Page 1 DATASHEET PARKER HANNIFIN C3S025V2F12 I20 T11 M00 OTHER SYMBOLS: RGB ELEKTRONIKA AGACIAK CIACIEK SPÓŁKA JAWNA Jana Dlugosza 2-6 Street 51-162 Wrocław www.rgbelektronika.pl Poland biuro@rgbelektronika.pl +48 71 325 15 05 www.rgbautomatyka.pl www.rgbautomatyka.pl www.rgbelektronika.pl...
Page 2 YOUR PARTNER IN MAINTENANCE Repair this product with RGB ELEKTRONIKA ORDER A DIAGNOSIS LINEAR ENCODERS SYSTEMS INDUSTRIAL COMPUTERS ENCODERS CONTROLS SERVO AMPLIFIERS MOTORS MACHINES OUR SERVICES POWER SUPPLIERS OPERATOR SERVO PANELS DRIVERS At our premises in Wrocław, we have a fully equipped servicing facility. Here we perform all the repair works and test each later sold unit.
Page 3 Compax3 Electromechanical Automation Operating instructions Compax3 I12T11 Positioning via digital I/Os & Com port 192-120113 N08 C3I12T11 December 2010 Release R09-10 We reserve the right to make technical changes. 27.12.10 15:01 192-120113 N08 C3I12T11 - December 2010 The data correspond to the current status at the time of printing.
Page 4 Tel.: +44 (0)1202 606300 • Fax: +44 (0)1202 606301 E-mail: sales.automation@parker.com mailto:sales.automation@parker.com • Internet: www.parker-eme.com http://www.parker-eme.com Italy: Parker Hannifin S.p.A • SSD SBC • Electromechanical Automation • Via Gounod, 1 I-20092 Cinisello Balsamo (MI), Italy Tel.: +39 (0)2 66012459 • Fax: +39 (0)2 66012808 E-mail: sales.automation@parker.com mailto:sales.sbc@parker.com •...
Page 5: Table Of Contents
Supply networks ....................25 2. C3I12T11 Function overview ..............26 3. Compax3 device description ..............28 Meaning of the status LEDs - Compax3 axis controller ..... 28 Meaning of the status LEDs - PSUP (mains module) ......29 Connections of Compax3S ..............30 3.3.1.
Page 6 Digital inputs/outputs (plug X12) ..............66 3.8.3.1 Connection of the digital Outputs/Inputs ..........67 3.8.3.2 Logic proximity switch types ..............67 Installation and dimensions Compax3 ..........68 3.9.1. Mounting and dimensions Compax3S ............68 3.9.1.1 Mounting and dimensions Compax3S0xxV2 ........68 3.9.1.2...
Page 7 Maximum operating speed..............133 4.1.10. Operating mode / I/O assignment ..............134 4.1.10.1 I/O assignment for control via the Compax3 inputs/outputs ....134 4.1.10.2 I/O assignment, control word and status word with control via COM port..................... 135 192-120113 N08 C3I12T11 - December 2010...
Page 8 Signal filtering for external setpoint specification and electronic cam ..................... 239 4.4.5. Input simulation ..................... 240 4.4.5.1 Calling up the input simulation ............240 4.4.5.2 Operating Principle ................241 4.4.6. Setup mode ....................242 4.4.6.1 Motion objects in Compax3..............243 192-120113 N08 C3I12T11 - December 2010...
Page 9 Examples are available as a movie in the help file ......284 4.4.10. ProfileViewer for the optimization of the motion profile ......285 4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3 input values ..................285 4.4.10.2 Mode 2: Compax3 input values are deduced from times and maximum values .................
Page 10 5.7.3. Configuration of remote modem 2 ............... 315 5.7.4. Recommendations for preparing the modem operation ......316 6. Compax3 - Objects ................317 Object overview I12 T11 ..............317 Detailed object list ................320 7. Status values ..................321 D/A-Monitor ..................321 Status values ..................
Page 11 RS485 cable to Pop ..................364 10.8.3. I/O interface X12 / X22 ................... 365 10.8.4. Ref X11 ......................365 10.8.5. Encoder coupling of 2 Compax3 axes ............366 10.8.6. Modem cable SSK31 ..................367 192-120113 N08 C3I12T11 - December 2010...
