Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
143
Characteristics of a control loop setpoint response
2
1
T
Sr
T
S
V
m
T
Sr
:
Response time. (Time elapsing until the control variable reaches one of the
+-5% tolerance limits for the first time)
T
S
:
Settling time. (Time elapsing until the control variable ultimately enters the +-
5% range)
V
m
:
maximum overshoot width
1
Tolerance range +-5%
2 Setpoint
value
response
The response of the controller is the behavior of the actual value with respect to the
calculated profile of the setpoint generator. the kinematic status variables, speed,
acceleration and jerk are fed into the cascade as feedforward signals. The
feedforward signals work with calculated factors and contribute to an improved
contour constancy due to the minimization of the following error.
Compax3 servo controller structure
Feed Foward Control
Vorsteuerung
PI-Current Controller
PI-Stromregler
Signal Acquistion
Signalerfassung
t
s
v
t
a
t
r
t
Setpoint generator
Setpoint position
Speed
Acceleration
Deceleration
Acceleration jerk
Deceleration jerk
aw, nw
iw, jw
x
n
i
P-Position Controller
P-Positionsregler
PID-Speed Controller
PID-Drehzahlregler
aw
nw
xw
jw
x:
Position actual value
n:
Actual (rotational) speed
i:
Actual current
value
x
w
:
Setpoint position value
n
w
: Velocity
setpoint
value
j
w
:
Jerk setpoint value
a
w
:
Acceleration setpoint value
