Parker Compax3 I10T10 User Manual

Setting up Compax3
C3I10T10
130
192-120100 N16 C3I10T10 - December 2010
4.4.4.1 Velocity loop stiffness
Nominal value: 100%
The stiffness is proportional to the control loop speed.
Control action becomes faster. The control loop oscillates above a critical threshold
value. Set the stiffness with an adequate safety margin with respect to the
oscillation threshold value.
On increasing stiffness:
Control action becomes slower. This increases the tracking error. Current limiting
will be reached later.
On decreasing stiffness:
>100%
=100%
<100%
t
3
3
3
1
2
1: Setpoint value
2: Actual value
3: Rigidity
2100.2: Velocity loop stiffness
Unit: % Range: 10 ... 100 000 Standard value: 100%
The stiffness is proportional to the control loop speed.

Parker Compax3 I10T10 Specifications

General

Rated Current	10 A
Protection Class	IP20
Supply Voltage	200-480 VAC
Control Interface	EtherCAT, CANopen
Feedback Options	Resolver