Setting
up Compax3
C3I20T11 / C3I32T11
156
192-120103 N13 C3I20T11 / C3I32T11 December 2010
4.3
Load control
In this chapter you can read about:
Configuration of load control .......................................................................................... 157
Error: Position difference between load mounted and motor feedback too high ............. 158
Load control signal image .............................................................................................. 158
The load control can be activated via an additional feedback system for the
acquisition of the actual position of the load.
This helps for example compensate the slip between material and roller or non-
linearities of the mechanic parts.
The load position is set to the demand position.
Please note:
This function is not available in the C3I10T10 and C3I11T11 devices.
As a sensor signal,
Encoder
(see on page 420) with A/B track, Step/Direction
signal or SSI - sensor is supported.
This controller structure improves the stationary precision at the load after the
decay of all control movements.
An increase of the dynamic precision (faster transient response) can in general
not be reached with the "load control" structure variant.
Notes on the SSI sensor
With Multiturn: Number of sensor rotations with absolute reference
Word length: Gives the telegram length of the sensor.
Baud rate/step: Max. transmission rate of the path measurement system.
Gray code: Sensor gray code coded yes/no (if no binary coded).
Note:
The absolute position is not evaluated!
It is available in the objects 680.24 (load position) and 680.25 (master position)
(C3T30, C3T40).
General requirements for supported SSI feedbacks
Baud rate: 350k ... 5MBaud
Word length: 8 ... 32 Bit
Binary or gray code (start value = 0)
Initialization time after PowerOn: < 1.1s
Signal layout:
The most significant bit must be transmitted the first!
Caution!
Feedback systems, transmitting data containing error or status bits are
not supported!
Examples of supported SSI feedback systems:
IVO / GA241 SSI;
Thalheim / ATD 6S A 4 Y1;
Hübner Berlin / AMG75;
Stegmann / ATM60 & ATM90;
Inducoder / SingleTurn: EAS57 & Multiturn: EAMS57
