Parker Compax3 Series User Manual

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

Parker Compax3 Series Specifications

General

Enclosure Rating	IP20
Control Modes	Speed, Torque, Position
Communication Interfaces	CANopen, EtherCAT
Feedback Options	Incremental Encoder, Resolver
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature, Short Circuit
Cooling Method	Forced Air, Natural Convection
Relative Humidity	5 to 85 %, non-condensing
Operating Temperature	0 to +45 °C (derating may apply above 40°C)