Installation Guide User Manual

Solo Trombone Installation Guide Introduction

MAN-SOLTROIG (Ver. 1.203)

www.elmomc.com

The Solo Trombone is available in two versions:

• The Standard Solo Trombone is a basic servo drive which operates in current, velocity, and

position modes including Follower and PT & PVT. It operates simultaneously via RS-232 and

CANopen DS 301, DS 305, DS 402 communications and features a third-generation

programming environment. (The catalog number starts SOL-TRO but is not followed by an

A.)

• The Advanced Solo Trombone includes all the motion capabilities and communication

options included in the Standard model, as well as advanced positioning capabilities:

ECAM, Dual Loop and increased program size. (The catalog number starts SOL-TROA.)

Both versions operate with RS-232 and CAN communication.

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 time: four times that of the current loop

• Fast event capturing inputs