96/EC Waste electr ical and electroni c equipment re[...]

Index 2 24v Auxiliary Power Connector · 3-8 A AC Motor Power Connection Diagram · 3- 11 Advanced position cont rol · 2-2 Advanced Positioning Motion Cont rol Modes · A-1 Ambient operati ng temperat ure · 3-1 ANALOG I / O · 3-8 ANAL OG I/ O port · 3-3 Analog input Specifications · A-15 A nalo g Inp ut · 3-8 Analog inputs cable · 3-33 Auxil[...]

Digital Outputs · 3- 8 Digital Outputs · 3-36 Dimensions · A-3 DIN rail m ounting · 3-6 Docum entation Hierarch y · 2- 4 E Environm ental conditions · A-5 External Resistor (BR1) Regenerati on Option · 3-12 F Faul t protection · 2-3 Feedback Connector · 3-14 Options · 2-2, A-8 Supply volt age · A-9 Feedback A · 3-15 FEEDBAC K A · 3- 8 [...]

COMMITTED I/O · 3-8 FEEDBAC K A · 3-8 FEEDBAC K B · 3- 8 GENERAL I/O · 3- 8 Position control · 2-2 Potentiometer · 3-15, 3-20 Power cables · 3-10 Power Ratings · A-5 Powering up the Tuba · 3-41 Pulse-and- Direction Input Option · 3-31 R Regeneration Cable · 3-12 Regeneration Option External Resistor · 3-12 Relative humidity · 3-1 Resol[...]