User guide

Gold Trombone Installation Guide (EtherCAT and CAN) Table of Contents
MAN-G-TROIG-EC (Ver. 1.604)
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5.3. Control Specifications ................................................................................................... 79
5.3.1. Current Loop .................................................................................................. 79
5.3.2. Velocity Loop ................................................................................................. 80
5.3.3. Position Loop ................................................................................................. 80
5.4. Feedback ....................................................................................................................... 81
5.4.1. Feedback Supply Voltage ............................................................................... 81
5.4.2. Feedback Options .......................................................................................... 81
5.4.2.1. Incremental Encoder Input ........................................................... 81
5.4.2.2. Digital Halls ................................................................................... 82
5.4.2.3. Interpolated Analog (Sine/Cosine) Encoder ................................. 82
5.4.2.4. Resolver ........................................................................................ 83
5.4.2.5. Absolute Serial Encoder ................................................................ 83
5.4.3. Port C Feedback Output ................................................................................ 84
5.5. I/Os ............................................................................................................................... 85
5.5.1. Digital Input Interfaces – TTL Mode .............................................................. 85
5.5.2. Digital Input Interfaces – PLC Mode .............................................................. 86
5.5.3. Digital Output Interface – PLC Mode ............................................................. 87
5.5.4. Digital Output Interface – TTL Mode ............................................................. 88
5.5.5. Analog Input .................................................................................................. 88
5.6. Safe Torque Off (STO) ................................................................................................... 89
5.6.1. STO Input Interfaces – TTL Mode .................................................................. 89
5.6.2. STO Input Interfaces – PLC Mode .................................................................. 89
5.7. Communications ........................................................................................................... 90
5.8. Pulse-Width Modulation (PWM) .................................................................................. 90
5.9. Compliance with Standards .......................................................................................... 91