Response - Parker Compax3 Series Operating Instructions Manual

Parker EME
Characteristics of a control loop setpoint response
1
V
m
2
T
Sr
T
S
T : Response time. (Time elapsing until the control variable reaches one of the
Sr
+-5% tolerance limits for the first time)
T : Settling time. (Time elapsing until the control variable ultimately enters the +-
S
5% range)
V : maximum overshoot width
m
1 Tolerance range +-5%
2 Setpoint value

response

The response of the controller is the behavior of the actual value with respect to the
calculated profile of the setpoint generator. the kinematic status variables, speed,
acceleration and jerk are fed into the cascade as feedforward signals. The feedfor-
ward signals work with calculated factors and contribute to an improved contour
constancy due to the minimization of the following error.
Compax3 servo controller structure
Setpoint generator
r
t
a
t
t
v
s
t
Setpoint position
Speed
Acceleration
Deceleration
Acceleration jerk
Deceleration jerk
x: Position actual value
x : Setpoint position value
w
a : Acceleration setpoint value
w
192-120114 N5 C3I22T11 June 2008
j w
a w
Feed Foward Control
n w
Vorsteuerung
a w , n w
x w
P-Position Controller
P-Positionsregler
n: Actual (rotational) speed
n : Velocity setpoint value
w
Setting up Compax3
i w , j w
PID-Speed Controller PI-Current Controller
PID-Drehzahlregler PI-Stromregler
i
Signal Acquistion
n
Signalerfassung
x
i: Actual current
value
j : Jerk setpoint value
w
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