Tuba Installation Guide
MAN-TUBIG (Ver. 1.503)
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Chapter 4:
Technical Specifications
This chapter provides detailed technical information regarding the Tuba. This includes its
dimensions, power ratings, the environmental conditions under which it can be used, the
standards to which it complies and other specifications.
4.1.
Features
The Tuba's features determine how it controls motion, as well as how it processes host
commands, feedback and other input.
4.1.1.
Motion Control Modes
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Current/Torque - up to 14 kHz sampling rate
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Velocity - up to 7 kHz sampling rate
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Position - up to 3.5 kHz sampling rate
4.1.2.
Advanced Positioning Motion Control Modes
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PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop
•
Fast event capturing inputs
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Fast output compare (OC)
4.1.3.
Advanced Filters and Gain Scheduling
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“On-the-Fly” gain scheduling of current and velocity
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Velocity and position with “1-2-4” PIP controllers
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Automatic commutation alignment
•
Automatic motor phase sequencing
4.1.4.
Fully Programmable
•
Third generation programming structure with motion commands
•
Event capturing interrupts
•
Event triggered programming
