Parker Compax3 User Manual

Setting up Compax3
C3I12T11
270
192-120113 N08 C3I12T11 - December 2010
Signal generator Signal Generator
Position controller Lageregler
actual position Lageistwert
desired position Lagesollwert
Velocity controller Geschwindigkeitsregler
actual velocity Geschwindigkeitsistwert
Current controller Stromregler
actual current Stromistwert
current controlled system Stromregelstrecke
f: disturbance torque Störmoment
velocity controlled system Geschwindigkeitsregelstrecke
position controlled system Lageregelstrecke
Frequency response measurement Frequenzgangmessung
Application:
 For the graphic design of the position control.
Compliance of Position control
Shows the dynamic disturbance value behavior of the position control.
=> which dynamic influence does a disturbance torque have on the following error.
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 Lageregler
actual position Lageistwert
desired position Lagesollwert
Velocity controller Geschwindigkeitsregler
actual velocity Geschwindigkeitsistwert
Current controller Stromregler
actual current Stromistwert
current controlled system Stromregelstrecke
f: disturbance torque Störmoment
velocity controlled system Geschwindigkeitsregelstrecke
position controlled system Lageregelstrecke
Frequency response measurement Frequenzgangmessung
Application:
 Verification of the dynamic disturbance value behavior of the position control.
 Which following error 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 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