Parker Compax3 Series

Parker EME
Setting up Compax3
192-120114 N5 C3I22T11 June 2008 203
Velocity Loop ”P” Term
)( /~ ~
20
[%]14,030
[%]
100
100
[%]
100
[%]
DpfKEMKTmKStK
Dp
EMK
T
Tm
T
St
K
LINPVPVPV
N
EGD
PV
=∧∧⇒
⋅
+
⋅⋅⋅⋅
⋅
=
T
EGD
: the replacement time constant of the closed velocity loop.
T
N
: The mechanical integration time constant of the motor.
f
LIN
(): Linear function (straight) between attenuation and KPV
Tm Moment of Inertia
St Stiffness
Dp Attenuation
D-term of the KD velocity controller
DtermK
K
Dterm
K
D
DD
~
100
[%]
%100_
⇒
⋅=
KD_100%
:
The defined 100% coefficient
Dterm D-term
P-term KV position loop
[%])/1( [%]~
[%]14,030
20
100
[%]
DpfKStK
T
DpT
St
K
LINVV
X
EGD
V
=∧⇒
⋅
⋅+
⋅
⋅
=
T
EGD
: the replacement time constant of the closed velocity loop.
T
X
: The position integration time constant of the motor.
St Stiffness
Dp Attenuation
f
LIN
(): Linear function (straight) between 1/attenuation and KV