Index
Positioning via digital I/Os
310
192-120101 N11 C3I11T11 November 2007
Connector and pin assignment • 37
Connector and pin assignment C3S • 24
Control measures for drives iinvolving friction •
172
Control path • 122
Control signal filter / filter of actual acceleration
value • 156
Control signal limitations • 152
Control voltage 24 VDC • 26
Control voltage 24 VDC C3H • 49
Control voltage 24VDC / enable connector X4
C3S • 26
Control voltage 24VDC Compax3MP (mains
module) • 39
Controller coefficients • 148
Controller optimization • 119
Controller optimization Advanced • 181
Controller optimization disturbance and setpint
behavior (advanced) • 180
Controller optimization disturbance and setpint
behavior (standard) • 177
Controller optimization guiding transmission
behavior • 183
Controller optimization of toothed belt drive •
179
Controller optimization standard • 178
Correlation between the terms introduced •
147
Course of the automatic commutation function
• 166
Current (Torque) Limit • 93
Current control • 213
Current jerk response • 171
Current jerk response with the activated
saturation characteristic line • 171
Current on the mains PE (leakage current) • 19
D
D/A-Monitor • 242
Deadband following error • 172
Debouncing the machine zero input (X12/14) •
89
Define positioning data records • 101
Defining jerk / ramps • 91
Defining the reference system • 82
Demand behavior • 142
Depth filter 1 (O2150.3) / depth filter 2
(O2150.6) • 171
Description • 73
Device assignment • 9
Device status • 107
Devices with the • 69
Digital Inputs/Outputs • 59
Digital inputs/outputs (plug X12) • 58
Dimensions of the braking resistors • 278
Direct drives • 251
Dispaly of the measurement point at the cursor
position • 222
Display of the commutation error in
incremental feedback systems • 165
Display of the measurement result • 221
Distinction between signals and systems • 223
Disturbance behavior • 142
Disturbance jerk response • 146
D-term • 148
D-term of the KD velocity controller • 149
Dynamic positioning • 103
Dynamic stiffness • 145
Dynamics of a control • 137
E
EAM06
Terminal block for inputs and outputs • 285
Effect of the notch filter • 169
Electronic simulation of a disturbance torque
jerk with the disturbance current jerk • 146
EMC feedforward • 162
EMC measures • 253
Encoder cable • 267
Encoder coupling of 2 Compax3 axes • 293
Encoder Simulation • 96
EnDat cable • 262
Error • 243
Error list • 243
Error response • 104
Example
Setting the Oscilloscope • 117
Examples are available as a movie in the help
file • 228
Examples in the help file • 101
Excitation Signal • 207
Extended cascade (structure variant 1) • 158
Extended cascade structure (structure variant
2 with disturbance variable observer) • 160
External braking resistors • 268
External Moment of Inertia • 135
External setpoint generation • 175
F
Feedback error compensation • 127
Feedback systems for direct drives • 251
Feedforward channels • 154
Ferrite • 27
Filter • 162
Flow chart controller optimization of a direct
drive • 182
Following Error (Position Error) • 133
Following error limit • 95
Frequency filter 1 (O2150.1) / frequency filter 2
(O2150.4) • 170
Frequency response of the notch filter. • 170
Frequency response of the P-TE component
(value and phase) • 141
Frequency settings • 215
Friction compensation • 173
Front connector • 34
Function principle of the automatic
commutation with movement • 166
Functionality • 186
Functionality of the measurement • 201, 204
G
Gain alignment • 193
General Drive • 82
