Product features, Current control, Velocity control – ElmoMC ExtrIQ Digital Servo Drives-Hawk User Manual
Page 14: Position control, Communication options
Hawk Installation Guide
Introduction
MAN-HAWIG (Ver. 1.401)
14
2.2. Product Features
2.2.1.
Current Control
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Fully digital
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Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
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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
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Sample rate two times current loop sample time
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“On-the-fly” gain scheduling
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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
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Pulse-and-direction inputs
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Sample time: four times that of the current loop
•
Fast event capturing inputs
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PT and PVT motion modes
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Fast output compare (OC)
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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
2.2.4.
Communication Options
Depending on the application, Hawk users can select from two communication options:
•
RS-232 serial communication
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CAN for fast communication in a multi-axis distributed environment