User manual

Duo Installation Guide Introduction
MAN-DUOIG (Ver. 1.0)
2-2
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 rate four times current loop sample time

Fast event capturing inputs
2.2.4 Advanced Position Control (in 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
 PT and PVT motion modes
 Dual (position/velocity) loop
 Fast output compare (OC)
2.2.5 Communication Options
Depending on the application, Duo users can select from two communication
options:
 RS232 serial communication
 CANopen for fast communication in a multi-axis distributed environment
2.2.6 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 KHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder