User Manual

Hawk Installation Guide Technical Specifications
MAN-HAWIG (Ver. 1.401)
www.elmomc.com
69
4.7.2. Velocity Loop
Feature Details
Controller type PI
Velocity control
• Fully digital
• Programmable PI and FFW control filters
• “On-the-fly” gain scheduling
• Automatic, manual and advanced manual tuning
Velocity and position feedback
options
• Incremental Encoder
• Digital Halls
• Interpolated Analog (Sine/Cosine) Encoder (optional)
• Resolver (optional)
• Tachometer and Potentiometer (optional)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).
Velocity loop bandwidth <350 Hz
Velocity sampling time
140 to 200 µsec (2x current loop sample time)
Velocity sampling rate Up to 8 kHz; default 5.5 kHz
Velocity command options
• Analog
• Internally calculated by either jogging or step
Note: All software-calculated profiles support on-the-fly
changes.
4.7.3. Position Loop
Feature Details
Controller type “1-2-4” PIP
Position command options
• Software
• Pulse and Direction
• Analog Potentiometer
Position loop bandwidth <80 Hz
Position sampling time
280 to 400 µsec (4x current loop sample time)
Position sampling rate Up to 4 kHz; default 2.75 kHz