Elmo Computer Hardware 1.1 Benutzerhandbuch
3.11
I/Os................................................................................................................... 3-29
3.11.1
Digital Input...............................................................................................3-30
3.11.2
Digital Output............................................................................................3-32
3.11.3
Analog Input ..............................................................................................3-34
3.12
Communications.............................................................................................. 3-35
3.12.1
RS-232 Communication ............................................................................3-35
3.12.2
CANopen Communication ......................................................................3-36
3.13
Powering Up .................................................................................................... 3-39
3.14
Initializing the System .................................................................................... 3-39
3.15
Heat Dissipation .............................................................................................. 3-39
3.15.1
Guitar Thermal Data.................................................................................3-39
3.15.2
Heat Dissipation Data...............................................................................3-39
3.15.3
How to Use the Charts..............................................................................3-41
3.16
Evaluation Board and Cable Kit .................................................................... 3-41
Appendix: Guitar Technical Specifications................................................................. A-1
A.1 Features ............................................................................................................. A-1
A.1.1
Motion Control Modes ..............................................................................A-1
A.1.2
Advanced Positioning Control Modes....................................................A-1
A.1.3
Advanced Filters and Gain Scheduling...................................................A-1
A.1.4
Fully Programmable ..................................................................................A-1
A.1.5
Feedback Options.......................................................................................A-1
A.1.6
Input/Output..............................................................................................A-2
A.1.7
Built-In Protection ......................................................................................A-2
A.1.8
Accessories ..................................................................................................A-3
A.1.9
Status Indication .........................................................................................A-3
A.1.10
Automatic Procedures ...............................................................................A-3
A.2
Guitar Dimensions ........................................................................................... A-3
A.3
Power Ratings................................................................................................... A-4
A.4
Environmental Conditions .............................................................................. A-5
A.4.1
Auxiliary Supply ........................................................................................A-5
A.5
Control Specifications ...................................................................................... A-5
A.5.1
Current Loop...............................................................................................A-5
A.5.2
Velocity Loop..............................................................................................A-6
A.5.3
Position Loop ..............................................................................................A-6
A.6
Feedbacks .......................................................................................................... A-7
A.6.1
Feedback Supply Voltage..........................................................................A-7
A.6.2
Main Feedback Options.............................................................................A-7
A.6.2.1
Incremental Encoder Input
...................................................................... A-7
A.6.2.2
Digital Halls
................................................................................................... A-8
A.6.2.3
Interpolated Analog Encoder (Sine/Cosine)
................................... A-8
A.6.2.4
Resolver
........................................................................................................... A-9
A.6.2.5
Tachometer*
................................................................................................... A-9
A.6.2.6
Potentiometer
.............................................................................................. A-10
A.6.3
Auxiliary Feedback Port (output mode YA[4]= 4) ..............................A-10
A.6.4
Auxiliary Feedback Port (input mode YA[4]= 2, 0).............................A-11
A.7
I/Os.................................................................................................................. A-12
A.7.1
Digital Input Interfaces............................................................................A-12
A.7.2
Digital Output Interface ..........................................................................A-13
Guitar Installation Guide
Contents
MAN-GUIIG (Ver. 1.1)
ii