Installation Guide Manual

Trombone Installation Guide Product Description
MAN-TROIG (Ver. 1.403)
www.elmomc.com
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The Trombone is available in two versions:
• The Standard Trombone is a basic servo drive, which operates in current, velocity, and
position modes including Follower and PT & PVT. It operates simultaneously via RS-232 and
CAN DS 301, DS 305, DS 402 communications and features a third-generation programming
environment. (The catalog number begins TRO but is not followed by an A.)
• The Advanced Trombone includes all the motion capabilities and communication options
included in the Standard model, as well as advanced positioning capabilities: ECAM, Dual
Loop and increased program size. (The catalog number begins TRO-A.).
2.2. Product Features
2.2.1. Current Control
• Fully digital
• Sinusoidal commutation with vector control or trapezoidal commutation with encoder
and/or digital Hall sensors
• 12-bit current loop resolution
• Automatic gain scheduling, to compensate for variations in the DC bus power supply
2.2.2. Velocity Control
• Fully digital
• Programmable PI and FFW (feed forward) control filters
• Sample rate two times current loop sample time
• “On-the-fly” gain scheduling
• Automatic, manual and advanced manual tuning and determination of optimal gain and
phase margins
2.2.3. Position Control
• Programmable PIP control filter
• Programmable notch and low-pass filters
• Position follower mode for monitoring the motion of the slave axis relative to a master axis,
via an auxiliary encoder input
• Pulse-and-direction inputs
• Sample time: four times that of the current loop
• Fast event capturing inputs
• PT and PVT motion modes
• Fast output compare (OC)