ElmoMC ExtrIQ Digital Servo Drives-Hawk - Manual (Page 6)

Hawk Installation Guide Table of Contents
MAN-HAWIG (Ver. 1.401)
6
3.10.1. Main and Auxiliary Feedback Combinations ................................................. 40
3.10.2. Auxiliary Feedback: Emulated Encoder Output Option (YA[4]=4) ................. 41
3.10.3. Auxiliary Feedback: Single-Ended Encoder Input Option (YA[4]=2) .............. 43
3.10.4. Auxiliary Feedback: Pulse-and-Direction Input Option (YA[4]=0) ................. 45
3.11. I/Os ............................................................................................................................... 47
3.11.1. Digital Input ................................................................................................... 48
3.11.2. Digital Output ................................................................................................ 50
3.11.3. Analog Input .................................................................................................. 52
3.12. Communications ........................................................................................................... 53
3.12.1. RS-232 Communication ................................................................................. 53
3.12.2. CAN Communication ..................................................................................... 54
3.13. Powering Up ................................................................................................................. 56
3.14. Initializing the System ................................................................................................... 56
3.15. Heat Dissipation............................................................................................................ 56
3.15.1. Hawk Thermal Data ....................................................................................... 56
3.15.2. Heat Dissipation Data .................................................................................... 57
3.15.3. How to Use the Charts ................................................................................... 59
3.16. Evaluation Board and Cable Kit .................................................................................... 60
Chapter 4: Technical Specifications ................................................................................ 61
4.1. Features ........................................................................................................................ 61
4.1.1. Motion Control Modes .................................................................................. 61
4.1.2. Advanced Positioning Control Modes ........................................................... 61
4.1.3. Advanced Filters and Gain Scheduling........................................................... 61
4.1.4. Fully Programmable ....................................................................................... 61
4.1.5. Feedback Options .......................................................................................... 62
4.1.6. Input/Output ................................................................................................. 62
4.1.7. Built-In Protection ......................................................................................... 63
4.1.8. Accessories .................................................................................................... 63
4.1.9. Status Indication ............................................................................................ 63
4.1.10. Automatic Procedures ................................................................................... 63
4.2. Hawk Dimensions ......................................................................................................... 64
4.3. Power Ratings for up to 100 V models ......................................................................... 65
4.4. Power Ratings for 200 V models .................................................................................. 66
4.5. Auxiliary Supply ............................................................................................................ 66
4.6. Environmental Conditions ............................................................................................ 67
4.7. Control Specifications ................................................................................................... 68
4.7.1. Current Loop .................................................................................................. 68
4.7.2. Velocity Loop ................................................................................................. 69
4.7.3. Position Loop ................................................................................................. 69
4.8. Feedbacks ..................................................................................................................... 70
4.8.1. Feedback Supply Voltage ............................................................................... 70
4.8.2. Main Feedback Options ................................................................................. 70
4.8.2.1. Incremental Encoder Input ........................................................... 70
4.8.2.2. Digital Halls ................................................................................... 71