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Integrated Dual Whistle Solution:
The power of two Whistle servos drives in a single board solution
Elmo's Duo is an integrated solution for X, Y applications. Highly
compact, it combines two Whistle
servo drives in one package and operates using a single DC power supply. The Duo is offered as two
different models to provide maximum DC voltage of either 60 or 100 V. Both models support up to 15 amps continuous current.
The Duo can operate 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 Duo can be easily set up and tuned using Elmo's Composer software tools. |
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| 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
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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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Dimensions |
150 x 25.4 x 105 mm (5.90" x 1.00" x 4.13")
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| Standard and Advanced Models |
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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 |
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| Downloads:
Product Drawings
Duo Documentation
SimplIQ Documentation
Application Notes
Software
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