User manual

Publication 2092-UM001D-EN-P — July 2005
A-6 Specifications and Dimensions
Current Loop
Velocity Loop
Position Loop
Digital Inputs
Update Period 50 µS
-3dB Bandwidth 2 kHz, typical
-45
o
Bandwidth
350 Hz, typical
Type PI, Flux Vector Control, Space Vector Modulation
Features
Notch Filter, Low Pass Filter, Automatically tuned using motor
parameters
Update Period 200 µS
-3dB Bandwidth 550 Hz achievable through tuning
Type PID
Features Low Pass Filter, Online Inertia Identification, Velocity Observer
Update Period 200 µS
Type P with Kff
Features Low Pass Filter
Quantity 7 general purpose, opto-isolated
Type Active low, single-ended (switch closure to common activates)
Input Current 6 mA, typical
Input Voltage 21.6–26.4 Volts
Propagation Delay 50 µs
Firmware Scan Delay 6 ms
Assignable Functions
Alternate Gain Select, Current Limit – Negative, Current Limit –
Positive, Drive Enable, Fault Reset, Integrator Inhibit, Operation
Mode Override, Overtravel – Negative,
Overtravel – Positive, Pause Follower, Position Strobe, Preset
Direction, Preset Select 1 to 3, Reset Multi-turn Data, Zero Speed
Clamp Enable