User Manual

Gold Hornet Installation Guide (EtherCAT and CAN) Technical Specifications
MAN-G-HORIG-E (Ver. 1.007)
www.elmomc.com
77
5.3.2. Velocity Loop
Feature Details
Controller type PI + Four advanced filters + Two advanced gain
scheduling filters
Velocity control
• Fully digital
• Programmable PI and feed forward control filters
• On-the-fly gain scheduling according to either
speed or position command or feedback
• Automatic, quick, advanced or expert tuning
Velocity and position feedback
options
• Incremental Encoder
• Digital Halls
• Interpolated Analog (sin/cos) Encoder (optional)
• Resolver (optional)
• Absolute serial encoder
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).
Velocity loop bandwidth < 500 Hz
Velocity loop sampling time
80 to 240 µsec (2x current loop sample time)
Velocity loop sampling rate Up to 12.5 kHz; default 10 kHz
Velocity command options Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
5.3.3. Position Loop
Feature Details
Controller type “1-2-2” PIP + three advanced filters + one advanced
gain scheduling filter
Position command options
• Software
• Pulse and Direction
Position loop bandwidth < 200 Hz
Position loop sampling time
80 to 240 µsec (2x current loop sample time)
Position loop sampling rate Up to 12.5 kHz; default 10 kHz