Servo control – ElmoMC ExtrIQ Gold Line Servo Drives-Gold Solo Hornet User Manual
Page 12
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
Product Description
MAN-G-SOLHORIG-EC (Ver. 1.009)
12
For power rating of 100V
Single DC Power Supply - Power to the Gold Solo Hornet is provided by a 12–95 VDC
single isolated DC power source (not included with the Gold Solo Hornet). A “smart”
control-supply algorithm enables the Gold Solo Hornet to operate with only one power
supply with no need for an auxiliary power supply for the logic.
Optional Backup (Auxiliary) Supply
If backup functionality is required in case of power loss, e.g., to keep the original
position, a 12–95 VDC external isolated supply should be connected (via the Gold Solo
Hornet’s VL+ terminal). This is more flexible than the requirement for 24 VDC supply.
If backup is not needed, a single power supply is used for both the power and logic
circuits.
There are two voltage ratings of the Gold Solo Hornet, therefore the correct power
supply must be used, according to the maximum operating voltage of the Gold Solo
Hornet. Refer to Chapter 3: Technical Information.
2.2.3.
Servo Control
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Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)
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Current/Torque sampling rate: up to 25 kHz (40 μs)
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Velocity sampling rate: up to 12.5 kHz (80 μs)
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Position sampling rate: up to 12.5 kHz (80 μs)
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Electrical commutation frequency: up to 4 kHz
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Current closed loop bandwidth exceeds 4 kHz
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Position/Velocity/Acceleration command range – full 32 bit
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Position over velocity, with full dual loop support
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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 ultimate velocity loop performance
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Gains and 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
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S-curve Profile Smoothing
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Cogging, BEMF and ωxL compensation
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Dual Loop Operation supported by Auto Tuning
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Fast, easy and efficient advanced Auto Tuning
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Incremental encoder frequency of up to 75 Megacounts/sec