Elmo Computer Hardware 1.1 Manual do Utilizador descarregar pdf (Página 61)

Feature Details

Current sampling time Programmable 70 - 100 µsec

Current sampling rate Up to 16 kHz; default 11 kHz

A.5.2 Velocity Loop

Feature Details

Controller type PI

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

 Interpolated Analog (sin/cos) Encoder (optional)

 Resolver (optional)

 Tachometer and Potentiometer (optional)

Note: With all feedback options, 1/T with automatic

mode switching is activated (gap, frequency

and derivative).

Velocity loop bandwidth < 350 Hz

Velocity sampling time 140 - 200 µsec (2x current loop sample time)

Velocity sampling rate Up to 8 kHz; default 5.5 kHz

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 “1-2-4” PIP

Position command options

 Software

 Pulse and Direction

 Analog Potentiometer

Position loop bandwidth < 80 Hz

Guitar Installation Guide Guitar Technical Specifications

MAN-GUIIG (Ver. 1.1)

A-6

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Elmo Computer Hardware 1.1 Manual do Utilizador Página 61