Instruction Manual

Gold Hawk Installation Guide Table of Contents
MAN-G-HAKIG (Ver. 1.001)
6
Chapter 5: Technical Specifications ................................................................................ 71
5.1. Dimensions ................................................................................................................... 71
5.2. Control Specifications ................................................................................................... 73
5.2.1. Current Loop .................................................................................................. 73
5.2.2. Velocity Loop ................................................................................................. 74
5.2.3. Position Loop ................................................................................................. 74
5.3. Feedbacks ..................................................................................................................... 75
5.3.1. Feedback Supply Voltage ............................................................................... 75
5.3.2. Feedback Options .......................................................................................... 75
5.3.2.1. Incremental Encoder Input ........................................................... 75
5.3.2.2. Digital Halls ................................................................................... 76
5.3.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 76
5.3.2.4. Resolver ........................................................................................ 77
5.3.2.5. Absolute Serial Encoder ................................................................ 77
5.3.3. Port C Feedback Output ................................................................................ 78
5.4. I/Os ............................................................................................................................... 79
5.4.1. Digital Input Interfaces – TTL Mode .............................................................. 79
5.4.2. Digital Output Interface – TTL Mode ............................................................. 80
5.4.2.1. OUT1 and OUT2 ............................................................................ 80
5.4.2.2. OUT3 and OUT4 ............................................................................ 81
5.4.3. Analog Input .................................................................................................. 81
5.5. Safe Torque Off (STO) ................................................................................................... 82
5.5.1. STO Input Interfaces – TTL Mode .................................................................. 82
5.6. Communications ........................................................................................................... 82
5.7. Pulse-Width Modulation (PWM) .................................................................................. 83
Chapter 6: Gold Line Standards ...................................................................................... 84
6.1. Functional Safety .......................................................................................................... 84
6.2. Safety ............................................................................................................................ 87
6.3. EMC............................................................................................................................... 87
6.4. EtherCAT Conformance ................................................................................................ 88
6.5. Other Compliant Standards .......................................................................................... 89
6.6. ExtrIQ Series ................................................................................................................. 90