Page 12 Introduction C3I12T11 10.9 Options M1x ..................368 10.9.1. Input/output option M12 ................368 10.9.1.1 Assignment of the X22 connector ............368 10.9.2. HEDA (motion bus) - Option M11 ..............369 10.9.3. Option M10 = HEDA (M11) & I/Os (M12) ............. 371 11.
Page 13: Introduction
Introduction Parker EME 1. Introduction In this chapter you can read about: Device assignment ......................11 Scope of delivery ......................12 Type specification plate ....................13 Packaging, transport, storage ..................14 Safety instructions ......................16 Warranty conditions ......................18 Conditions of utilization ....................19...
Page 14: Scope Of Delivery
C3I12T11 Scope of delivery The following items are furnished with the device: Manuals*  Installation manual (German, English, French)  Compax3 DVD  Startup Guide (German / English)  *Comprehensiveness of documentation depends on device type Device accessories  Device accessories for Compax3S Cable clamps in different sizes for large area shielding of the motor cable, the ...
Page 15: Type Specification Plate
Introduction Parker EME Type specification plate The present device type is defined by the type specification plate (on the housing): Compax3 - Type specification plate (example): Explanation: Type designation The complete order designation of the device (2, 5, 6, 9, 8).
Page 16: Packaging, Transport, Storage
Introduction C3I12T11 Packaging, transport, storage Packaging material and transport Caution! The packaging material is inflammable, if it is disposed of improperly by burning, lethal fumes may develop. The packaging material must be kept and reused in the case of a return shipment. Improper or faulty packaging may lead to transport damages.
Page 17 Introduction Parker EME Please note in the Forming the capacitors event of storage >1 year: Forming the capacitors only required with 400VAC axis controllers and PSUP mains module If the device was stored longer than one year, the intermediate capacitors must be...
Page 18: Safety Instructions
Introduction C3I12T11 Safety instructions In this chapter you can read about: General hazards ......................16 Safety-conscious working ....................16 Special safety instructions ....................17 1.5.1. General hazards General Hazards on Non-Compliance with the Safety Instructions The device described in this manual is designed in accordance with the latest technology and is safe in operation.
Page 19: Special Safety Instructions
Introduction Parker EME 1.5.3. Special safety instructions Check the correct association of the device and its documentation.  Never detach electrical connections while voltage is applied to them.  Safety devices must be provided to prevent human contact with moving or ...
Page 20: Warranty Conditions
Introduction C3I12T11 Please note in the event of storage >1 Forming the capacitors year: Forming the capacitors only required with 400VAC axis controllers and PSUP mains module If the device was stored longer than one year, the intermediate capacitors must be re-formed! Forming sequence: Remove all electric connections...
Page 21: Conditions Of Utilization
Introduction Parker EME Conditions of utilization In this chapter you can read about: Conditions of utilization for CE-conform operation ............19 Conditions of utilization for UL certification Compax3S ............ 22 Conditions of utilization for UL certification Compax3M ............ 23 Conditions of utilization for UL certification Compax3H ............ 24 Current on the mains PE (leakage current) ..............
Page 22: Conditions Of Utilization For Cables / Motor Filter
 Shielding connection of the motor cable The cable must be fully-screened and connected to the Compax3 housing. Use the cable clamps/shield connecting terminals furnished with the device. The shield of the cable must also be connected with the motor housing. The fixing (via plug or screw in the terminal box) depends on the motor type.
Page 23: Additional Conditions Of Utilization
We offer the mains filter as an accessory: LIR01/01  Accessories: Make sure to use only the accessories recommended by Parker Connect all cable shields at both ends, ensuring large contact areas! Warning: This is a product in the restricted sales distribution class according to EN 61800-3.
Page 24: Conditions Of Utilization For Ul Certification Compax3S
Introduction C3I12T11 1.7.2. Conditions of utilization for UL certification Compax3S UL certification for Compax3S conform to UL: according to UL508C  Certified E-File_No.: E235342  The UL certification is documented by a "UL" logo on the device (type specification plate). “UL”...
