ElmoMC SimplIQ Digital Servo Drives-Cello Installation Guide - Manual (Page 11)

Cello Installation Guide Introduction
MAN-CELIG (Ver. 1.602)
www.elmomc.com
11
2.2.2 Velocity Control
 Fully digital
 Programmable PI and FFW (feed forward) control filters
 Sample rate two times current loop sample time
 “On-the-fly” gain scheduling
 Automatic, manual and advanced manual tuning and determination of optimal
gain and phase margins
2.2.3 Position Control
 Programmable PIP control filter
 Programmable notch and low-pass filters
 Position follower mode for monitoring the motion of the slave axis relative to a
master axis, via an auxiliary encoder input
 Pulse-and-direction inputs
 Sample time: four times that of current loop
 Fast event capturing inputs
2.2.4 Advanced Position Control (Advanced model only)
 Position-based and time-based ECAM mode that supports a non-linear follower
mode, in which the motor tracks the master motion using an ECAM table
stored in flash memory
 PT and PVT motion modes
 Dual (position/velocity) loop
 Fast output compare (OC)
2.2.5 Communication Options
Depending on the application, Cello users can select from two communication options:
 RS-232 serial communication
 CAN for fast communication in a multi-axis distributed environment