Elmo Server 1.3 Manuale Utente
Tuba Installation Guide
MAN-TUBIG (Ver. 1.3)
2-1
Chapter 2: Introduction
This installation guide describes the Tuba servo drive and the steps for its wiring,
installation and powering up. Following these guidelines ensures maximum functionality
of the drive and the system to which it is connected.
installation and powering up. Following these guidelines ensures maximum functionality
of the drive and the system to which it is connected.
2.1 Drive
Description
The Tuba is a powerful servo drive that operates in digital current, velocity, position and
advanced position modes, in conjunction with a permanent-magnet synchronous
brushless motor or DC brush motor. The Tuba features flexible sinusoidal and
trapezoidal commutation, with vector control. The Tuba can operate as a stand-alone
device or as part of a multi-axis network in a distributed configuration.
advanced position modes, in conjunction with a permanent-magnet synchronous
brushless motor or DC brush motor. The Tuba features flexible sinusoidal and
trapezoidal commutation, with vector control. The Tuba can operate as a stand-alone
device or as part of a multi-axis network in a distributed configuration.
The Tuba drive is set up and tuned using Elmo’s Composer software. This Windows-
based application enables users to quickly and simply configure the servo drive for
optimal use with their motor.
based application enables users to quickly and simply configure the servo drive for
optimal use with their motor.
Power to the various models of Tuba is provided by a 115, 230, 3 x 230, 3 x 400 or 3x 460
VAC source. A separate 24 VDC power supply serves as both the auxiliary supply and the
backup supply. This enables a safe and economical “power backup” feature that is essential
for positioning systems. An auxiliary 24 VDC power supply is required as the Tuba does
not operate without one.
VAC source. A separate 24 VDC power supply serves as both the auxiliary supply and the
backup supply. This enables a safe and economical “power backup” feature that is essential
for positioning systems. An auxiliary 24 VDC power supply is required as the Tuba does
not operate without one.
Two variations of the Tuba are available: the Standard version and the Advanced version,
which features advanced positioning capabilities. Both versions operate with
RS-232 and/or CANopen communication.
which features advanced positioning capabilities. Both versions operate with
RS-232 and/or CANopen communication.
2.2 Product
Features
2.2.1 Current
Control
Fully digital
Sinusoidal commutation with vector control or trapezoidal commutation
Sinusoidal commutation with vector control or trapezoidal commutation
with encoder and/or digital Hall sensors
12-bit current loop resolution
Automatic gain scheduling, to compensate for variations in the DC bus
Automatic gain scheduling, to compensate for variations in the DC bus
power supply
2.2.2 Velocity
Control
Fully digital
Programmable PI and FFW (feed forward) control filters
Sample rate two times current loop sample time
“On-the-fly” gain scheduling
Automatic, manual and advanced manual tuning and determination of
Programmable PI and FFW (feed forward) control filters
Sample rate two times current loop sample time
“On-the-fly” gain scheduling
Automatic, manual and advanced manual tuning and determination of
optimal gain and phase margins