Servotronix CDHD2S - Control Specifications

Specifications
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3.3 Control Specifications
Table 3-4 Control specifications
Features
Specification
Motor
Type
DC brushless motor, DC brush motor, voice coil motor, rotary servo
motor, linear servo motor
Automatic motor
phasing
Auto-configuration of motor phase, encoder direction and Hall phase
sequence.
Operation mode
Optional control
mode
Current (torque) control, velocity control, position control, HD control,
double-loop control, gantry control
Current (torque)
control
Performance
Refresh rate 31.25μs(32KHz), output sine wave
Step response time
The actual current reaches the command current within two cycles, i.e.
62.5μs
Control loop
DQ, PI, feedforward
Reference command*
Analog DC voltage ± 10V, serial port RS232 or USB, CANopen,
EtherCAT
Autotuning
Automatic setting of current control loop parameters
Velocity control
Performance
Refresh rate 125μs (8kHz)
Optional velocity
control loop
PI, PDFF, standard pole placement, advanced pole placement,
standard pole placement high-frequency, dump active pole
placement
Filter
First order low pass filter, double first order low pass filter, notch filter,
high-pass filter, bandpass filter, user-defined polynomial filter
Reference command
Analog DC voltage ±10V, serial port RS232 or USB*, CANopen,
EtherCAT
Position control
Performance
Refresh rate 250μs (4kHz)
Control loop
PID and feedforward
Reference command*
Electronic gearing pulse and direction, serial port RS232 or USB,
CANOpen, EtherCAT
HD control
Performance
Refresh rate 125μs (8kHz)
Control loop
Nonlinear control algorithm provides low tracking error, smooth
motion with zero or minimum settling time; it includes an adaptive
feedforward feature that is applied at the end of motion to deliver
zero or minimum settling time.
Filter
One second order low pass filter, two notch filters, and other filters for
handling flexible and resonant systems
Reference command*
Velocity: Analog DC voltage ± 10V, serial port RS232 or USB,
CANopen, EtherCAT
Position: Pulse, serial port RS232 or USB, CANopen, EtherCAT
Autotuning
Automatic inertia load measurement, automatic setting and
optimization of HD control loop parameters.
Gantry control
Control loop
Position control of H-shaped mechanical structure
Brake
Method
Controller braking, dynamic braking, electromechanical braking by the
motor.
Seven-segment
display
User interface
7-segment LED (green) to display drive status
GUI
User interface
Windows based ServoStudio2 application
Function
Setup connection, drive information, power information, motor,
feedback, input/output selection/configuration, action setting/tuning,
fault history/display, setup wizard, expert view
Electronic gearing
Method
User defined input signal ratio
Rotation unit
Position
Velocity, count, degree
Rate
Rps, rpm, deg/s
Acceleration/Decelera
tion
Rps/s, rpm/s, deg/s2