Parker Compax3 Series User Manual

Setting up Compax3 C3I22T11
272 192-120114 N5 C3I22T11 June 2008
use:
For the graphic design of the velocity control.
Compliance of velocity control
Shows the dynamic disturbance value behavior of the velocity control.
=> which dynamic influence does a disturbance torque have on the control devia-
tion of the velocity control.
The disturbance toque is injected as disturbance current => this corresponds to
the effect of a disturbance torque f
current controlled
system
position
controlled
system
actual current
actual velocity
actual
position
actual position
desired
position
Position
controller
Velocity
controller
Current
controller
TeM
Frequency
response
measurement
Signal
generator
---
f: disturbance torque
Kt
2*Pi*J
1
velocity controlled
system
Signal Generator Signal Generator
Position controller
actual position Actual position value
desired position
Velocity controller Geschwindigkeitsregler
actual velocity Actual speed value
Current controller
actual current Actual current value
current controlled system Current controlled system
disturbance torque Disturbance torque
velocity controlled system Speed controlled system
position controlled system Position controlled system
Frequency response measurement Frequency response measurement
Application:
 Verification of the disturbance value behavior of the velocity control
 Which velocity deviation generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
 The frequency response of the compliance corresponds to the disturbance step
response in the time range

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)