ElmoMC ExtrIQ Digital Servo Drives-Falcon - Manual (Page 63)

Falcon Installation Guide Technical Specifications
MAN-FALIG (Ver. 1.502)
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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 loop bandwidth < 350 Hz
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 loop bandwidth < 80 Hz
Position sampling time 280 to 400 µsec (x 4 current loop sample time)
Position sampling rate Up to 4 kHz; default 2.75 kHz