User manual

3.11.2 Digital Output....................................................................................................... 3-29
3.11.3 Analog Input ......................................................................................................... 3-29
3.12 Communications............................................................................................... 3-30
3.12.1 RS232 Communication......................................................................................... 3-30
3.12.2 CANopen Communication ................................................................................. 3-31
3.13 Powering Up ..................................................................................................... 3-33
3.14 Initializing the System...................................................................................... 3-33
Appendix A: Technical Specifications ..............................................................................A-1
A.1 Features............................................................................................................... A-1
A.2 Built-In Protection ............................................................................................. A-3
A.3 Duo Dimensions ................................................................................................ A-4
A.4 Power Ratings .................................................................................................... A-5
A.5 Control Specifications ....................................................................................... A-6
A.5.1 Current Loop...........................................................................................................A-6
A.5.2 Velocity Loop ..........................................................................................................A-7
A.5.3 Position Loop ..........................................................................................................A-7
A.6 Feedbacks ........................................................................................................... A-8
A.6.1 Incremental Encoder ..............................................................................................A-8
A.6.2 Feedback Supply Voltage......................................................................................A-8
A.6.3 Digital Halls.............................................................................................................A-9
A.6.4 Interpolated Analog Encoder (Sine/Cosine)......................................................A-9
A.6.5 Resolver..................................................................................................................A-10
A.6.6 Tachometer* ..........................................................................................................A-10
A.6.7 Potentiometer........................................................................................................A-11
A.6.8 Auxiliary Feedback Port (output mode YA[4]= 4)...........................................A-11
A.6.9 Auxiliary Feedback Port (input mode YA[4]= 2, 0) .........................................A-12
A.7 I/Os..............................................................................................................…..A-13
A.7.1 Digital Input Interface – 6 Digital Inputs ..........................................................A-13
A.7.2 Digital Output Interface – 2 Digital Outputs...................................................A-14
A.7.3 Analog Inputs – 1 Analog Input..........................................................................A-14
A.8 Mechanical Specifications............................................................................... A-15
A.9 Environmental Conditions ............................................................................. A-15
A.10 Compliance Standards ............................................................................. A-15
A.10.1 Design ....................................................................................................................A-15
A.10.2 Safety......................................................................................................................A-16
A.10.3 EMC........................................................................................................................A-16
Appendix B: Cables (Optional) .........................................................................................B-1
B.1 Cable Photos........................................................................................................ B-1
B.2 Cable Kit .............................................................................................................. B-2
B.3 Main Feedback Cable (CBL-HDRFB-001) ........................................................ B-3
B.4 Auxiliary Feedback (CBL-HDRAUX-001)........................................................ B-4
Duo Installation Guide Contents
MAN-DUOIG (Ver. 1.0)
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