Instruction Manual

Gold Drum HV Installation Guide (EtherCAT and CAN) Product Description

MAN-G-DRUMHVIG-EC (Ver. 1.202)

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Table of Contents

2.2. Product Features

Note: The features described in this chapter relate to the range of Gold Drum HV (High

Voltage) models. Depending on the model you have purchased, not all features are available.

To see the features for your model, look at the product label on the Gold Drum HV (High

Voltage) and use the product catalog number schematic that appears at the beginning of this

manual and on page 25 to determine which specific features are available to you.

2.2.1. Servo Control

• Advanced and extremely fast vector control algorithm (current loop bandwidth: 4 kHz)

• Current/Torque sampling rate: up to 20 kHz (50 μs)

• Velocity sampling rate: up to 10 kHz (100 μs)

• Position sampling rate: up to 10 kHz (100 μs)

• Electrical commutation frequency: up to 4 kHz

• Current closed loop bandwidth exceeds 4 kHz

• Position/Velocity/Acceleration command range – full 32 bit

• Position over velocity, with full dual loop support

• Current gain scheduling to compensate for the motor’s non-linear characteristics

• Advanced filtering: Low pass, Notch, General Biquad

• Current loop gain scheduling to compensate for bus voltage variations

• Velocity gain scheduling for ultimate velocity loop performance

• Gains and filter scheduling vs. position for mechanical coupling optimization, speed and

position tracking errors

• High order filters gain scheduling vs. speed and position

• S-curve Profile Smoothing

• Cogging, BEMF and ωxL compensation

• Dual Loop Operation supported by Auto Tuning

• Fast, easy and efficient advanced Auto Tuning

• Incremental encoder frequency of up to 75 Megacounts/sec

• Motion profiler numeric range:

 Position up to ±2 x 10

counts

 Velocity up to 2 x 10

counts/sec

 Acceleration up to 2 x 10

counts/sec