Parker Compax3 Series User Manual

Parker EME
Setting up Compax3
192-120114 N5 C3I22T11 June 2008 205
standard cascade structure
K
I
Va
K
pv
K
Kp, T
N
Vi
K
Vj
K
Px
K
D
K
T
-
-
-
--
T
pv
K
T
Vv
K
688
.
13 Jerk setpoint gener ator value
682 .4 Target Acceler ation of setpoint generator 681 .4 Target Speed of setpoint gener ator 680 .4 Target Position
681 .11 Feed -Forward
682.7 Acceleration feed-forward
688 .14 Curr ent & jerk feed -forward RMS
680 .6 Position Tracking err or
681 . 10 Target speed
680 .5 Actual Position
681 .6 Speed Tracking err or
681 .9 Actual Speed (filtered value )
682 .6 Actual Acceleration
688 . 18 Actual quadr ature m otor curr ent r .m .s.(torque -producing )
681 .5 Actual speed (unfiltered value )
682 .5 Actual Acceleration
688 .19 Actual quadrature m otor curr ent r .m .s.(torque -producing )
688 .11 Curr ent control
actuating signal
2010 .5 Jerk feed -forward
2010 .4 Current feed -forward
2010 .2 Acceleration feed -forward
2010
.1
Velocity feed -forward
2100.7 Velocity
loop - " D" term
2100 .2 Velocity loop Stiffness 2100 .3 Velocity loop Damping
2100 .21 Filter - Actual acceleration
2100 .20 Filter
- actuating signal
(velocity controller )
Setpoint generator
2210 .17 Response tim e of the velocity loop
2100 . 8 Curr ent loop Bandwi dth
681 .5 Actual speed (unfiltered value )
Actual value monitoring
2011 .5 Filter
external
acceleration
feedforward
2011 . 4 Filter
external speed
feedforward
External signale
monitoring
1
i
mR
*
Synchronous Motor Asynchronous Motor
. .
During external setpoint specification, please respect the structure images for elec-
tronic cams or gearboxes for
signal filtering with external setpoint specification
(see page 237) !

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)