Page 25: Conditions Of Utilization For Ul Certification Compax3M
376) Maximum cross-section limited by the terminals mm / AWG  Line cross-sections of the power connections (on the device bottoms) Compax3 device: Cross-section: Minimum... Maximum [with conductor sleeve] M050, M100, M150 0.25 ... 4 mm (AWG: 23 ... 11) M300 0.5 ...
Page 26: Conditions Of Utilization For Ul Certification Compax3H
Introduction C3I12T11 1.7.4. Conditions of utilization for UL certification Compax3H UL certification for Compax3H Conform to UL: according to UL508C  Certified E-File_No.: E235342  The UL certification is documented by a "UL" logo on the device (type specification plate). “UL”...
Page 27: Current On The Mains Pe (Leakage Current)
Introduction Parker EME 1.7.5. Current on the mains PE (leakage current) Caution! This product can cause a direct current in the protective lead. If a residual current device (RCD) is used for protection in the event of direct or indirect contact, only a type B (all current sensitive) RCD is permitted on the current supply side of this product .
Page 28: C3I12T11 Function Overview
Compax3 devices. All connectors are located on the front of the Compax3S. Partly integrated mains filters permit connection of motor cables up to a certain length without requiring additional measures.
Page 29 The optional Operator control module (BDM01/01) (see on page 360) for Compax3S/F makes it possible to exchange devices quickly without requiring a Configuration Configuration is made with a PC with the help of the Compax3 ServoManager. General proceeding (see on page 99) 192-120113 N08 C3I12T11 - December 2010...
Page 30: Compax3 Device Description
C3I12T11 3. Compax3 device description In this chapter you can read about: Meaning of the status LEDs - Compax3 axis controller ............ 28 Meaning of the status LEDs - PSUP (mains module) ............29 Connections of Compax3S ....................30 Installation instructions Compax3M .................. 40 PSUP/Compax3M Connections ..................
Page 31: Meaning Of The Status Leds - Psup (Mains Module)
Compax3 device description Parker EME Meaning of the status LEDs - PSUP (mains module) PSUP Status LEDs Left LED (green) Right LED (red) Control voltage 24 VDC is missing Error of mains module* DC power voltage is built up flashes quickly...
Page 32: Connections Of Compax3S
Compax3 device description C3I12T11 Connections of Compax3S In this chapter you can read about: Compax3S connectors ....................30 Connector and pin assignment C3S................. 31 Control voltage 24VDC / enable connector X4 C3S ............33 Motor / Motor brake (C3S connector X3) ................. 34 Compax3Sxxx V2 ......................
Page 33: Connector And Pin Assignment C3S
Compax3 device description Parker EME Caution! When the control voltage is missing there is no indication whether or not high voltage supply is available. Attention - PE connection! PE connection with 10mm via a grounding screw at the bottom of the device.
Page 34 Compax3 device description C3I12T11 In detail: The fitting of the different plugs depends on the extension level of Compax3. In part, the assignment depends on the Compax3 option implemented. Compax3 1AC X20/1 X10/1 X10/1 X10/1 Power supply RS485 +5V RS485 +5V...
Page 35: Control Voltage 24Vdc / Enable Connector X4 C3S
Compax3 device description Parker EME 3.3.3. Control voltage 24VDC / enable connector X4 C3S Description +24V (supply) Line cross sections: Gnd24V minimum: 0.25mm Enable_in maximum: 2.5mm Enable_out_a (AWG: 24 ... 12) Enable_out_b Control voltage 24VDC Compax3S and Compax3H Controller type...
Page 36: Motor / Motor Brake (C3S Connector X3)
A motor output filter (see on page 336) is required for motor cables >20 m: Shielding connection of the motor cable The cable must be fully-screened and connected to the Compax3 housing. Use the cable clamps/shield connecting terminals furnished with the device.
