Current Loop; Velocity Loop; Position Loop; Digital Inputs - Allen-Bradley Ultra1500 2092-DA1 User Manual

A-6 Specifications and Dimensions
Publication 2092-UM001D-EN-P — July 2005

Current Loop

Update Period
-3dB Bandwidth
o
-45 Bandwidth
Type
Features

Velocity Loop

Update Period
-3dB Bandwidth
Type
Features

Position Loop

Update Period
Type
Features

Digital Inputs

Quantity
Type
Input Current
Input Voltage
Propagation Delay
Firmware Scan Delay
Assignable Functions
50 µS
2 kHz, typical
350 Hz, typical
PI, Flux Vector Control, Space Vector Modulation
Notch Filter, Low Pass Filter, Automatically tuned using motor
parameters
200 µS
550 Hz achievable through tuning
PID
Low Pass Filter, Online Inertia Identification, Velocity Observer
200 µS
P with Kff
Low Pass Filter
7 general purpose, opto-isolated
Active low, single-ended (switch closure to common activates)
6 mA, typical
21.6–26.4 Volts
50 µs
6 ms
Alternate Gain Select, Current Limit – Negative, Current Limit –
Positive, Drive Enable, Fault Reset, Integrator Inhibit, Operation
Mode Override, Overtravel – Negative,
Overtravel – Positive, Pause Follower, Position Strobe, Preset
Direction, Preset Select 1 to 3, Reset Multi-turn Data, Zero Speed
Clamp Enable