Standard - Parker Compax3 Operating Instructions Manual

Setting up Compax3
Manual or external
2210.14
a'
demant Velocity
t
2210
.19
a
t
v
681.4
t
Demand Velocity
Velocity 
feedforward
681.11
2010.1
681.10
680.4
p
Demand position
K
t Px
2210.1
680.6
Following error
T
2100.20
681.9
actual velocity
filtered
Caution!
206

Standard

In this chapter you can read about:
Standard cascade structure ........................................................................................... 206
Standard optimization parameters ................................................................................. 207
Control signal limitations ................................................................................................ 207
Feedforward channels ................................................................................................... 209
Control signal filter / filter of actual acceleration value .................................................... 211
Standard cascade structure
2010.5
688.13
Demand jerk
2010.4
682.4
Demand acceleration
682.7
Acceleration feedforward
Velocity controller
2100.2
2010.2
2100.3
2100.4
Demand
velocity
K
I
K
Pv
Demand
681.6
velocity
Control deviation
of velocity
actual 
2210.2
velocity
The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2
Changing objects O100.1 and O100.2 may cause the control to be deactivated!
Protect dangerous areas!
External command value
During external setpoint specification, please respect the structure images for
electronic cams or gearboxes for signal filtering with external setpoint
specification (see on page 238) !
Complementary structure for load control (see on page 161).
Compax3 controller structures (see on page 206, see on page 212, see on page
214).
192-120113 N08 C3I12T11 - December 2010
Manual or external
2220.2
demant current
2220.3
688.14
Feedforwaed
Stiffness
current & jerk
Damping 2220.1
Inertia
688.18
demand 
T
2100.20
current r.m.s.
Synchronous
K Motor
Pv
2100.7
682.6
Actual acceleration 
T
filtered
2100.21
Current Controller
2100.8
Bandwidth
2100.9
Attenuation
K ,T
p N
688.19
Asynchronous
Actual current r.m.s.
Motor
(torque producing)
1 i *
mR
682.5 Actual acceleration 
unfiltered
Actual velocity
681.5
unfiltered
C3I12T11
688.11
Voltage control 
signal
2220.4