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

Duo Installation Guide Introduction
MAN-DUOIG (Ver. 1.0)
2-2
2.2 Product Features
2.2.1 Current Control
ƒ Fully digital
ƒ Sinusoidal commutation with vector control or trapezoidal commutation
with encoder and/or digital Hall sensors
ƒ 12-bit current loop resolution
ƒ Automatic gain scheduling, to compensate for variations in the DC bus
power supply
2.2.2 Velocity Control
ƒ Fully digital
ƒ Programmable PI and FFW (feed forward) control filters
ƒ Sample rate two times current loop sample time
ƒ “On-the-fly” gain scheduling
ƒ Automatic, manual and advanced manual tuning and determination of
optimal gain and phase margins
2.2.3 Position Control
ƒ Programmable PIP control filter
ƒ Programmable notch and low-pass filters
ƒ Position follower mode for monitoring the motion of the slave axis relative
to a master axis, via an auxiliary encoder input
ƒ Pulse-and-direction input s
ƒ Sample rate four times current loop sample time
ƒ Fast event capturing inputs
2.2.4 Advanced Position Control (in Advanced model only)
ƒ 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
ƒ PT and PVT motion modes
ƒ Dual (position/velocity) loop
ƒ Fast output compare (OC)
2.2.5 Communication Options
Depending on the application, Duo users can select from two communication
options:
ƒ RS232 serial communication
ƒ CANopen for fast communication in a multi-axis distributed environment
2.2.6 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 KHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder