Setting
up Compax3
Positioning via digital I/Os
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192-120101 N11 C3I11T11 November 2007
corresponds to the bandwidth of the current loop) describes the velocity of the
velocity loop (see below).
Jerk response of the velocity loop depending on the optimization paramter
"attenuation" and "stiffness"
Attenuation = 100%
Stiffness = 100%
2
3
4
1
5
6
7
1
1: Setpoint value
2: Actual value (stiffness = 200%)
3: Actual value (stiffness = 100%)
4: Actual value (stiffness = 50%)
5: Actual value (attenuation = 500%)
6: Actual value (attenuation = 100%)
7: Actual value (attenuation = 50%)
D-term
The D-term parameter ( of the velocity loop) activates existing control oscillations of
drives with elastic coupling (e.g. toothed belt drives). The D-term is not
automatically designed and must therefore be set manually.
Postition loop
The position controller is automatically adapted depending on the stiffness of the
velocity loop.
Controller coefficients
In this chapter you can read about:
Velocity Loop ”P” Term ....................................................................................................................149
D-term of the KD velocity controller .................................................................................................149
P-term KV position loop ...................................................................................................................149
Dependance of the controller coefficients from th optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
St
K
T
St
K
I
EGD
I
~
100
[%]
⇒
⋅
=
T
EGD
:
the replacement time constant of the closed velocity loop.
St Stiffness
