Document Outline

• Chapter 1: Safety Information
  • 1.1. Warnings
  • 1.2. Cautions
  • 1.3. Directives and Standards
  • 1.4. CE Marking Conformance
  • 1.5. Warranty Information
• Chapter 2: Product Description
  • 2.1. Drive Description
  • 2.2. Product Features
    • 2.2.1. Current Control
    • 2.2.2. Velocity Control
    • 2.2.3. Position Control
    • 2.2.4. Advanced Position Control
    • 2.2.5. Communication Options
    • 2.2.6. Feedback Options
    • 2.2.7. Fault Protection
    • 2.2.8. Built-in Protection
  • 2.3. System Architecture
  • 2.4. How to Use this Guide
• Chapter 3: Installation
  • 3.1. Before You Begin
    • 3.1.1. Site Requirements
    • 3.1.2. Hardware Requirements
  • 3.2. Unpacking the Drive Components
  • 3.3. Connectors
    • 3.3.1. Connector Types
  • 3.4. Mounting the DC Trombone
  • 3.5. Connections
    • 3.5.1. Wiring the DC Trombone
    • 3.5.2. Connection Diagrams
  • 3.6. Connecting the Power Cables
    • 3.6.1. For S type drives
    • 3.6.2. For Non-S 400 VDC Type Drives
    • 3.6.3. Connecting the Motor Cable
    • 3.6.4. Connecting the DC Power
    • 3.6.5. Direct-to-Mains Power Source (Non-Isolated Rectifier)
      • 3.6.5.1. Three-Phase Direct-to-Mains Connection Topology
      • 3.6.5.2. Single-Phase Direct-to-Mains Connection Topology
      • 3.6.5.3. Multiple Connections Topology
    • 3.6.6. Battery Power Supply
    • 3.6.7. Connecting the Control and Backup Supply (24 V)
  • 3.7. Feedback and Control Cable Assemblies
    • 3.7.1. Main Feedback Cable (FEEDBACK A)
    • 3.7.2. Main and Auxiliary Feedback Combinations
    • 3.7.3. FEEDBACK B (Auxiliary Feedback)
      • 3.7.3.1. Emulated Encoder Outputs Option on FEEDBACK B (YA[4]=4)
      • 3.7.3.2. Differential Auxiliary Encoder Input Option on FEEDBACK B (YA[4]=2)
      • 3.7.3.3. Differential Pulse-and-Direction Input Option on FEEDBACK B (YA[4]=0)
  • 3.8. I/O Cables
    • 3.8.1. General I/O Port (P1)
      • 3.8.1.1. Digital Output (as Source Configuration) & Input (as Sink Configuration)
      • 3.8.1.2. Digital Output (as Sink Configuration) & Input (as Source Configuration)
    • 3.8.2. General I/O Port (P2)
  • 3.9. Communication Cables
    • 3.9.1.1. RS-232 Communication
    • 3.9.1.2. CAN Communication
  • 3.10. Powering Up
  • 3.11. Initializing the System
• Chapter 4: Technical Specifications
  • 4.1. Features
    • 4.1.1. Motion Control Modes
    • 4.1.2. Advanced Positioning Control Modes
    • 4.1.3. Advanced Filters and Gain Scheduling
    • 4.1.4. Fully Programmable
    • 4.1.5. Feedback Options
    • 4.1.6. Input/Output
    • 4.1.7. Built-In Protection
    • 4.1.8. Accessories
    • 4.1.9. Status Indication
    • 4.1.10. Automatic Procedures
  • 4.2. Dimensions
  • 4.3. Power Ratings for the 400 V Type
  • 4.4. Power Ratings for the 800 V Type
    • 4.4.1. Auxiliary Supply (only for S Type Drive)
  • 4.5. Environmental Conditions
  • 4.6. Control Specifications
    • 4.6.1. Current Loop
    • 4.6.2. Velocity Loop
    • 4.6.3. Position Loop
  • 4.7. Feedbacks
    • 4.7.1. Feedback Supply Voltage
    • 4.7.2. Main Feedback Options
      • 4.7.2.1. Incremental Encoder Input
      • 4.7.2.2. Digital Halls
      • 4.7.2.3. Absolute Encoder
      • 4.7.2.4. Interpolated Analog Encoder (Sine/Cosine)
      • 4.7.2.5. Resolver
      • 4.7.2.6. Tachometer*
      • 4.7.2.7. Potentiometer
    • 4.7.3. Main Encoder Buffered Output
    • 4.7.4. Auxiliary Feedback Port (output mode YA[4]= 4)
    • 4.7.5. Auxiliary Feedback Port (input mode YA[4]= 2, 0)
  • 4.8. I/Os
    • 4.8.1. Digital Input Interfaces
    • 4.8.2. Digital Output Interface
    • 4.8.3. Analog Input
  • 4.9. Communications
  • 4.10. Pulse Width Modulation (PWM)
  • 4.11. Compliance with Standards