Motion Control - ElmoMC

Trio Whistle

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 drive controllers 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 to provide maximum DC voltage of either 60 or 100 V. Both models support up to20 amps continuous current.

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.

Product Features
Current Control
  • 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
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
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
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)
Communication Options
  • RS-232 serial communication
  • CANopen for fast communication in a multi-axis distributed environment
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
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
Dimensions
227 x 28 x 140 mm (8.93" x 1.10" x 5.51")
Product Catalog Number

 

Standard and Advanced Models
Feature
Standard
Advanced
CANopen interface (DS 301, DS 402)
Yes
Yes
Current mode
Yes
Yes
Velocity mode, follower
Yes
Yes
Position jog, follower, point-to-point
Yes
Yes
Pulse and direction input
Yes
Yes
Dual loop, velocity and position
No
Yes
PT position versus time mode
Yes
Yes
PVT position and velocity versus time
Yes
Yes
ECAM / Follower
No
Yes
Overall user program size
2 KB
32 KB