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Integrated Triple Whistle Solution
The power of multiple Whistle servo drives in a single solution |
| Elmo's TRW-WHI (TRW) is an integrated solution for X, Y, Z applications. A highly compact product, it combines three Whistle servo drives Controller in one package and operates using a single AC/DC power supply with a shunt regulator. The TRW-WHI is offered as two different models supporting either 60 or 100 maximum DC voltage with a continuous current of up to 20 amps. |
| The TRW-WHI operates from an AC/DC power source in current, velocity, position and advanced position modes with permanent-magnet synchronous brushless motors, DC brush motors, linear motors or voice coils. The solution is designed for use with any type of sinusoidal and trapezoidal commutation with vector control. | | As with other Elmo SimplIQ
digital products, the TRW-WHI can be easily set up and tuned using Elmo's Composer software tools. |
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| Product Features |
| Current Control |
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Fully digital
Sinusoidal commutation with vector control or trapezoidal commutation with encoder and/or digital Hall sensors
12-bit current loop resolution
Automatic gain scheduling, to compensate for variations in the DC bus power supply
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| Velocity Control |
- Fully digital
- Programmable PI and FFW (feed forward) control filters
- Sample rate two times current loop sample time
- "On-the-fly" gain scheduling
- Automatic, manual and advanced manual tuning and determination of optimal gain and phase margins
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| Position Control |
- Programmable PIP control filter
- Programmable notch and low-pass filters
- Position follower mode for monitoring the motion of the slave axis relative to a master axis, via an auxiliary encoder input
- Pulse-and-direction inputs
- Sample rate four times current loop sample time
- Fast event capturing inputs
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| Advanced Position Control (in Advanced model only) |
- Position-based and time-based ECAM mode that supports a non-linear follower mode, in which the motor tracks the master motion using an ECAM table stored in flash memory
- PT and PVT motion modes
- Dual (position/velocity) loop
- Fast output compare OC)
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| Communication Options |
- RS-232 serial communication
- CANopen for fast communication in a multi-axis distributed environment
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| 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
- Interpolated Analog Sine/Cosine Encoder - up to 250 KHz (analog signal)
- Internal Interpolation - up to x4096
- Automatic Correction of amplitude mismatch, phase mismatch, signals offset
- Auxiliary emulated, unbuffered, single-ended, encoder output
- Resolver
- Programmable 10~15 bit resolution
- Up to 512 Revolution Per Second (RPS)
- Auxiliary emulated, unbuffered, single-ended, encoder output
- Tachometer, Potentiometer
- Elmo drives provide supply voltage for all the feedback options
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| Fault Protection |
- Software error handling
- Status reporting for a large number of possible fault conditions
- Protection against conditions such as excessive temperature, under/over voltage, loss of commutation signal, short circuits between the motor power outputs and between each output and power input return
- Recovery from loss of commutation signals and from communication errors
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| Downloads:
Product Drawings
TRIO-WHI(TRW) Documentation
Application Notes
Software
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