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A.8.2 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 (x2 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.8.3 Position Loop
Feature Details
Controller type “1-2-4” PIP
Position command options
Software
Pulse and Direction
Position loop bandwidth < 80 Hz
Position sampling time 280 - 400 µsec (x 4 current loop sample time)
Position sampling rate Up to 4 kHz; default 2.75 kHz
Tuba Installation Guide Technical Specifications
MAN-TUBIG (Ver. 1.3)
A-8