Page 37: Compax3Sxxx V2
Compax3 device description Parker EME 3.3.5. Compax3Sxxx V2 In this chapter you can read about: Main voltage supply C3S connector X1 ................35 Braking resistor / high voltage DC C3S connector X2 ............. 36 3.3.5.1 Main voltage supply C3S connector X1...
Page 38: Braking Resistor / High Voltage Dc C3S Connector X2
3.3.5.2 Braking resistor / high voltage DC C3S connector X2 The energy generated during braking operation is absorbed by the Compax3 storage capacity. If this capacity is too small, the braking energy must be drained via a braking resistor.
Page 39 Compax3 device description Parker EME Braking resistor / high voltage supply plug X2 for 3AC 230VAC/240VAC devices Description + Braking resistor no short-circuit protection! - Braking resistor + DC high voltage supply - DC high voltage supply Braking operation Compax3S1xxV2 3AC...
Page 40: Compax3Sxxx V4
Compax3 device description C3I12T11 3.3.6. Compax3Sxxx V4 In this chapter you can read about: Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices ....... 38 Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices Connection of the power voltage of 2 C3S 3AC devices ..........39 3.3.6.1...
Page 41: Braking Resistor / High Voltage Supply Connector X2 For 3Ac 400Vac/480Vac_C3S Devices
Connection of the power voltage of 2 C3S 3AC devices Caution! The power voltage DC of the single phase Compax3 servo axes must not be connected! In order to improve the conditions during brake operation, the DC power voltage of 2 servo axes may be connected.
Page 42: Installation Instructions Compax3M
Compax3 device description C3I12T11 Installation instructions Compax3M General introductory notes Operation of the Compax3M multi-axis combination is only possible in connection  with a PSUP (mains module). Axis controllers are aligned at the right of the mains module.  Arrangement within the multi-axis combination sorted by power (with the same ...
Page 43 Compax3 device description Parker EME Order of installation Fixing the devices in the control cabinet.  Predrilling the mounting plate in the control cabinet according to the  specifications. Dimensions. Fit M5 screws loosely in the bores. Fit device on the upper screws and place on lower screw. Tighten screws of all ...
Page 44: Psup/Compax3M Connections
Compax3 device description C3I12T11 PSUP/Compax3M Connections In this chapter you can read about: Front connector ....................... 42 Connections on the device bottom ................... 43 Connections of the axis combination................44 Control voltage 24VDC PSUP (mains module) ..............45 Mains supply PSUP (mains module) X41................. 46 Braking resistor / temperature switch PSUP (mains module) ...........
Page 45: Connections On The Device Bottom
Compax3 device description Parker EME 3.5.2. Connections on the device bottom Caution - Risk of Electric Shock! Always switch devices off before wiring them! Dangerous voltages are still present until 10 min. after switching off the power supply. Caution! When the control voltage is missing there is no indication whether or not high voltage supply is available.
Page 46: Connections Of The Axis Combination
Compax3 device description C3I12T11 3.5.3. Connections of the axis combination The axis controllers are connected to the supply voltages via rails. Supply voltage 24VDC  DC power voltage supply  The rails can be found behind the yellow protective covers. In order to connect the rails of the devices, you may have to remove the yellow plastic device inserted at the side.
Page 47: Control Voltage 24Vdc Psup (Mains Module)
Compax3 device description Parker EME Maximum capacity in the axis system: PSUP10: 2400 µF  PSUP20 & PSUP30: 5000 µF  Reference value for the required capacity in an axis system 100 µF per kW of the temporal medium value of the total power (transmissions + power dissipation) in the axis system Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Page 48: Mains Supply Psup (Mains Module) X41
Compax3 device description C3I12T11 3.5.5. Mains supply PSUP (mains module) X41 Device protection By cyclically switching on and off the power voltage, the input current limitation can be overloaded, which may cause damage to the device. Wait at least one minute between two switching on processes!
Page 49 Compax3 device description Parker EME PSUP30D6 Mains connection Device type PSUP30 230V 400V 480V Supply voltage 230VAC ±10% 400VAC ±10% 480VAC ±10% 50-60Hz 50-60Hz 50-60Hz Rated voltage 3AC 230V 3AC 400V 3AC 480V Input current 50Arms 50Arms 42Arms Output voltage 325VDC ±10%...
Page 50: Braking Resistor / Temperature Switch Psup (Mains Module)
Compax3 device description C3I12T11 Dimensional drawing: LCG-0055-0.45 mH-UL Caution - Risk of Electric Shock! Always switch devices off before wiring them! Dangerous voltages are still present until 10 min. after switching off the power supply. 3.5.6. Braking resistor / temperature switch PSUP (mains module) The energy generated during braking operation must be dissipated via a braking resistor.
Page 51 Compax3 device description Parker EME Braking operation PSUPxxD6 (mains module) Device type PSUP10 PSUP20 PSUP30 Capacitance / storable 550 µF/ 1175 µF/ 1175 µF/ energy 92 Ws at 400 V 197 Ws at 400 V 197 Ws at 400 V...
Page 52: Temperature Switch Psup (Mains Module)
 Shielding connection of the motor cable The cable must be fully-screened and connected to the Compax3 housing. Use the cable clamps/shield connecting terminals furnished with the device. The shield of the cable must also be connected with the motor housing. The fixing (via plug or screw in the terminal box) depends on the motor type.
Page 53: Measurement Of The Motor Temperature Of Compax3M (Axis Controller)
Compax3 device description Parker EME Motor holding brake output Motor holding brake output Compax3 Voltage range 21 – 27VDC Maximum output current (short circuit 1.6A proof) Attention - Please wire the motor holding brake! Connect the brake only on motors which have a holding brake! Otherwise make no brake connections at all.
Page 54: Connections Of Compax3H
Compax3 device description C3I12T11 Connections of Compax3H In this chapter you can read about: Compax3H plugs/connections ..................52 Connection of the power voltage ..................53 Compax3H connections front plate .................. 55 Plug and pin assignment C3H ..................55 Motor / Motor brake C3H ....................57 Control voltage 24 VDC C3H ...................
Page 55: Connection Of The Power Voltage
Compax3 device description Parker EME 3.6.2. Connection of the power voltage The terminal block of the drive can be found under the front cover. It is secured with 2 screws at the bottom of the device. Remove the bottom cover in order to access the connection clamps.
Page 56 Compax3 device description C3I12T11 2.5 / 16mm C3H050V4 Massive Multiwire 16 / 50mm 25 / 50mm C3H090V4 25 / 95mm 35 / 95mm C3H1xxV4 The standard connection clamps of Compax3H090V4 and Compax3H1xxV4 are not suitable for flat line bars. Cover plate for cable feed through...
Page 57: Compax3H Connections Front Plate
Compax3 device description Parker EME 3.6.3. Compax3H connections front plate Communication and signal interfaces Showcase front plate of the control (number of connectors depends on the extension level of the Compax3) LED2 LED3 LED1 Motor brake HEDA in (Option) 24VDC...
Page 58 Compax3 device description C3I12T11 In detail: The fitting of the different plugs depends on the extension level of Compax3. In part, the assignment depends on the Compax3 option implemented. X20/1 X10/1 X10/1 X10/1 RS485 +5V RS485 +5V EnableRS232 0V X20/2...
Page 59: Motor / Motor Brake C3H
Shielding connection of the motor cable The motor cable should be fully shielded and connected to the Compax3 housing. The shield of the motor cable must also be connected with the motor housing. The fixing (via plug or screw in the terminal box) depends on the motor type.
Page 60: Control Voltage 24 Vdc C3H
Compax3 device description C3I12T11 3.6.6. Control voltage 24 VDC C3H Connection of control voltage 24VDC figure (see on page 55) Connector Descripti X4 Pin GND24V +24 V 24 VDC (power supply) Control voltage 24VDC Compax3S and Compax3H Controller type Compax3...
Page 61: Braking Resistor / Supply Voltage C3H
Compax3 device description Parker EME 3.6.8. Braking resistor / supply voltage C3H The energy generated during braking operation is absorbed by the Compax3 storage capacity. If this capacity is too small, the braking energy must be drained via a braking resistor.
