ElmoMC Gold Line Digital Servo Drives-Gold Whistle - Manual (Page 13)

Gold Whistle Installation Guide Product Description
MAN-G-WHIIG (Ver. 1.208)
www.elmomc.com
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2.2.4. Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-2” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
• Current gain scheduling to compensate for the motor’s non-linear characteristics
• Advanced filtering: Low pass, Notch, General Biquad
• Current loop gain scheduling to compensate for bus voltage variations
• Velocity gain scheduling for ultimate velocity loop performance
• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position
2.2.5. Motion Control
• Motion control programming environment
• Motion modes: PTP, PT, PVT, ECAM, Follower
• Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE)
protocols, including Cyclic Position/Velocity modes. Fast (Hardware) event capturing
inputs, supporting < 1 μs latch latency
• Fast (hardware) Output Compare, with < 1 μs latency
• Output compare repetition rate:
 Fixed Gap: Unlimited
 Table based: 4 kHz
• Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current
and velocity, digital (SW) and Pulse and Direction
• Distributed Motion Control
• EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner
2.2.6. Fully Programmable
• Third generation programming structure
• Event capturing interrupts
• Event triggered programming