Parker EME Setting up Compax3192-121102 N04 June 2008 145Acceleration feedforward (advanced) Reduce acceleration feedforward (2010.24) at lowest speed until the followingerror is minimized. Check settings at 50% Vmax and reduce if needs be.Check settings at Vmax and reduce if needs beOptimization of pressure/Force ControllerIn this chapter you can read about:Activation of pressure / force control ............................................................................... 145Adapt control parameters ................................................................................................ 145Force feedforward............................................................................................................ 146Activation of pressure / force control Set all control parameters to 0 P-term (%N)main axis: Object 2250.13auxiliary axis: Object 2251.13 I-term (%N)main axis: Object 2250.14auxiliary axis: Object 2251.14 Internal and external window of I-term (N)internal window: Object 2250.15external window: Object 2220.16 KFv (speed feedback) (%s/mm)main axis: Object 2250.20auxiliary axis: Object 2050.9 Set force demand value and force gradient to expedient small values. The actual force should be smaller than the demand force.Adapt control parameters Increase P-term in small increments until the actual force is near the demandforce. Pressure or force should remain stable and not be subject to instability. P-term starts working at 0,0000001%/N Set window for I-term. The value for the outer window should be greater than the actual differencebetween demand force and actual force (697.1, 697.11). Value for the inner window should be set very small in order to equate demandforce and actual force. Positive limit of I-term to 100%Main axis: Object 2250.17, auxiliary axis: Object 2251.17Negative limit I-term to -100%Main axis: Object 2250.18, auxiliary axis: Set object 2251.18. Increase P-term in small increments until the actual force = demand force. Value should be held small in order to avoid strong overshoot. I-term starts working at 0.00013%/N. I-term is switching (only swiches on, if the actual force is within the windowdefined before). Increase speed feedback FKv slightly if necessary, this will reduce the errorbetween the demand force and the actual force while the force is built up. Theforce is built up faster, peaks can however be the result of increased values.
