Installation guide

Hornet and Bee Installation Guide Introduction
MAN-HRBEIG (Ver. 1.3)
www.elmomc.com
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2.3. Product Features
2.3.1. 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
2.3.2. 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
2.3.3. 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
• 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
• Fast output compare (OC)
2.3.4. Communication Options
Hornet and Bee users can use two communication options:
• RS-232 serial communication
• CANopen for fast communication in a multi-axis distributed environment