Installation Guide Instruction Manual

Harmonica Installation Guide Introduction
MAN-HARIG (Ver. 1.902)
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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, Harmonica users can select from two communication options:
• RS-232 serial communication
• CAN for fast communication in a multi-axis distributed environment
2.2.6. Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse)
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts
• Absolute Encoder
• Interpolated Analog (Sine/Cosine) Encoder – up to 250 kHz
 Internal Interpolation – programmable up to X4096
 Automatic Correction of:
• amplitude mismatch
• phase mismatch
• signals offset
 Encoder outputs, buffered, differential
• Resolver
 Programmable 10 to 15 bit resolution
 Up to 512 revolutions per second (RPS)
 Encoder outputs, buffered, differential