ElmoMC SimplIQ Digital Servo Drives-Whi-Trio Installation Guide - Manual (Page 10)

 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 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
.2.3 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 rate four times current loop sample time
 Fast event capturing inputs
.2.4 Advanced Position Control
For advanced models only:
 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
 PT and PVT motion modes
 Dual (position/velocity) loop
 Fast output compare (OC)
.2.5 Communication Options
Depending on the application, Trio users can select from two communication
options:
 RS-232 serial communication
 CANopen for fast communication in a multi-axis distributed environment
.2.6 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulses) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-Counts
per second for encoder
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
o Internal Interpolation - up to x4096
o Automatic Correction of amplitude mismatch, phase mismatch, signals offset
o Auxiliary emulated, unbuffered, single-ended, encoder output