Elmo 1.1, Guitar Digital Servo Drive Appendix: Guitar Technical Specifications

Appendix: Guitar Technical Specifications
A.1 Features
A.1.1 Motion Control Modes
• Current/Torque - up to 14 kHz sampling rate
• Velocity - up to 7 kHz sampling rate
• Position - up to 3.5 kHz sampling rate
A.1.2 Advanced Positioning Control Modes
• PTP, PT, PVT, ECAM, Follower, Dual Loop, Current Follower
• Fast event capturing inputs
• Fast output compare (OC)
• Motion Commands: Analog current and velocity, PWM current and velocity,
digital (SW) and Pulse and Direction
A.1.3 Advanced Filters and Gain Scheduling
• “On-the-Fly” gain scheduling of current and velocity
• Velocity and position with “1-2-4” PIP controllers
• Automatic commutation alignment
• Automatic motor phase sequencing
A.1.4 Fully Programmable
• Third generation programming structure with motion commands –
“Metronome”
• Event capturing interrupts
• Event triggered programming
A.1.5 Feedback Options
• Incremental Encoder – up to 20 Mega-Counts (5 Mega-Pulse) per second
• Digital Halls – up to 2 kHz
• Incremental Encoder with Digital Halls for commutation – up to 20 Mega-
Counts per second for encoder
• Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog signal)
 Internal Interpolation - up to x4096
 Automatic Correction of amplitude mismatch, phase mismatch, signal offset
 Emulated encoder outputs, single-ended, unbuffered of the Analog encoder
• Analog Hall Sensor
• Resolver
 Programmable 10~15 bit resolution
 Up to 512 revolutions per second (RPS)
 Emulated encoder outputs, single-ended, unbuffered of the Resolver.
• Auxiliary Encoder inputs (ECAM, follower, etc.) single-ended, unbuffered.
• Tachometer & Potentiometer
• The Guitar can provide power (5 V, 2x200 mA max) for Encoders, Resolver or Halls.
Guitar Installation Guide
MAN-GUIIG (Ver. 1.1)
A-1