Setting
up Compax3
Positioning via digital I/Os
156
192-120101 N11 C3I11T11 November 2007
Velocity,acceleration and current feedforward
Velocity,acceleration , current and jerk feedforward
Control signal filter / filter of actual acceleration value
The filters in the Compax3 firmwar are implemented as P-T1 filters (first order
delay component see chapter 0)
The two "control signal filter (velocity loop)" (Object 2100.20) and "acceleration
value filter" (Object 2100.21) are set in µs. The value range for these filters is 63...
8 300 000µs. Depending on the replacement time consant of the closed velocity
loop, we can make recommendations for the setting.
Setting recommendation for "control signal filter (velocity loop)":
O2100.20 = O2210.17[µs] / 5
for O2210.17
≥
10 000µs
O2100.20 = O2210.17[µs] / 3 - 1333µs
for 4000µs
≥
O2210.17 < 10 000
O2210.20 = 0
for O2210.17 < 4000µs
O2210.17: Object recplacement time constant of the velocity loop in µs.
O2100.20: Object control signal filter (velocity loop) in µs.
It cannot be excluded that the filter may have a destabilizing effect even though set
according to the above recommendation. In this case the filter time constant must
be reduced.
Please note!
