Advanced filters and gain scheduling, Motion control, Fully programmable – ElmoMC ExtrIQ Gold Line Servo Drives-Gold Solo Hornet User Manual
Page 13
Gold Solo Hornet Installation Guide (EtherCAT and CAN)
Product Description
MAN-G-SOLHORIG-EC (Ver. 1.009)
13
•
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 ultimate velocity loop performance
•
Gains and 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
•
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:
Fixed Gap: Unlimited
Table based: 4 kHz
•
Motion Commands: Analog, Pulse-Width Modulation (PWM), Software, Pulse and Direction
•
Distributed Motion Control
•
EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner
2.2.6.
Fully Programmable
•
Third generation programming structure
•
Event capturing interrupts
•
Event triggered programming