ElmoMC SimplIQ Digital Servo Drives-Cello Installation Guide - Manual (Page 62)

Cello Installation Guide Technical Specifications
MAN-CELIG (Ver. 1.602)
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62
4.6.2 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)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).
Velocity sampling time 140 to 200 µsec (x2 current loop sample time)
Velocity sampling rate Up to 8 kHz; default 5.5 kHz
Velocity command options Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support on-the-fly
changes.
4.6.3 Position Loop
Feature Details
Controller type “1-2-4” PIP
Position command options Software
Pulse and Direction
Position sampling time 280 to 400 µsec (x 4 current loop sample time)
Position sampling rate Up to 4 kHz; default 2.75 kHz