Index
C3I20T11 / C3I32T11
424
192-120103 N13 C3I20T11 / C3I32T11 December 2010
D-term • 199
D-term of the KD velocity controller • 200
Dynamic positioning • 150
Dynamic stiffness • 196
Dynamics of a control • 188
E
EAM06
Terminal block for inputs and outputs • 392
Effect of the notch filter • 218
Electronic gearbox (Gearing) • 148
Electronic simulation of a disturbance torque
jerk with the disturbance current jerk • 197
EMC feedforward • 211
EMC measures • 362
Emergency stop and protective door
monitoring without external safety switching
device. • 98
Encoder A/B 5V, step/direction or SSI
feedback as signal source • 152
Encoder bypass with Feedback module F12
(for direct drives) • 138
Encoder cable • 375
Encoder coupling of 2 Compax3 axes • 397
Encoder simulation • 138
EnDat cable • 373
Error • 353
Position difference between load mounted and
motor feedback too high • 158
Error list • 353
Error Reaction on Bus Failure • 311
Error response • 149
ETHERNET-RS485 NetCOM 113 adapter •
291
Example
Changing the stiffness • 331
Electronic gearbox with position detection via
encoder • 152
Setting the Oscilloscope • 167
Example 1
Reg comes after the reg restriction window •
144
Example 2
Reg within the reg restriction window • 145
Example 3
Reg is missing or comes after termination of
the RegSearch motion set • 145
Example 4
Reg comes before the reg restriction window •
146
Example 5
The registration mark comes after the reg
restriction window, registration mark can,
however, not be reached without direction
reversal • 147
Examples are available as a movie in the help
file • 281
Examples in the help file • 141
Excitation Signal • 257
Extended cascade (structure variant 1) • 208
Extended cascade structure (structure variant
2 with disturbance variable observer) • 209
External braking resistors • 376
External Moment of Inertia • 183
external position correction • 156
External setpoint generation • 224
F
Feedback error compensation • 176
Feedforward channels • 205
Ferrite • 34
Filter • 211
Fixed point format C4_3 • 350
Fixed point format E2_6 • 349
Flow chart controller optimization of a direct
drive • 231
Following Error (Position Error) • 181
Following error limit • 137
Frequency filter 1 (O2150.1) / frequency filter 2
(O2150.4) • 219
Frequency response of the notch filter. • 219
Frequency response of the P-TE component
(value and phase) • 192
Frequency settings • 265
Friction compensation • 222
Front connector • 42
Function description
Direct positioning • 322
Positioning with set selection • 326
Function of the Bus LEDs (Profibus I20) • 64
Function of the Bus LEDs (Profinet I32) • 65
Function principle of the automatic
commutation with movement • 216
Functionality of the measurement • 251, 254
G
Gain alignment • 242
General Description • 79
General drive • 108
General hazards • 16
General layout of the table • 328
GSD - File • 27
H
Hardware end limits • 131
HEDA (motion bus) - Option M11 • 400
Homing modes with home switch (on X12/14) •
117
I
I/O Assignment • 139
I/O interface X12 / X22 • 396
I²t - monitoring of the motor • 177
Ignore zone (example) • 141
Important terms and explanations • 79
Increased following error • 175
Influence of the feedforward measures • 205
Input simulation • 235
Input wiring of digital inputs • 400
Input/output option M12 • 399
Inputs / Outputs CW, SW • 140
Instable behavior • 176
Installation • 246
