ElmoMC ExtrIQ Gold Line Servo Drives-Gold Solo Hornet - Manual (Page 78)

Gold Solo Hornet Installation Guide (EtherCAT and CAN) Technical Specifications
MAN-G-SOLHORIG-EC (Ver. 1.009)
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78
Table of Contents
5.3.2. Velocity Loop
Feature Details
Controller type PI + Four advanced filters + Two advanced gain
scheduling filters
Velocity control • Fully digital
• Programmable PI and feed forward control
filters
• On-the-fly gain scheduling according to either
speed or position command or feedback.
• Automatic, quick, advanced or expert tuning
Velocity and position feedback options • Incremental Encoder
• Digital Halls
• Interpolated Analog (sin/cos) Encoder
(optional)
• Resolver (optional)
• Absolute serial encoder
Note: With all feedback options, 1/T with
automatic mode switching is activated (gap,
frequency and derivative).
Velocity loop bandwidth < 500 Hz
Velocity sampling time 80 to 240 µsec (2x current loop sample time)
Velocity sampling rate Up to 12.5 kHz; default 10 kHz
Velocity command options Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
5.3.3. Position Loop
Feature Details
Controller type “1-2-2” PIP + three advanced filters + one
advanced gain scheduling filter
Position command options • Software
• Pulse and Direction
Position loop bandwidth < 200 Hz
Position sampling time 80 to 240 µsec (2x current loop sample time)
Position sampling rate Up to 12.5 kHz; default 10 kHz