ElmoMC ExtrIQ Gold Line Servo Drives-Gold Hornet - Manual (Page 14)

Gold Hornet Installation Guide (EtherCAT and CAN) Product Description
MAN-G-HORIG-E (Ver. 1.007)
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• Current closed loop bandwidth exceeds 4 kHz
• Position/Velocity/Acceleration command range – full 32 bit
• Position over velocity, with full dual loop support
• S-curve Profile Smoothing
• Cogging, BEMF and ω xL compensation
• Dual Loop Operation supported by Auto Tuning
• Fast, easy and efficient advanced Auto Tuning
• Motion profiler numeric range:
 Position up to ±2 x 10 9 counts
 Velocity up to 2 x 10 9 counts/sec
 Acceleration up to 2 x 10 9 counts/sec 2
2.2.4. Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-2” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
• Current gain scheduling to compensate for the motor's non-linear characteristics
• Advanced filtering: Low pass, Notch, General Biquad
• Current loop gain scheduling to compensate for bus voltage variations
• Velocity gain scheduling for reliable velocity loop performance
• Gains & filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position
2.2.5. Motion Control
• Motion control programming environment
• Motion modes: PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event
capturing inputs
• Full DS-402 motion mode support, in both the CAN and CAN over EtherCAT (CoE) protocols,
including Cyclic Position/Velocity modes. Fast (Hardware) event capturing inputs,
supporting < 1 μs latch latency
• Fast (hardware) Output Compare, with < 1 μs latency
• Output compare repetition rate: