Parker EME Setting up Compax3192-120113 N08 C3I12T11 - December 2010 229Time function and power density spectrum of Compax3 setpoint generatorwith different jerk settingsPower density over the frequencyThe profile can be simply calculated and displayed for control purposes.External setpoint generationDuring external setpoint generation, the necessary feedforward signals arecalculated from the external setpoint with the aid of numerical differentiation andfinal filtering.For more detailed information on the external setpoint generation see device helpfor T11/T30/T40 devices in the "setup" chapter Compax3\\optimization\\controllerdynamics\\signal filtering at external setpoint specification"Test MoveIn order to evaluate the behavior of the drive, test movements can be defined. Forthis you jump into the parameter entry either with the aid of the “enter setup/testmovement parameters” or by selecting the parameter tab. Via the “setup settings”menu you access the settings for the desired test movement.The desired motion profile can be set via the parameters in the following window.Proceeding during controller optimizationIn this chapter you can read about:Main flow chart of the controller optimization ................................................................. 230Controller optimization disturbance and setpoint behavior (standard) ............................ 231Controller optimization disturbance and setpoint behavior (advanced) ........................... 234If the control behavior is not sufficient for the present application, an optimization isrequired. We recommend the following approach:Overview on the approach to setup + optimization At first, the disturbance and setpoint behavior of the velocity loop at standstill andat different displacement velocities is optimized (stiffness, attenuation, filter). After that, the necessary motion profiles are set via the setup tool and the desiredguiding behavior in the entire velocity range is set via the feedforward control(motion profiles, feedforward).Hint
