User ManualTable of ContentsCover1Notice2Contents3Chapter 1: Safety Information61.1 Warnings71.2 Cautions71.3 Directives and Standards81.4 CE Mark Conformance81.5 Warranty Information8Chapter 2: Introduction92.1 Product Description92.2 Product Features102.2.1 Current Control102.2.2 Velocity Control102.2.3 Position Control102.2.4 Advanced Position Control (in Advanced model only)102.2.5 Communication Options102.2.6 Feedback Options102.2.7 Fault Protection112.3 How to Use this Guide11Chapter 3: Installation133.1 Site Requirements133.2 Unpacking the Drive Components133.3 Mounting the Duo143.4 Connecting the Cables153.4.1 Wiring the Duo153.5 Duo Connectors type173.6 Hardware Requirements183.7 Duo Block Diagram193.8 The Main Power and Motor Power Connectors203.8.1 Connecting Motor Power203.8.2 Connecting Main Power213.8.3 Low power Auxiliary Supply (optional)223.9 Main Feedback243.10 Auxiliary Feedback (bi-directional)293.10.1 Main and Auxiliary Feedback Combinations303.10.2 Auxiliary Feedback – Emulated, Differential Buffered Encoder Output Option (YA[4]=4)323.10.3 Auxiliary Feedback - Differential Encoder Input Option (YA[4]=2)343.10.4 Auxiliary Feedback – Differential Pulse-and-Direction Input Option (YA[4]=0)373.11 I/O393.11.1 Digital Input403.11.2 Digital Output413.11.3 Analog Input413.12 Communications423.12.1 RS232 Communication423.12.2 CANopen Communication433.13 Powering Up453.14 Initializing the System45Appendix A: Technical Specifications46A.1 Features46A.2 Built-In Protection48A.3 Duo Dimensions49A.4 Power Ratings50A.5 Control Specifications51A.5.1 Current Loop51A.5.2 Velocity Loop52A.5.3 Position Loop52A.6 Feedbacks53A.6.1 Incremental Encoder53A.6.2 Feedback Supply Voltage53A.6.3 Digital Halls54A.6.4 Interpolated Analog Encoder (Sine/Cosine)54A.6.5 Resolver55A.6.6 Tachometer*55A.6.7 Potentiometer56A.6.8 Auxiliary Feedback Port (output mode YA[4]= 4)56A.6.9 Auxiliary Feedback Port (input mode YA[4]= 2, 0)57A.7 I/Os58A.7.1 Digital Input Interface – 6 Digital Inputs58A.7.2 Digital Output Interface – 2 Digital Outputs59A.7.3 Analog Inputs – 1 Analog Input59A.8 Mechanical Specifications60A.9 Environmental Conditions60A.10 Compliance Standards60A.10.1 Design60A.10.2 Safety61A.10.3 EMC61Appendix B: Cables (Optional)62B.1 Cable Photos62B.2 Cable Kit63B.3 Main Feedback Cable (CBL-HDRFB-001)64B.4 Auxiliary Feedback (CBL-HDRAUX-001)65B.5 I/O (CBL-HDRIO-001)66B.6 Communication Cables67B.6.1 RS-232 Option (CBL-RJ452321)67B.6.2 CAN Open (CBL-RJ45CAN1)68B.7 Guidelines for Making Your Own Cables69B.7.1 Recommended Wire Cross Sections69Size: 3.97 MBPages: 69Language: EnglishOpen manual