User Manual

Gold Hornet Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-HORIG-E (Ver. 1.007)
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5.1. Dimensions .............................................................................................................. 74
5.2. Environmental Conditions ....................................................................................... 75
5.3. Control Specifications .............................................................................................. 76
5.3.1. Current Loop ............................................................................................. 76
5.3.2. Velocity Loop ............................................................................................ 77
5.3.3. Position Loop ............................................................................................ 77
5.4. Feedbacks ................................................................................................................ 78
5.4.1. Feedback Supply Voltage .......................................................................... 78
5.4.2. Feedback Options ..................................................................................... 78
5.4.2.1. Incremental Encoder Input ...................................................... 78
5.4.2.2. Digital Halls .............................................................................. 79
5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ............................ 79
5.4.2.4. Resolver ................................................................................... 80
5.4.2.5. Absolute Serial Encoder ........................................................... 80
5.4.3. Port C Feedback Output ........................................................................... 81
5.5. I/Os .......................................................................................................................... 82
5.5.1. Digital Input Interfaces – TTL Mode ......................................................... 82
5.5.2. Digital Output Interface – TTL Mode ........................................................ 83
5.5.2.1. OUT1 and OUT2 ....................................................................... 83
5.5.2.2. OUT3 and OUT4 ....................................................................... 84
5.5.3. Analog Input ............................................................................................. 84
5.6. Safe Torque Off (STO) .............................................................................................. 85
5.6.1. STO Input Interfaces – TTL Mode ............................................................. 85
5.7. Communications ...................................................................................................... 86
5.8. Pulse-Width Modulation (PWM) ............................................................................. 86
5.9. Compliance with Standards ..................................................................................... 87