Appendix: 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 Motion Control Modes
•
PTP, PT, PVT, ECAM, Follower, Pulse and Direction, Dual Loop
•
Fast event capturing inputs
•
Fast output compare (OC)
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
•
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
•
Absolute Encoder
•
Interpolated Analog Sine/Cosine Encoder – up to 250 kHz (analog
signal)
Internal Interpolation - up to X4096
Automatic Correction of amplitude mismatch, phases
mismatch, signals offset
Encoder outputs, buffered, differential.
Bassoon Installation Guide
MAN-BASIG (Ver 1.4)
A-1
