Advanced filters and gain scheduling, Motion control, Fully programmable – ElmoMC Gold Line Digital Servo Drives-Gold Drum HV User Manual
Page 13
Gold Drum HV Installation Guide (EtherCAT and CAN)
Product Description
MAN-G-DRUMHVIG-EC (Ver. 1.202)
13
2.2.2.
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 “1-2-2” PIP controllers
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Automatic commutation alignment
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Automatic motor phase sequencing
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Current gain scheduling to compensate for the motor's non-linear characteristics
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Advanced filtering: Low pass, Notch, General Biquad
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Current loop gain scheduling to compensate for bus voltage variations
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Velocity gain scheduling for reliable velocity loop performance
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Gains & filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
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High order filters gain scheduling vs. speed and position
2.2.3.
Motion Control
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Motion control programming environment
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Motion modes: PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event
capturing inputs
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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
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Fast (hardware) Output Compare, with < 1 μs latency
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Output compare repetition rate:
Fixed Gap: Unlimited
Table based: 4 kHz
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Motion Commands: Analog current and velocity, Pulse-Width Modulation (PWM) current
and velocity, digital (software), Pulse and Direction
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Distributed Motion Control
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EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner
2.2.4.
Fully Programmable
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Third generation programming structure
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Event capturing interrupts
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Event triggered programming