Page 62: Connection Of The Power Voltage Of 2 C3H 3Ac Devices
Compax3 device description C3I12T11 3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices In order to improve the conditions during brake operation, the DC power voltage of 2 servo axes may be connected. The capacity as well as the storable energy are increased; furthermore the braking energy of one servo axis may be utilized by a second servo axis, depending on the application.
Page 63: Communication Interfaces
Compax3 device description Parker EME Communication interfaces In this chapter you can read about: RS232/RS485 interface (plug X10) .................. 61 Communication Compax3M ..................... 62 3.7.1. RS232/RS485 interface (plug X10) Interface selectable by contact functions assignment of X10/1: X10/1=0V RS232 X10/1=5V RS485...
Page 64: Communication Compax3M
Compax3 device description C3I12T11 3.7.2. Communication Compax3M In this chapter you can read about: PC - PSUP (Mains module)..................... 62 Communication in the axis combination (connector X30, X31) ........62 Adjusting the basic address .................... 63 Setting the axis function ....................63 3.7.2.1...
Page 65: Adjusting The Basic Address
Compax3 device description Parker EME 3.7.2.3 Adjusting the basic address On the mains module, the basic address of the device combination is set in steps of 16 with the aid of the first three dip switches. The mains module contains the set basic address while the axes placed at the right in the combination contain the following addresses.
Page 66: Signal Interfaces
Compax3 device description C3I12T11 Signal interfaces In this chapter you can read about: Resolver / feedback (plug X13) ..................64 Analogue / encoder (plug X11) ..................65 Digital inputs/outputs (plug X12) ..................66 3.8.1. Resolver / feedback (plug X13) Feedback /X13 High Density /Sub D...
Page 67: Analogue / Encoder (Plug X11)
Compax3 device description Parker EME 3.8.2. Analogue / encoder (plug X11) PIN X11 Reference High Density Sub D Encoders +24V (output) max. 70mA Ain1 -; analog input - (14Bits; max. +/-10V) D/A monitor channel 1 (±10V, 8-bit resolution) D/A monitor channel 0 (±10V, 8-bit resolution) +5 V (output for encoder) max.
Page 68: Digital Inputs/Outputs (Plug X12)
Limit switch 2 Machine zero initiator GND24V All inputs and outputs have 24V level. Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be connected) Input-/Output extension (see on page 134) Optimization The display of the digital inputs in the optimization window of the C3 ServoManager...
Page 69: Connection Of The Digital Outputs/Inputs
X12/15 (GND) When the connection between transistor emitter of the initiator and X12/15 (GND24V of the Compax3 )is lost, it can not be guaranteed, that the Compax3 detects a logical „0". The INSOR NPN types INHE5212 and INHE5213 manufactured by Schönbuch Electronic do correspond to this specification.
Page 70: Installation And Dimensions Compax3
Compax3 device description C3I12T11 Installation and dimensions Compax3 In this chapter you can read about: Mounting and dimensions Compax3S ................68 Mounting and dimensions PSUP/C3M ................72 Mounting and dimensions C3H ..................74 3.9.1. Mounting and dimensions Compax3S 3.9.1.1 Mounting and dimensions Compax3S0xxV2...
Page 71: Mounting And Dimensions Compax3S100V2 And S0Xxv4
Compax3 device description Parker EME 3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4 Mounting: 3 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure sufficient convection: At the side: 15mm  At the top and below: at least 100mm ...
Page 72: Mounting And Dimensions Compax3S150V2 And S150V4
Compax3 device description C3I12T11 3.9.1.3 Mounting and dimensions Compax3S150V2 and S150V4 Mounting: 4 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure sufficient convection: At the side: 15mm  At the top and below: at least 100mm ...
Page 73: Mounting And Dimensions Compax3S300V4
Compax3 device description Parker EME 3.9.1.4 Mounting and dimensions Compax3S300V4 Mounting: 4 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure sufficient convection: At the side: 15mm  At the top and below: at least 100mm ...
Page 74: Mounting And Dimensions Psup/C3M
Compax3 device description C3I12T11 3.9.2. Mounting and dimensions PSUP/C3M Ventilation: During operation, the device radiates heat (power loss). Please provide for a sufficient mounting distance below and above the device in order to ensure free circulation of the cooling air. Please do also respect the recommended distances of other devices.
