Advanced - 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
212

Advanced

In this chapter you can read about:
Extended cascade (structure variant 1) .......................................................................... 212
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 214
Optimization parameter Advanced ................................................................................. 216
EMC feedforward ........................................................................................................... 216
Motor parameters .......................................................................................................... 216
Filter "External Command Interface" .............................................................................. 216
Voltage decoupling ........................................................................................................ 217
Load control ................................................................................................................... 217
Luenberg observer ........................................................................................................ 217
Commutation settings of the automatic commutation ..................................................... 219
Notch filter ..................................................................................................................... 223
Saturation behavior ....................................................................................................... 225
Control measures for drives involving friction ................................................................. 226
Extended cascade (structure variant 1)
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
T
of velocity
2100.10
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
192-120113 N08 C3I12T11 - December 2010
Manual or external
2220.2
demant current
2220.3
688.14
Feedforwaed
Stiffness
current & jerk
2220.1
Damping
Inertia
688.18
T
2100.10
demand 
T
2100.20
current r.m.s.
Synchronous
K Motor
Pv
2100.7
682.6
Actual acceleration 
T
filtered
2100.21 2100.11
Current Controller
2150.1-.6
2100.8
Bandwidth
2100.9
Attenuation
NotchFilter
K ,T
p N
f
B
f
B
d
d
f
f
688.19
Asynchronous
Actual current r.m.s.
Motor
(torque producing)
1 i *
mR
Beobachter
T
Observer
2120.1>125 µs
Actual acceleration 
682.5
2120.1<125 µs
unfiltered
2120.1>125 µs
Actual velocity
681.5
2120.1<125 µs
unfiltered
C3I12T11
2010
.20
688.11
Voltage control 
signal
2220.4