user manual

Appendix: Drum Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque - up to 14 kHz sampling rate
• Velocity - up to 7 kHz sampling rate
• Position - up to 3.5 kHz sampling rate
A.1.2 Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop
• Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog, PWM, digital (SW) and Pulse and Direction
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
• 32 KB memory
A.1.5 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Tachometer and potentiometer (optional)
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
• Interpolated Analog Encoder (optional)
 Sine/Cosine Encoder– up to 250 kHz
 Internal Interpolation - up to x4096
 Automatic correction of amplitude mismatch, phase mismatch, signal offset
 Differential encoder buffered outputs
• Resolver (optional)
 Programmable 10~15 bit resolution
 Up to 512 revolution per seconds (RPS)
 Encoder outputs
 A, B, Index
 Differential encoder buffered outputs
 Quadrate
Drum Installation Guide Drum Technical Specifications
MAN-DRUIG (Ver. 1.0)
A-1