ElmoMC SimplIQ Digital Servo Drives-Bell Command Reference - Manual (Page 203)

6.2.2 ECAM ................................................................................................................ 70
6.2.2.1 Linear ECAM................................................................................................ 71
6.2.2.2 Cyclical ECAM............................................................................................. 73
6.2.3 Dividing the ECAM Table into Logical Portions .......................................... 74
6.2.4 Fast ECAM Programming Using CAN.......................................................... 76
6.2.5 Initializing External Position Reference Parameters .................................... 76
6.2.5.1 Jump-free Motor Starting Policy ................................................................ 77
6.2.5.2 On-the-fly Switching of External Reference Parameters ......................... 77
6.3. Stop Manager...................................................................................................................78
6.3.1 General Description ......................................................................................... 78
6.3.2 Stop Manager Internal Elements .................................................................... 79
Chapter 7: Filters....................................................................................................................... 83
7.1. Internal Structure of a Filter Link.................................................................................. 85
7.1.1 Link Parameterization ..................................................................................... 86
7.2. Examples of Filter Implementation ............................................................................... 86
7.2.1 Low-pass (Complex Pole) Element (Represented by Second-order Block) 86
7.2.2 Notch Filter Element (Represented by Second-order Block) ....................... 87
7.2.3 Double-lead Element (Represented by Second-order Block)....................... 88
7.2.4 First-order Element (Represented by Second-order Block) ........................ 88
Chapter 8: The Position and Speed Controller..................................................................... 90
8.1. Gain Scheduling .............................................................................................................. 91
8.1.1 Automatic Gain Scheduling ............................................................................ 92
8.2. Speed Control .................................................................................................................. 93
8.2.1 Block Diagram .................................................................................................. 93
8.2.2 Speed Controller Parameters .......................................................................... 94
8.3. The Position Controller................................................................................................... 95
8.3.1 Block Diagram .................................................................................................. 95
8.3.2 Position Controller Parameters....................................................................... 96
Chapter 9: The Current Controller......................................................................................... 98
9.1.1 Input Transformation: Calculating Iq and Id ................................................ 99
9.1.2 Output Transformation: Calculating Phase Voltages................................. 100
SimplIQ for Steppers Application Note Contents
MAN-STECR (Ver. 1.1)
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