Parker EME
Introduction
192-120101 N11 C3I11T11 November 2007
5
4.
Setting up Compax3...............................................................................75
4.1
Configuration ......................................................................................... 75
4.1.1.
Test commissioning of a Compax3 axis ........................................................... 77
4.1.2.
Selection of the supply voltage used ................................................................ 77
4.1.3.
Motor Selection.................................................................................................... 77
4.1.4.
Optimize motor reference point and switching frequency of the
motor current ....................................................................................................... 78
4.1.5.
Braking Resistor .................................................................................................. 81
4.1.6.
General Drive ....................................................................................................... 82
4.1.7.
Defining the reference system ........................................................................... 82
4.1.7.1
Measure reference.................................................................................... 83
4.1.7.2
Machine reference modes (MN-Ms) ......................................................... 86
4.1.7.3
Adjusting the machine zero proximity switch ............................................ 89
4.1.7.4
Debouncing the machine zero input (X12/14) .......................................... 89
4.1.7.5
Software end limits.................................................................................... 90
4.1.8.
Defining jerk / ramps ........................................................................................... 91
4.1.8.1
Jerk limitation ............................................................................................ 91
4.1.8.2
Ramp upon error / deenergize................................................................. 92
4.1.9.
Limit and Monitoring Settings ............................................................................ 93
4.1.9.1
Current (Torque) Limit............................................................................... 93
4.1.9.2
Positioning window - Position reached ................................................... 93
4.1.9.3
Following error limit................................................................................... 95
4.1.9.4
Maximum operating speed ....................................................................... 95
4.1.10.
Encoder Simulation ............................................................................................. 96
4.1.11.
Positioning ........................................................................................................... 96
4.1.11.1
Operating modes ...................................................................................... 97
4.1.11.2
Define positioning data records ................................................................ 101
4.1.11.3
Dynamic positioning.................................................................................. 103
4.1.12.
Error response ..................................................................................................... 104
4.1.13.
Configuration name / comments........................................................................ 104
4.2
Test commissioning Compax3 ........................................................... 105
4.3
Device status........................................................................................ 107
4.4
Optimization ......................................................................................... 108
4.4.1.
Optimization window........................................................................................... 109
4.4.2.
Scope .................................................................................................................... 110
4.4.2.1
Monitor information ................................................................................... 111
4.4.2.2
User interface............................................................................................ 112
4.4.2.3
Example: Setting the Oscilloscope ........................................................... 117
4.4.3.
Controller optimization ....................................................................................... 119
4.4.3.1
Introduction ............................................................................................... 119
4.4.3.2
Configuration............................................................................................. 122
4.4.3.3
Automatic controller design ...................................................................... 137
4.4.3.4
Setup and optimization of the control ....................................................... 150
4.4.4.
Signal filtering with external command value .................................................. 184
4.4.5.
Input simulation ................................................................................................... 185
4.4.5.1
Calling up the input simulation.................................................................. 185
4.4.5.2
Functionality.............................................................................................. 186
4.4.6.
Setup mode .......................................................................................................... 187
4.4.6.1
Motion objects in Compax3 ...................................................................... 188
4.4.6.2
Commissioning the load control................................................................ 189
