Specifications

192-040011 N18
COMPAX compact servo controller
Automation
6
Parker Hannifin GmbH
Electromechanical Division
COMPAX - modern control technology ...
Equipment technology for decentralised motion
tasks
COMPAX has access to all system-related parame-
ters, such as motor type, intermediate circuit voltage,
motor currents, external moment of inertias, output
stage temperature etc. Automatic control parameter
setting and the application of progressive control
concepts such as monitor control and adaptive con-
trol are only possible once these parameters have
been accessed. The information obtained by integra-
ting motion control and the entire control system into
one unit is used for fine tuning between closed loop
and open loop elements of the control system. This
leads to increased dynamic performance and greater
stability with reduced peak currents and torques. A
special signal processor uses a cycle time of 100 mi-
croseconds to ensure rapid closed loop control. As a
result, the drive unit has the best possible servo
characteristics with regard to dynamic performance,
stiffness and the peak torque available.
Fast and stable
is a perfect description of the guiding principle em-
ployed in all Parker Hannifin, Electromechanical Divi-
sion digital controllers. The intelligence of our con-
trollers avoids the costly and time-consuming prob-
lems often experienced when starting up and config-
uring a servo drive. Users will find that the experi-
ence and knowledge gained from 30 years of practi-
cal work in the drive control field have been imple-
mented in the hardware and software used in the
digital COMPAX servo controllers. Users no longer
need to have a lot of experience of control systems.
Modern methods, such as monitor and adaptive
closed loop control are used by Parker Hannifin,
Electromechanical Division to continue improving the
performance and options available on servo-control-
lers.
Automatic control parameter setting
All the data needed to set the controller, such as
external moments of inertia, motor type, transmission
ratio etc., is entered directly in the servo control unit.
The intelligent servo control unit automatically cal-
culates the optimum controller parameters. When
first activated, all control loops operate in a fast and
stable manner straight away. A large number of pa-
rameters no longer have to be compared using a
process intensive both in terms of time and practical
knowledge. The automatic control parameter setting
process considerably reduces the number of control-
ler parameters requiring setting.
At the most, only two unrelated optimisation para-
meters (damping / rigidity) still have to be adapted to
the relevant application.
Project planning and starting up a servo control
unit
- Motor type
- Gearing data
- Drive type
- Minimum mass
- Maximum mass
Positioning axis
fully functional
POWER ON
Assembly and
and motor
wiring of controller
Production of controller
Dimensioning of drive
Production of controller
Dimensioning of drive
POWER ON
Test run
axis fully
functional
control technology Conventional control technology
Drive data
Drive data
Data flow for
parametrization
Possibly:
Adjustment to meet
special needs by
optimizing parameters
- Attenuation
- Stiffness
Assembly and wiring
Connection of test
instruments of control-
ler and motor
Empirical adjustment
of control parameters
(P - I - D)
drive oscillates,
too soft,
not robust enough
Excessive
contouring errors
or drive oscillates,
too soft,
not robust enough
Test run
Conversion of travel incre-
ments to travel units
Empirical setting of
position controller
(P)
Automatic
parametrization
fast and stable
Digital closed loop control
Power, speed and position are controlled by
COMPAX in a totally digital manner. Digital signal
processors (DSPs) impressively satisfy the require-
ment for computing capacity needed for software al-
gorithms. The DSP is the technically highly devel-
oped, universal platform required to implement func-
tions such as nominal value generation, synchronisa-
tion, slip compensation, fine interpolation as well as
rapid motion programs. The digital signal processor
forms the "heart" and the "main switching unit" of
modern servo control units. Increasing computing
output and memory sizes ensure transparency for
future trends and further developments.
The Parker Hannifin, Electromechanical Division,
has been implementing the flexible access periphery
for over ten years using specific ASIC.
Today, DSP and ASIC provide the conceptual basis
for the most efficient solution in terms of control
quality and the most favoured solution in terms cost.
Other advantages of purely digital closed loop control:
• no analogue operating element, i.e. no drift.
• reproducible controller parameters, since these are
stored digitally.
• customer-specific modifications can be made to the
software
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