Elmo Computer Hardware 1.1 User Manual
Feature Details
Current sampling time
Programmable 70 - 100
µsec
Current sampling rate
Up to 16 kHz; default 11 kHz
A.5.2 Velocity
Loop
Feature Details
Controller type
PI
Velocity control
Fully digital
Programmable PI and FFW control filters
"On-the-fly" gain scheduling
Automatic, manual and advanced manual tuning
Programmable PI and FFW control filters
"On-the-fly" gain scheduling
Automatic, manual and advanced manual tuning
Velocity and position feedback
options
options
Incremental Encoder
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Tachometer and Potentiometer (optional)
Note: With all feedback options, 1/T with automatic
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Tachometer and Potentiometer (optional)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency
and derivative).
and derivative).
Velocity loop bandwidth
< 350 Hz
Velocity sampling time
140 - 200
µsec (2x current loop sample time)
Velocity sampling rate
Up to 8 kHz; default 5.5 kHz
Velocity command options
Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support
Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
A.5.3 Position
Loop
Feature Details
Controller type
“1-2-4” PIP
Position command options
Software
Pulse and Direction
Analog Potentiometer
Pulse and Direction
Analog Potentiometer
Position loop bandwidth
< 80 Hz
Guitar Installation Guide
Guitar Technical Specifications
MAN-GUIIG (Ver. 1.1)
A-6