Product features, Current control, Velocity control – ElmoMC SimplIQ Digital Servo Drives-Trombone Installation Guide User Manual
Page 12: Position control
Trombone Installation Guide
Product Description
MAN-TROIG (Ver. 1.403)
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The Trombone is available in two versions:
•
The Standard Trombone is a basic servo drive, which operates in current, velocity, and
position modes including Follower and PT & PVT. It operates simultaneously via RS-232 and
CAN DS 301, DS 305, DS 402 communications and features a third-generation programming
environment. (The catalog number begins TRO but is not followed by an A.)
•
The Advanced Trombone includes all the motion capabilities and communication options
included in the Standard model, as well as advanced positioning capabilities: ECAM, Dual
Loop and increased program size. (The catalog number begins TRO-A.).
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)