Setting
up Compax3
Positioning via digital I/Os
160
192-120101 N11 C3I11T11 November 2007
Extended cascade structure (structure variant 2 with disturbance variable
observer)
Actual value monitoring
6
8
8
.1
3
J
er
k
s
et
p
o
int
g
e
n
e
rat
or
v
al
ue
6
8
2
.4
T
ar
g
e
t
A
c
c
el
er
at
io
n
of
s
et
p
o
int
g
e
n
e
rat
or
68
1
.4
T
a
rge
t
S
p
e
ed
o
f
s
e
tp
o
int
g
e
n
e
ra
tor
68
0
.4
T
a
rge
t
P
o
s
it
io
n
68
1
.1
1
Sp
e
e
d
f
e
ed
-f
o
rw
a
rd
6
8
8
.1
4
Cu
rr
e
n
t
&
je
rk
f
e
e
d
-f
o
rwa
rd
RM
S
68
0
.6
P
o
s
it
ion
T
rac
k
in
g
er
ror
6
8
1
.1
0
Setp
o
in
t
Sp
e
e
d
68
0
.5
A
c
tua
l
P
o
s
it
io
n
6
8
1
.6
S
pe
ed
T
rac
k
in
g
er
ror
68
8
.1
8
T
a
rg
e
t
R
M
S
mo
to
r
c
u
rr
e
n
t
(t
or
q
u
e
-pr
o
d
u
c
ing
)
2
0
1
0
.5
J
e
rk
f
e
e
d
-f
o
rwa
rd
20
1
0
.4
C
u
rr
en
t f
ee
d
-f
o
rw
a
rd
2
0
1
0
.1
V
e
lo
c
it
y
f
e
e
d
-f
o
rwa
rd
2
1
0
0
.7
V
e
lo
c
ity
lo
o
p
–
"D
"
te
rm
21
0
0
.8
C
u
rr
e
n
t
loop
–
Ba
n
d
w
idth
21
0
0
.9
C
u
rr
e
n
t
loop
–
Da
m
p
in
g
21
0
0
.2
S
ti
ff
ne
s
s
21
0
0
.3
D
a
m
p
in
g
2
1
0
0
.4
Mo
me
n
t
o
f I
n
e
rt
ia
S
e
tp
o
in
t
g
e
n
e
ra
to
r
O
b
serve
r
Ob
s
e
rv
e
r
o
ff
:
2
1
2
0
.1
<1
2
5
µ
s
O
b
se
rv
e
r
o
n
:
2
12
0
.1
>=
1
2
5
µ
s
21
0
0
.11
F
il
te
r
2
-
A
c
tua
l
ac
c
e
le
ra
ti
o
n
210
0
.21
F
il
te
r
-
A
c
tua
l
ac
c
el
e
ra
ti
on
68
8
.1
9
A
c
tu
a
l
R
M
S
m
o
to
r
c
u
rr
e
n
t
(t
o
rq
u
e
-p
ro
d
u
c
in
g
)
68
1
.5
A
c
tua
l
s
p
ee
d
(u
n
fi
lt
e
re
d
v
a
lu
e
)
68
2
.6
A
c
tua
l
A
c
c
e
le
ra
ti
o
n
6
8
2
.5
A
c
tu
a
l
A
c
c
el
er
at
io
n
(u
n
fi
lt
er
e
d
v
al
ue
)
21
5
0
.1
-2
15
0
.6
2x
N
o
tc
h
F
il
te
r
221
0
.17
R
e
s
po
n
s
e
t
im
e
o
f
the
v
e
lo
c
it
y
loo
p
212
0
.5
F
il
te
r
-
O
b
s
e
rv
ed
di
s
tur
b
a
n
c
e
6
8
8
.11
C
u
rr
en
t
c
on
tr
o
l
ac
tu
a
ti
n
g
s
ig
n
a
l
201
0
.20
E
M
F
f
e
e
d
-f
o
rw
a
rd
2
1
0
0
.2
0
F
il
te
r
-
a
c
tu
ati
n
g
s
ig
n
a
l
(v
el
oc
it
y
c
o
n
tr
ol
ler
)
21
0
0
.10
F
il
te
r
2
–
ac
tu
a
ti
n
g
s
ig
n
a
l
(v
el
o
c
it
y
c
o
n
tr
ol
ler
)
6
8
1
.9
A
c
tua
l
S
pe
e
d
Vv
K
pv
K
Kp
,
T
N
Vi
K
Vj
K
Px
K
D
K
-
-
-
-
f
f
B
d
f
f
B
d
T
VE
K
T
T
pv
K
T
T
T
T
