Elmo Computer Hardware 1.1 User Manual
Guitar Installation Guide
Introduction
MAN-GUIIG (Ver. 1.1)
2-2
The Advanced Guitar 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.
included in the Standard model, as well as advanced positioning capabilities: ECAM,
Dual Loop and increased program size.
Both versions operate with RS-232 and CANopen communication.
2.2 Product
Features
2.2.1 Current
Control
Fully digital
Sinusoidal commutation with vector control or trapezoidal commutation
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
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
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
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).
Sample time: four times that of the current loop.
Fast event capturing inputs.
PT and PVT motion modes.
Fast output compare (OC).
2.2.4 Advanced Position Control
This relates to the Advanced model only.
Position-based and time-based ECAM mode that supports a non-linear
follower mode, in which the motor tracks the master motion using an
ECAM table stored in flash memory.
ECAM table stored in flash memory.
Dual (position/velocity) loop.
2.2.5 Communication
Options
Depending on the application, Guitar users can select from two communication options:
RS-232 serial communication.
CANopen for fast communication in a multi-axis distributed environment.
CANopen for fast communication in a multi-axis distributed environment.