Page 75: Mounting And Dimensions Psup20/Psup30/C3M300D6
Compax3 device description Parker EME 3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6 Information on PSUP20/PSUP30/C3M300D6 Mounting: 4 socket head screws M5 101mm 50,5mm 50,5mm 263mm 90° 400mm 360mm 100mm 96mm Tolerances: DIN ISO 2768-f 3.9.2.3 With upper mounting, the housing design may be...
Page 76: Mounting And Dimensions C3H
Compax3 device description C3I12T11 3.9.3. Mounting and dimensions C3H The devices must be mounted vertically on a level surface in the control cabinet. Dimensions: (1): Electronics (2): Head dissipator 453mm 440mm 245mm 252mm 150mm C3H050V4 668.6mm 630mm 312mm 257mm 150mm...
Page 77: Mounting Distances, Air Currents Compax3H050V4
Compax3 device description Parker EME 3.9.3.1 Mounting distances, air currents Compax3H050V4 in mm C3H050V4 3.9.3.2 Mounting distances, air currents Compax3H090V4 in mm C3H090V4 192-120113 N08 C3I12T11 - December 2010...
Page 78: Mounting Distances, Air Currents Compax3H1Xxv4
Compax3 device description C3I12T11 3.9.3.3 Mounting distances, air currents Compax3H1xxV4 in mm C3H1xxV4 192-120113 N08 C3I12T11 - December 2010...
Page 79: Safety Function - Sto (=Safe Torque Off)
Compax3 device description Parker EME 3.10 Safety function - STO (=safe torque off) In this chapter you can read about: General Description ......................77 STO (= safe torque off) with Compax3S ................80 STO (= safe torque off) with Compax3m (Option S1) ............88 3.10.1.
Page 80: Intended Use
C3I12T11 3.10.1.2 Intended use The Compax3 drive controller supports the "safe torque off" (STO) safety function, with protection against unexpected startup according to the requirements of EN ISO 13849-1, category 3 to PLe and EN 1037. Together with the external safety control device, the "safe stop 1" (SS1) safety function according to the requirements of EN ISO 13849-1 category 3 can be used.
Page 81: Devices With The Sto (=Safe Torque Off) Safety Function
Compax3 device description Parker EME 3.10.1.4 Devices with the STO (=safe torque off) safety function Safety function - STO (=safe torque off: Compax3 technology function I10T10, I11T11, I12T11  I11T30, I20T30, I21T30, I22T30, I30T30, I31T30, I32T30,  I11T40, I20T40, I21T40, I22T40, I30T40, I31T40, I32T40 I20T11, I21T11, I22T11, I30T11, I31T11, I32T11 ...
Page 82: Sto (= Safe Torque Off) With Compax3S
(Channel 1 and 2), without disconnecting the drive from the power supply: Channel 1: Activation of the power output stage can be disabled in the Compax3 controller by means of a digital input or with a fieldbus interface (depending on the Compax3 device type) (deactivation of the energize input).
Page 83 The deceleration time t_deceleration depends on the configuration of the Compax3. It must be configured so that oscillation free bringing to standstill is possible, depending on the mechanical load. The delay time t_delay_time must be set in the safety control device UE410 so that t_delay_time > t_deceleration.
Page 84: Conditions Of Utilization Sto (=Safe Torque Off) Safety Function
The adjustable delay time on the safety switching device must be set to a value  greater than the duration of the braking ramp controlled by the Compax3 with maximum load and maximum speed. If the setting range for the specified Emergency power-off module is not sufficient, the Emergency power-off module must be replaced by another equivalent module.
Page 85 Compax3 device description Parker EME Note on error switch-off If the "safe torque off" function of Compax3 is required or used for a machine or system, the two errors: “Motor_Stalled” (Motor stalled) and  “Tracking” (following error)  are not to be switched off (see on page 133, see on page 151).
