Parker Compax3 I10T10 - Page 132

Setting up Compax3
C3I10T10
132
192-120100 N16 C3I10T10 - December 2010
Controller structures
Controller structure step/direction or encoder input
In this chapter you can read about:
........................................................ 132
±10V analog speed setpoint .......................................................................................... 133
±10V analog current setpoint ......................................................................................... 134
K
Px
K
Pv
T
K
p
,T
N
T
1
i
mR
*
Synchronous
Motor
Asynchronous
Motor
K
I
682.7
2010.2
688.19
682.6
688.14
681.6
680.6
681.9
681.10
680.4
681.11
681.4
682.4
688.18
688.11
2010.4
2100.2
2100.20
2100.3
2100.4
2100.8
2100.9
2010.1
2100.20
2220.4
2220.1
2210.1
2210.2
T
2100.21
682.5
681.5
Istwerterfassung
Actual Value Monitoring
K
Pv
2100.7
T
T
2011.5
2011.4
T
T
Demand acceleration
External Signale 
Monitoring
Demand Velocity
Demand position
Velocity 
feedforward
Demand
velocity
Following error
actual velocity
filtered
Control deviation
of velocity
Acceleration feedforward
Feedforwaed
current & jerk
demand 
current r.m.s.
Voltage control 
signal
Actual acceleration 
filtered
Demand
velocity
actual 
velocity
Velocity controller
Stiffness
Damping
Inertia
Current Controller
Bandwidth
Attenuation
Actual current r.m.s.
(torque producing)
Actual velocity
unfiltered
Actual acceleration 
unfiltered
Controller structure step/direction or encoder input