Parker Compax3 User Manual

Setting up Compax3
C3I12T11
212
192-120113 N08 C3I12T11 - December 2010
Advanced
In this chapter you can read about:
Extended cascade (structure variant 1) .......................................................................... 212
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 214
Optimization parameter Advanced ................................................................................. 216
EMC feedforward ........................................................................................................... 216
Motor parameters .......................................................................................................... 216
Filter "External Command Interface" .............................................................................. 216
Voltage decoupling ........................................................................................................ 217
Load control ................................................................................................................... 217
Luenberg observer ........................................................................................................ 217
Commutation settings of the automatic commutation ..................................................... 219
Notch filter ..................................................................................................................... 223
Saturation behavior ....................................................................................................... 225
Control measures for drives involving friction ................................................................. 226
Extended cascade (structure variant 1)
K
Px
K
Pv
T
T
f
f
B
d
K
p
,T
N
T T
f
f
B
d
1
i
mR
*
Synchronous
Motor
Asynchronous
Motor
K
I
682.7
2010.2
2010
.20
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
688.13
2010.5
2010.4
2100.2
2100.10
2100.20 2100.10
2100.3
2100.4
2100.8
2150.1-.6
2100.9
2010.1
2100.20
NotchFilter
2220.4
2220.1
2220.3
2210
.19
2210.14 2220.2
2210.1
2210.2
T T
2100.112100.21
682.5
2120.1>125 µs
2120.1<125 µs
2120.1<125 µs
2120.1>125 µs
681.5
Beobachter
Observer
Istwerterfassung
Actual Value Monitoring
K
Pv
2100.7
t
t
t
a‘
t
a
v
p
Demand acceleration
Demand jerk
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
Manual or external
demant Velocity
Manual or external
demant current
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
The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2

Parker Compax3 Specifications

General

Protection Class	IP20
Control Modes	Torque, Speed, Position
Feedback Options	Incremental encoder, Absolute encoder, Resolver
Communication Interfaces	CANopen, EtherCAT, Profinet
Safety Features	STO (Safe Torque Off), SS1 (Safe Stop 1), SOS (Safe Operating Stop)
Input Voltage	200-480 VAC
Relative Humidity	5% to 85% (non-condensing)
Shock Resistance	According to EN 60068-2-27
Operating Temperature	0°C to +40°C