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 Motion Control Modes ........................................................................... A-1
A.1.2 Advanced Positioning Motion 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.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 Backup Supply (Optional)...................................................................... A-6
A.6 Control Specifications ................................................................................... A-6
A.6.1 Current Loop............................................................................................ A-6
A.6.2 Velocity Loop........................................................................................... A-7
A.6.3 Position Loop ........................................................................................... A-7
A.7 Feedbacks ....................................................................................................... A-8
A.7.1 Feedback Supply Voltage....................................................................... A-8
A.7.2 Incremental Encoder Input .................................................................... A-8
A.7.3 Digital Halls ............................................................................................. A-9
A.7.4 Interpolated Analog Encoder (Sine/Cosine)....................................... A-9
A.7.5 Resolver .................................................................................................. A-10
A.7.6 Tachometer* ........................................................................................... A-10
A.7.7 Potentiometer......................................................................................... A-11
A.7.8 Encoder Outputs.................................................................................... A-11
A.8 I/Os............................................................................................................... A-12
A.8.1 Digital Input Interfaces......................................................................... A-12
A.8.2 Digital Output Interface ....................................................................... A-13
A.8.3 Analog Input .......................................................................................... A-13
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
Cello Installation Guide Contents
MAN-CELIG (Ver. 1.5)
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