Installation Guide Instruction Manual

Harmonica Installation Guide Table of Contents
MAN-HARIG (Ver. 1.902)
6
3.6. Powering Up ................................................................................................................. 46
3.7. Initializing the System ................................................................................................... 46
Chapter 4: Technical Specifications ................................................................................ 47
4.1. Features ........................................................................................................................ 47
4.1.1. Motion Control Modes .................................................................................. 47
4.1.2. Advanced Positioning Motion Control Modes .............................................. 47
4.1.3. Advanced Filters and Gain Scheduling........................................................... 47
4.1.4. Fully Programmable ....................................................................................... 47
4.1.5. Feedback Options .......................................................................................... 48
4.1.6. Input/Output ................................................................................................. 48
4.1.7. Built-In Protection ......................................................................................... 49
4.2. Harmonica Dimensions ................................................................................................. 49
4.3. Power Ratings ............................................................................................................... 50
4.4. Environmental Conditions ............................................................................................ 51
4.5. Harmonica Connectors ................................................................................................. 52
4.5.1. Connector Types ............................................................................................ 52
4.5.2. Control and Feedback Connector Specifications ........................................... 53
4.6. Auxiliary Power Supply (J4) .......................................................................................... 54
4.7. Control Specifications ................................................................................................... 54
4.7.1. Current Loop .................................................................................................. 54
4.7.2. Velocity Loop ................................................................................................. 55
4.7.3. Position Loop ................................................................................................. 55
4.8. Feedback ....................................................................................................................... 56
4.8.1. Feedback Supply Voltage ............................................................................... 56
4.8.2. Incremental Encoder ..................................................................................... 56
4.8.3. Digital Halls .................................................................................................... 57
4.8.4. Interpolated Analog (Sine/Cosine) Encoder .................................................. 57
4.8.5. Resolver ......................................................................................................... 58
4.8.6. Tachometer.................................................................................................... 58
4.8.7. Potentiometer ............................................................................................... 59
4.8.8. Encoder Outputs ............................................................................................ 59
4.9. I/Os ............................................................................................................................... 59
4.9.1. Digital Input Interfaces .................................................................................. 60
4.9.2. Digital Output Interface ................................................................................. 61
4.9.3. Analog Input (J7) ............................................................................................ 62
4.10. Communications ........................................................................................................... 62
4.11. Pulse-Width Modulation (PWM) .................................................................................. 62
4.12. Heatsink Specifications .................................................................................................
63
4.13. Compliance with Standards .......................................................................................... 65