Tuba Installation Guide
Introduction
MAN-TUBIG (Ver. 1.503)
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2.2.2.
Velocity Control
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Fully digital
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Programmable PI and FFW (feed forward) control filters
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Sample rate two times current loop sample time
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“On-the-fly” gain scheduling
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Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins
2.2.3.
Position Control
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Programmable PIP control filter
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Programmable notch and low-pass filters
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Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
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Pulse-and-direction inputs
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Sample time: four times that of current loop
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Fast event capturing inputs
2.2.4.
Advanced Position Control
(Advanced model only)
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Position-based and time-based ECAM mode that supports a non-linear follower mode, in
which the motor tracks the master motion using an ECAM table stored in flash memory
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PT and PVT motion modes
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Dual (position/velocity) loop
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Fast output compare (OC)
2.2.5.
Communication Options
Depending on the application, Tuba users can select from two communication options:
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RS-232 serial communication
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CAN for fast communication in a multi-axis distributed environment
