Owner's manual

Gold Solo Hornet Installation Guide (EtherCAT and CAN) Product Description

MAN-G-SOLHORIG-EC (Ver. 1.009)

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Table of Contents

 For power rating of 100V

Single DC Power Supply - Power to the Gold Solo Hornet is provided by a 12–95 VDC

single isolated DC power source (not included with the Gold Solo Hornet). A “smart”

control-supply algorithm enables the Gold Solo Hornet to operate with only one power

supply with no need for an auxiliary power supply for the logic.

Optional Backup (Auxiliary) Supply

If backup functionality is required in case of power loss, e.g., to keep the original

position, a 12–95 VDC external isolated supply should be connected (via the Gold Solo

Hornet’s VL+ terminal). This is more flexible than the requirement for 24 VDC supply.

If backup is not needed, a single power supply is used for both the power and logic

circuits.

There are two voltage ratings of the Gold Solo Hornet, therefore the correct power

supply must be used, according to the maximum operating voltage of the Gold Solo

Hornet. Refer to Chapter 3: Technical Information.

2.2.3. Servo Control

• Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)

• Current/Torque sampling rate: up to 25 kHz (40 μs)

• Velocity sampling rate: up to 12.5 kHz (80 μs)

• Position sampling rate: up to 12.5 kHz (80 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

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

• Position over velocity, with full dual loop support

• 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

• S-curve Profile Smoothing

• Cogging, BEMF and ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Incremental encoder frequency of up to 75 Megacounts/sec