User manual

A.5.2 Velocity Loop
Feature Details
Controller type PI
Speed sampling time 140 - 200 μsec ( x2 current loop sample time)
Velocity loop bandwidth
Velocity control  Fully digital
 Programmable PI and FFW control filters
 On-the-fly gain scheduling
 Automatic, manual and advanced manual tuning
Velocity and position feedback
options
 Incremental encoder + digital Halls
 Incremental encoder only
 Digital Halls
 Resolver
 Sin / Cos
 Sin / Cos+ Digital Halls
 Analog Halls
 Tacho
 Potentiometer
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency and
derivative).
Velocity command options  Analog
 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 124 PIP
Position sampling time 280 - 400 μsec ( x 4 current loop sample time)
Analog input command
resolution
12-bit inputs
PWM resolution 12-bit
PWM switching frequency on
the load
2/ Ts (factory default 22 kHz on the motor)
Control inputs PLC or +5V level
Duo Installation Guide
MAN-DUOIG (Ver. 1.0)
A-7