ElmoMC SimplIQ Digital Servo Drives-Harmonica Installation Guide - Manual (Page 55)

Harmonica Installation Guide Technical Specifications
MAN-HARIG (Ver. 1.902)
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4.7.2. Velocity Loop
Feature Details
Controller type PI
Velocity control • Fully digital
• Programmable PI and FFW control filters
• On-the-fly gain scheduling
• Automatic, manual and advanced manual tuning
Velocity and position feedback
options • Incremental Encoder
• Digital Halls
• Interpolated Analog (Sine/Cosine) Encoder (optional)
• Resolver (optional)
Velocity command options • Analog
• Internally calculated by either jogging or step
Note: All software-calculated profiles support on-the-fly
changes.
Velocity loop bandwidth <350 Hz
Velocity loop sampling time 140 to 200 µsec (x2 current loop sample time)
Velocity loop sampling rate Up to 8 kHz; default 5.5 kHz
4.7.3. Position Loop
Feature Details
Controller type “1-2-4” PIP
Position command options
• Software
• Pulse and Direction
• Analog Potentiometer
Position loop bandwidth <80 Hz
Position loop sampling time 280 to 400 µsec ( x 4 current loop sample time)
Position loop sampling rate Up to 4 kHz; default 2.75 kHz