Parker EME
Setting up Compax3
192-120101 N11 C3I11T11 November 2007
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Other
During the sequence (time according to parameterization>>1s) the automatic
commutation is externally visualized by a LED blinking code (green permanent
and red blinking).
Device errors will lead to an abort of the automatic commutation.
During automatic commutation, no motion commands are accepted.
The controller cascade entirely deactivated during automatic commutation, with
the exception of the current loop.
In multi-axis applications, the axes to be automatically commutated must be
awaited (output of the MC_Power block must deliver "True")!
The automatic commutation is only started if the drive is at standstill.
After the occurring and achnowledgement of a feedback error or a configuration
change of the feedback system, the automatic commutation must be performed
again, as it might be that the position entrainment in the servo controller is
interrupted (commutation information is lost).
Notch filter
In this chapter you can read about:
Effect of the notch filter ....................................................................................................................169
Wrongly set notch filter ....................................................................................................................169
Frequency response of the notch filter. ...........................................................................................170
Parameterization by 3 objects. ........................................................................................................170
Notch filters are small-band band elimination filters which slope in a wedge form
towards the center frequency. The attenuation of this center frequency is extremely
high in most cases. With the aid of the notch filters it is possible to purposefully
eliminate the effects of mechanical resonance frequencies. With this, the
mechanical resonance point is not activated itself, but the excitation of this point of
resonance is avoided by the control.
Effect of the notch filter
Resonance Notch
filter
Result
As can be seen in the figure, the notch filter is only useful in cases where the set
frequency of the notch filter is exacly the same as the disturbing frequency. The
notch filter as well as the resonance point are very narrowband. If the resonance
point does only minimally change (e.g. by changing the masses involved), it is not
sufficiently activated by the notch filter.
Wrongly set notch filter
In the Compax3, two notch filters which are independent of each other are
implemented.
