ElmoMC Gold Line Digital Servo Drives-Gold Solo Trombone - Manual (Page 90)

Gold Solo Trombone Installation Guide Technical Specifications
MAN-G-SOLTROIG (Ver. 1.3)
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90
Chapter 5: Technical Specifications
This chapter provides detailed technical information regarding the Gold Solo Trombone. This
includes its dimensions, power ratings, the environmental conditions under which it can be
used, the standards to which it complies and other specifications.
5.1. Features
The Gold Solo Trombone's features determine how it controls motion, as well as how it
processes host commands, feedback and other input.
5.1.1. Motion Control Modes
• Current/Torque - up to 20 kHz sampling rate (50 μs)
• Velocity - up to 10 kHz sampling rate (100 μs)
• Position - up to 10 kHz sampling rate (100 μs)
5.1.2. Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current
and velocity, digital (SW) and Pulse and Direction
5.1.3. 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 reliable velocity loop performance
• Gains & filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position