Product features, Current control, Velocity control – ElmoMC SimplIQ Digital Servo Drives-Drum HV User Manual
Page 12: Position control
Drum HV (High Voltage) Installation Guide
Product Description
MAN-DRU-HVIG (Ver. 1.602)
12
2.2. Product Features
2.2.1.
Current Control
•
Fully digital
•
Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
•
12-bit current loop resolution
•
Automatic gain scheduling, to compensate for variations in the DC bus power supply
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 the current loop
•
Fast event capturing inputs
•
PT and PVT motion modes
•
Fast output compare (OC)
The Drum HV (High Voltage) has the following advanced position control features:
•
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
•
Dual (position/velocity) loop