User Manual

Gold Hornet Installation Guide (EtherCAT and CAN) Product Description

MAN-G-HORIG-E (Ver. 1.007)

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• Current closed loop bandwidth exceeds 4 kHz

• Position/Velocity/Acceleration command range – full 32 bit

• Position over velocity, with full dual loop support

• S-curve Profile Smoothing

• Cogging, BEMF and

ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Motion profiler numeric range:

 Position up to ±2 x 10

counts

 Velocity up to 2 x 10

counts/sec

 Acceleration up to 2 x 10

counts/sec

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 reliable velocity loop performance

• Gains & 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, Dual Loop, Current Follower, Fast event

capturing inputs

• Full DS-402 motion mode support, in both the CAN and CAN 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: