Drum Installation Guide Introduction
MAN-DRUIG (Ver. 1.0)
2-2
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 current loop
Fast event capturing inputs
PT and PVT motion modes
Position-based and time-based ECAM mode that supports a non-linear
follower mode, in which the motor tracks the master motion using an
ECAM table stored in flash memory
Dual (position/velocity) loop
Fast output compare (OC)
2.2.4 Communication Options
Drum users can use two communication options:
RS-232 serial communication
CANopen for fast communication in a multi-axis distributed environment
2.2.5 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, signals
offset
Auxiliary emulated, unbuffered, single-ended, encoder output
Resolver
Programmable 10~15 bit resolution
Up to 512 revolutions per second (RPS)
Auxiliary emulated, unbuffered, single-ended, encoder output
Tachometer, Potentiometer