User guide

Gold Trombone Installation Guide (EtherCAT and CAN) Product Description

MAN-G-TROIG-EC (Ver. 1.604)

www.elmomc.com

2.2.2. Advanced Filters and Gain Scheduling

• “On-the-Fly” gain scheduling of current and velocity

• Velocity and position with “1-2-2” PIP controllers

• Automatic commutation alignment

• Automatic motor phase sequencing

• 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 reliable velocity loop performance

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

position tracking errors

• High order filters gain scheduling vs. speed and position

2.2.3. Motion Control

• Motion control programming environment

• Motion modes: PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower, Fast event

capturing inputs

• Full DS-402 motion mode support in the CAN and CAN over EtherCAT (CoE) protocols,

including Cyclic Position/Velocity modes. Fast (hardware) event capturing inputs,

supporting < 1 μs latch latency

• Fast (hardware) Output Compare, with < 1 μs latency

• Output compare repetition rate:

• Fixed Gap: Unlimited

• Table based: 4 kHz

• Motion Commands: Analog current and velocity, Pulse-Width Modulation (PWM) current

and velocity, digital (software), Pulse and Direction

• Distributed Motion Control

• EAS (Elmo Application Studio) software: an efficient and user friendly auto tuner

2.2.4. Fully Programmable

• Third generation programming structure

• Event capturing interrupts

• Event triggered programming