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Cello Installation Guide
MAN-CELIG (Ver. 1.5)
A.6.2
Velocity Loop
Feature
Controller type
Velocity control
Velocity and position feedback
options
Velocity sampling time
Velocity sampling rate
Velocity command options
A.6.3
Position Loop
Feature
Controller type
Position command options
Position sampling time
Position sampling rate
Details
PI
Fully digital
Programmable PI and FFW control filters
On-the-fly gain scheduling
Automatic, manual and advanced manual tuning
Incremental Encoder
Digital Halls
Interpolated Analog (sin/cos) Encoder (optional)
Resolver (optional)
Note: With all feedback options, 1/T with automatic
mode switching is activated (gap, frequency
and derivative).
140 - 200 μsec (x2 current loop sample time)
Up to 8 kHz; default 5.5 kHz
Analog
Internally calculated by either jogging or step
Note: All software-calculated profiles support
on-the-fly changes.
Details
"1-2-4" PIP
Software
Pulse and Direction
280 - 400 μsec (x 4 current loop sample time)
Up to 4 kHz; default 2.75 kHz
Technical Specifications
A-7
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