Setting up Compax3 Positioning via digital I/Os122 192-120101 N11 C3I11T11 November 20074.4.3.2 ConfigurationIn this chapter you can read about:Control path .....................................................................................................................................122Motor parameters relevant for the control........................................................................................123Mass inertia .....................................................................................................................................123Nominal point data...........................................................................................................................123Saturation values .............................................................................................................................125Quality of different feedback systems..............................................................................................125Typical problems of a non optimized control ...................................................................................126Feedback error compensation .........................................................................................................127Commutation settings ......................................................................................................................129I²t - monitoring of the motor .............................................................................................................129Relevant appication parameters ......................................................................................................132Control pathFor the motors, the knowledge of the mathematical model is a prerequisite.Mathematically idealized model of the control path:R/1 TKTKπ2π21U: Cotrol voltageUEMC : electromagnetically generated voltage in the motorT: electric time constant of the motor windingL: Winding InductanceR: Winding ResistanceMA: Drive torque of the motorML: Load torqueMB: Acceleration torqueI: Actual current r.m.s. (torque-producing)K T : Torque constantJmot: Motor mass moment of inertiaJ ext: External mass moment of inertiaJ total: Total mass moment of inertiaa: Accelerationn: Velocity
