ElmoMC SimplIQ Digital Servo Drives-Whi-Duo Installation Guide - Manual (Page 52)

A.5.2 Velocity Loop
Feature Details
Controller type PI
Speed sampling time 140 - 200 μsec ( x2 current loop sample time)
Velocity loop bandwidth
Velocity control ƒ Fully digital
ƒ Programmable PI and FFW control filters
ƒ On-the-fly gain scheduling
ƒ Automatic, manual and advanced manual tuning
Velocity and position feedback
options ƒ Incremental encoder + digital Halls
ƒ Incremental encoder only
ƒ Digital Halls
ƒ Resolver
ƒ Sin / Cos
ƒ Sin / Cos+ Digital Halls
ƒ Analog Halls
ƒ Tacho
ƒ Potentiometer
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).
Velocity command options ƒ Analog
ƒ Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
A.5.3 Position Loop
Feature Details
Controller type 124 PIP
Position sampling time 280 - 400 μsec ( x 4 current loop sample time)
Analog input command
resolution 12-bit inputs
PWM resolution 12-bit
PWM switching frequency on
the load 2/ Ts (factory default 22 kHz on the motor)
Control inputs PLC or +5V level
Duo Installation Guide
MAN-DUOIG (Ver. 1.0)
A-7