ElmoMC AC Input Digital Servo Drives-Tuba - Manual (Page 12)

Tuba Installation Guide Introduction
MAN-TUBIG (Ver. 1.502)
www.elmomc.com
12
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, Tuba users can select from two communication options:
• RS-232 serial communication
• CAN for fast communication in a multi-axis distributed environment