Elmo Server 1.3 Manuale Utente
Appendix: Technical Specifications
A.1 Features
A.1.1
Motion Control Modes
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Current/Torque - up to 14 kHz sampling rate
•
Velocity -
up to 7 kHz sampling rate
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Position -
up to 3.5 kHz sampling rate
A.1.2
Advanced Positioning Motion Control Modes
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PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop
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Fast event capturing inputs
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Fast output compare (OC)
A.1.3
Advanced Filters and Gain Scheduling
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“On-the-Fly” gain scheduling of current and velocity
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Velocity and position with “1-2-4” PIP controllers
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Automatic commutation alignment
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Automatic motor phase sequencing
A.1.4 Fully
Programmable
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Third generation programming structure with motion commands
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Event capturing interrupts
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Event triggered programming
A.1.5 Feedback
Options
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Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
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Digital Halls – up to 2 kHz
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Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
Counts per second for encoder
•
Absolute Encoder
•
Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
Internal Interpolation - up to x4096
Automatic Correction of amplitude mismatch, phase mismatch, signals offset
Encoder outputs, buffered, differential.
Automatic Correction of amplitude mismatch, phase mismatch, signals offset
Encoder outputs, buffered, differential.
•
Resolver
Programmable 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Encoder outputs, buffered, differential
Up to 512 revolutions per second (RPS)
Encoder outputs, buffered, differential
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Tachometer (inputs for ±20 V max. voltage and for ±20 V max. voltage)
•
Potentiometer (0 ~ 5 V input voltage provided by the Tuba)
•
Elmo drives provide supply voltage for all the feedback options
Tuba Installation Guide
MAN-TUBIG (Ver. 1.3)
A-1