Tuba Digital Servo Drive

The Tuba is a smart digital servo drive for DC brush, DC brushless and linear motors.

The Tuba series of servo drives brings higher dynamics and increased precision to a wide range of automated applications. The Tuba incorporates a digital motion controller that features networking via a CANopen interface, a position loop, a velocity loop, a current loop and a very wide range of feedback and I/O options.

The Tuba can operate as a stand-alone device or as part of a multi-axis network in a distributed configuration. Power to the various models of Tuba is provided by a 115, 230, 3 x 230, 3 x 400 or 3 x 460 VAC source.

The Tuba is fully programmable with the Composer setup tool programming language (32 KB of memory is available for storing programs). Using the Composer setup tool, Tuba users can perform drive setup, configuration, tuning, analysis and drive programming quickly and easily.

Feature	Unit	12/230	15/230	20/230	12/460	15/460	20/460
Minimum AC Supply Voltage	VAC	60			140
Rated Supply Voltage	VAC	1 x 115, 1 x 230, 3 x 230			3 x 400, 3 x 460
Maximum Supply Voltage	VAC	1 x 270, or 3 x 270			3 x 505
Maximum Output Power from the drive	W	3320	4110	5470	6070	7500	10,000
Efficiency at Rated Power	%	> 93
Auxiliary Supply Voltage (ext.)	VDC	24 ± 15%
Auxiliary Supply Power (ext.)	VA	20
DC and Trapezoidal Commutation Continuous Current Limit (Ic)	A	12	15	20	12	15	20
Sinusoidal Commutation Continuous RMS Current Limit (Ic)	A	8.5	10.5	14	8.5	10.5	14
Peak Current Limit (RMS)	A	2 x Ic
Built-in Shunt (peak power)	KW	6	6	6	11	11	11
Weight	kg (lb)	2.7 (5.9)
Dimensions	mm (in)	247 x 118 x 92 (9.7 x 7.4 x 3.6)
Digital In / Digital Out / Analog In		10 / 6 / 2

Product Catalog Number:

Feature	Unit
Output Voltage	%	> 97 Vin
PWM switching frequency	KHz	22 -/+5% default on the Motor
Switching method		Advanced Unipolar PWM
Current Loop Bandwidth	KHz	> 2.5
Sampling Rate	Hz	> 16
Velocity Loop Bandwidth	Hz	> 350
Sampling Rate	KHz	> 8
Position Loop Bandwidth	Hz	> 80
Sampling Rate	KHz	> 4
Maximum heat sink temperature	°C (°F)	80°C (176°F) -/+ 4
Ambient operating temperature	°C (°F)	0° ~ 40°C (32° ~ 104°F) models for extended environmental conditions are available
Storage temperature	°C (°F)	-20° ~ 85°C (-4° ~ 185°F)
Maximum humidity	%	90% non-condensing
Protection level		IP20

Motion Control Modes

• Current/Torque (up to 14 KHz sampling rate)
• Velocity (up to 7 KHz sampling rate)
• Position(up to 3.5 KHz sampling rate)

Advanced Positioning Motion Control Modes

• PTP, PT, PVT, ECAM/Follower, Pulse and Direction, Dual Loop
• Fast event capturing Inputs
• Fast output compare (OC)

Advanced Filtering & Gain Scheduling

• "On-the-fly" Gain scheduling of current and velocity
• Velocity and position with "1-2-4" PIP controllers
• Automatic commutation alignment
• Automatic phase sequencing

Fully Programmable

• Third generation programming structure with motion commands
• Event capturing interrupts
• Event triggered programming

Feedback options

• Incremental Encoder - up to 20 Mega-Counts (5 Mega - Pulse) per second
• Digital Halls - up to 2 KHz
• Incremental Encoder with Digital Halls for commutation - up to 20 Mega-Counts per second
• Interpolated Analog (Sine/Cosine) Encoder - up to 250 KHz
• Internal Interpolation - up to x4096
  • Automatic Correction of:
    • Amplitude mismatch
    • Phase mismatch
    • Signal offset
  • Encoder outputs, buffered, differential
• Resolver
  • Programmable 10 ~ 15 bit resolution
  • Up to 512 revolution per second (RPS)
  • Encoder outputs, buffered, differential
• DC Tachometer for velocity feedback
Analog Potentiometer for position feedback
• The Tuba provides supply voltage for all feedback options

Input/Output

• Analog Inputs with up to 14-bit resolution
• Programmable digital inputs, optically isolated
  • Inhibit / Enable motion
  • Software and analog reference stop
  • Motion limit switches
  • Begin on input
  • Abort motion
  • General-purpose
  • Homing
• Fast event capture inputs, optically isolated
• Programmable digital outputs
  • Brake conrol
  • Amplifier fault indication
  • General-purpose
  • Servo enable indication
• Buffered output of the main Encoder
• Buffered output of the auxiliary Encoder
• Emulated output of the resolver or interpolated analog encoder
• Fast output compare (OC), optically isolated
  

Built in Protection

• Software error handling
• Abort (hard stop & soft stop)
• Status reporting
• Protection against:
  • Shorts between motor power outputs
  • Shorts between motor power output and power input
  • Failure of internal power supplies
  • Overheating
  • Over/Under voltage
  • Loss of velocity feedback
  • Following error
  • Current limits

Auxiliary Power

• 24 VDC external power source

Communication options

• RS-232
• CANopen DS 301, DSP 305, DSP 402

Standard and Advanced Models

Feature	Standard	Advanced
CANopen interface (DS 301, DS 402)	Yes	Yes
Current mode	Yes	Yes
Velocity mode, follower	Yes	Yes
Position jog, follower, point-to-point	Yes	Yes
Pulse and direction input	Yes	Yes
Dual loop, velocity and position	No	Yes
PT position versus time mode	Yes	Yes
PVT position and velocity versus time	Yes	Yes
ECAM / Follower	No	Yes
User program size	2 KB	32 KB

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