Elmo Cello Installation Manual page 5

Cello Installation Guide
MAN-CELIG (Ver. 1.5)
3.4.9.2 CANopen Communication .......................................................... 3-37
3.5 Powering Up ................................................................................................. 3-39
3.6 Initializing the System ................................................................................. 3-39
Appendix: Technical Specifications.................................................................................... A-1
A.1 Features .......................................................................................................... A-1
A.1.1
A.1.2
A.1.3
A.1.4
A.1.5
A.1.6
A.1.7
A.2 Cello Dimensions........................................................................................... A-3
A.3 Power Ratings ................................................................................................ A-4
A.4 Environmental Conditions ........................................................................... A-4
A.5 Cello Connections.......................................................................................... A-5
A.5.1
A.6 Control Specifications ................................................................................... A-6
A.6.1
A.6.2
A.6.3
A.7 Feedbacks ....................................................................................................... A-8
A.7.1
A.7.2
A.7.3
A.7.4
A.7.5
A.7.6
A.7.7
A.7.8
A.8 I/Os............................................................................................................... A-12
A.8.1
A.8.2
A.8.3
A.9 Communications.......................................................................................... A-14
A.10 Pulse Width Modulation (PWM) ............................................................... A-14
A.11 Mechanical Specifications........................................................................... A-14
A.12 Standards Compliance ................................................................................ A-15
A.12.1 Quality Assurance ................................................................................. A-15
A.12.2 Design ..................................................................................................... A-15
A.12.3 Safety....................................................................................................... A-15
A.12.4 EMC......................................................................................................... A-15
A.12.5 Workmanship ........................................................................................ A-15
A.12.6 PCB .......................................................................................................... A-16
A.12.7 Packing.................................................................................................... A-16
A.12.8 WEEE*..................................................................................................... A-16
A.12.9 RoHS ....................................................................................................... A-16
Index...........................................................................................................................................I-1
Motion Control Modes ........................................................................... A-1
Advanced Positioning Motion Control Modes ................................... A-1
Advanced Filters and Gain Scheduling................................................ A-1
Fully Programmable ............................................................................... A-1
Feedback Options .................................................................................... A-1
Input/Output........................................................................................... A-2
Built-In Protection ................................................................................... A-2
Backup Supply (Optional)...................................................................... A-6
Current Loop............................................................................................ A-6
Velocity Loop ........................................................................................... A-7
Position Loop ........................................................................................... A-7
Feedback Supply Voltage....................................................................... A-8
Incremental Encoder Input .................................................................... A-8
Digital Halls ............................................................................................. A-9
Interpolated Analog Encoder (Sine/Cosine)....................................... A-9
Resolver .................................................................................................. A-10
Tachometer* ........................................................................................... A-10
Potentiometer......................................................................................... A-11
Encoder Outputs.................................................................................... A-11
Digital Input Interfaces......................................................................... A-12
Digital Output Interface ....................................................................... A-13
Analog Input .......................................................................................... A-13
Contents
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