Instruction Manual
Table Of Contents
- Chapter 1: Safety Information
- Chapter 2: Product Description
- 2.1. Functional Description
- 2.2. Product Features
- 2.2.1. High Power Density
- 2.2.2. Supply Input
- 2.2.3. Servo Control
- 2.2.4. Advanced Filters and Gain Scheduling
- 2.2.5. Motion Control
- 2.2.6. Fully Programmable
- 2.2.7. Feedback Ports Options
- 2.2.8. Feedback Sensor Specifications
- 2.2.9. Communications
- 2.2.10. Safety
- 2.2.11. Outputs
- 2.2.12. Inputs
- 2.2.13. Built-In Protection
- 2.2.14. Status Indication
- 2.2.15. Automatic Procedures
- 2.3. System Architecture
- 2.4. How to Use this Guide
- Chapter 3: Technical Information
- Chapter 4: Installation
- 4.1. Site Requirements
- 4.2. Unpacking the Drive Components
- 4.3. Connectors
- 4.4. Mounting the Gold Hawk
- 4.5. Integrating the Gold Hawk on a PCB
- 4.6. The Gold Hawk Connection Diagram
- 4.7. Main Power, Auxiliary Power and Motor Power
- 4.8. STO (Safe Torque Off) Inputs
- 4.9. Feedback
- 4.10. User I/Os
- 4.11. Communications
- 4.12. Powering Up
- 4.13. Initializing the System
- 4.14. Heat Dissipation
- Chapter 5: Technical Specifications
- Chapter 6: Gold Line Standards
Gold Hawk Installation Guide Product Description
MAN-G-HAKIG (Ver. 1.001)
www.elmomc.com
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2.2.4. Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-2” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
• Current gain scheduling to compensate for the motor’s non-linear characteristics
• Advanced filtering: Low pass, Notch, General Biquad
• Current loop gain scheduling to compensate for bus voltage variations
• Velocity gain scheduling for ultimate velocity loop performance
• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and
position tracking errors
• High order filters gain scheduling vs. speed and position
2.2.5. Motion Control
• Motion control programming environment
• Motion modes: PTP, PT, PVT, ECAM, Follower
• Full DS-402 motion mode support, in both the CANopen and CANopen over EtherCAT (CoE)
protocols, including Cyclic Position/Velocity modes. Fast (Hardware) event capturing
inputs, supporting < 1 μs latch latency
• Fast (hardware) Output Compare, with < 1 μs latency
• Output compare repetition rate:
Fixed Gap: Unlimited
Table based: 4 kHz
• Motion Commands: Analog current and velocity, pulse-width modulation (PWM) current
and velocity, digital (SW) and Pulse and Direction
• Distributed Motion Control
• EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner
2.2.6. Fully Programmable
• Third generation programming structure
• Event capturing interrupts
• Event triggered programming