Parker Compax3S025V2, Operating Instructions Manual

Page: 158 / 314

Setting up Compax3 Positioning via digital I/Os
158
192-120101 N11 C3I11T11 November 2007
Extended cascade (structure variant 1)
K
I
Vv
K
pv
K
Kp
,
T
N
Vi
K
Vj
K
Px
K
D
K
-
-
-
-
-
T
f f
B
d
f f
B
d
VE
K
pv
K
T
T
T
T
T
Va
K
Actual value monitoring
6
8
8
.13
J
e
rk
s
e
tp
o
in
t
ge
ne
ra
to
r
v
a
lu
e
6
8
2
.4
T
ar
g
e
t
A
c
c
el
e
rati
o
n
of
s
etp
o
in
t
g
e
n
e
rato
r
68
1
.4
T
a
rge
t
S
pee
d
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
6
8
1
.11
S
p
eed
fe
e
d
-f
o
rw
a
rd
6
8
2
.7
A
c
c
el
e
rat
io
n
fe
e
d
-f
or
w
ar
d
68
8
.1
4
C
u
rr
e
n
t
&
je
rk
f
e
e
d
-
fo
rw
a
rd
R
M
S
68
0
.6
P
o
s
it
io
n
T
rac
k
in
g
er
r
or
68
1
.10
S
e
tpo
in
t
S
p
ee
d
68
0
.5
A
c
tua
l
P
o
s
it
io
n
6
8
1
.6
S
pe
ed
Tr
a
c
k
in
g
e
rr
o
r
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
)
68
8
.11
Cu
rr
e
n
t
c
o
n
tr
o
l
a
c
tu
a
tin
g
s
ig
n
a
l
2
0
1
0
.5
J
e
rk
f
e
e
d
-f
o
rw
a
rd
20
1
0
.4
Cu
rr
e
n
t f
e
e
d
-f
o
rwa
rd
2
0
1
0
.2
A
c
c
el
er
at
io
n
f
e
e
d
-f
or
w
ar
d
20
1
0
.1
V
e
lo
c
it
y
f
ee
d
-f
o
rw
a
rd
2
1
0
0
.7
V
e
lo
c
ity
lo
o
p
-
"D
"
te
rm
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
ge
ne
ra
to
r
Ob
s
e
rv
e
r
O
b
se
rve
r
o
ff
:
212
0
.1
<1
2
5
µ
s
O
b
se
rve
r
o
n
:
2
12
0
.1
>=
1
2
5
µ
s
210
0
.11
F
il
te
r
-
a
c
tua
ti
ng
s
ign
a
l
(v
e
loc
it
y
c
o
n
tr
ol
ler
)
210
0
.2
1
F
il
te
r
-
A
c
tua
l
ac
c
el
e
rati
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
eed
(u
n
fi
lt
e
re
d
v
a
lu
e
)
6
8
2
.6
A
c
tu
a
l
A
c
c
el
er
ati
o
n
68
2
.5
A
c
tua
l
A
c
c
e
le
ra
ti
on
(u
n
fi
lt
e
re
d
v
a
lu
e
)
2
15
0
.1
-215
0
.6
2x
N
ot
c
hF
il
te
r
2
2
1
0
.1
7
R
es
p
o
n
s
e t
im
e
of
t
h
e
v
e
loc
it
y
lo
o
p
2
0
1
0
.2
0
E
M
F
f
e
e
d
-f
o
rw
a
rd
21
0
0
.20
F
il
te
r
–
a
c
tu
a
tin
g
s
ig
n
a
l
(v
el
o
c
it
y
c
o
n
tr
ol
ler
)
2
1
0
0
.1
0
F
il
ter
2
–
a
c
tu
a
tin
g
s
ig
n
a
l
(v
e
loc
it
y
c
o
n
tr
ol
ler
)
68
1
.9
A
c
tua
l
S
p
ee
d
2
10
0
.8
C
u
rr
en
t
loo
p
-
Ba
n
d
wi
d
th
2
10
0
.9
C
u
rr
en
t
loo
p
-
Da
m
p
in
g