Page 86: Sto Application Example (= Safe Torque Off)
 With adjustable delayed deactivation of the Compax3 enable input ENAin. The time must be set so that all axes are at a standstill before the Compax3 controllers are deactivated. The operating instructions of the UE410-MU3T5 safety switching device must be ...
Page 87 Compax3 device description Parker EME Circuit: +24V Compax3S motor Gefahrenbereich Energize * Danger Zone Controller motor X12.4 Feedback X4.3 Enable X4.4 Schutztür geschlossen Feedback Safety door closed X4.5 Feedback Compax3S Energize * Controller X12.4 Feedback Not-Stop X4.3 Emergency Enable switch off X4.4...
Page 88 K1: receives current if Compax3 Device 1 is currentless (output = "1" in  currentless state) = Channel 1 feedback K2: receives current if Compax3 device 2 is currentless (output = “1” in the  currentless state) = channel 1 feedback The feedback contact of all Compax3 devices must be closed (channel 2).
Page 89: Technical Characteristics Sto Compax3S
Due to the interruption on two channels at the emergency power-off switch, the safety switching device is deactivated - output Q3 is immediately “0”. Channel 1: Via the Energize input, the Compax3 devices receive the command to guide the drive to a currentless state (using the ramp configured in the C3 ServoManager for "drive disable").
Page 90: Sto (= Safe Torque Off) With Compax3M (Option S1)
Compax3 device description C3I12T11 3.10.3. STO (= safe torque off) with Compax3m (Option S1) In this chapter you can read about: Safety switching circuits ....................88 Safety notes for the STO function in the Compax3M ............89 Conditions of utilization for the STO function with Compax3M ......... 89 STO delay times ......................
Page 91: Safety Notes For The Sto Function In The Compax3M
Please note in this regard that even after the power is disconnected, dangerous electrical voltages may still be present in the Compax3 drive for about 10 minutes. During the active braking phase of Stop category 1 (controlled bringing to a stop ...
Page 92: Sto Delay Times
Compax3 device description C3I12T11 3.10.3.4 STO delay times Input Energize Speed t_deceleration (Configurable in Drive) Input STO1/, STO2/ t_delay_time (Configurable in UE410) Torqueless Motor t_delay_STO ≤ 3ms 192-120113 N08 C3I12T11 - December 2010...
Page 93: Compax3M Sto Application Description
Compax3 device description Parker EME 3.10.3.5 Compax3M STO application description In this chapter you can read about: STO function with safety switching device via Compax3M inputs ........91 STO function description ....................92 Emergency stop and protective door monitoring without external safety switching device.93...
Page 94 Compax3 device description C3I12T11 STO function description When opening the protective door or after actuating the emergency stop switch, the signal of the "energize" input of the Compax3M drive modules is interrupted via the Q3 output on the UE410-MU3T5 safety control. This triggers an immediate braking ramp on the drives.
Page 95 Compax3 device description Parker EME Emergency stop and protective door monitoring without external safety switching device. With Compax3M, a 2-channel protective door monitoring switch or a 2 channel emergency power-off switch can be directly connected. The figure below visualizes an application with 2 channel protective door monitoring switch.
Page 96: Sto Function Test
Compax3 device description C3I12T11 3.10.3.6 STO function test The STO function must be checked in the event of: Commissioning  After each exchange of any equipment within the system  After each intervention into the system wiring  In defined maintenance intervals (at least once per week) and after a longer ...
Page 97 Compax3 device description Parker EME STO test protocol specimen General information: Project/machine: Servo axis: Name of the tester: STO function test: Test specification according to the Compax3 release: STO function test steps 1-6: o successfully tested Acknowledgement safety switching device: o successfully tested...
Page 98: Technical Details Of The Compax3M S1 Option
Compax3 device description C3I12T11 3.10.3.7 Technical details of the Compax3M S1 option Safety technology Compax3M Safe torque-off in accordance with EN Please respect the stated safety  ISO 13849-1: 2007, Category 3, PL=e technology on the type designation Certified. plate (see on page 13) and the circuitry...
Page 99: Setting Up Compax3
The general proceeding in order to operate an empty-running motor is described here (see on page 99). Configurations sequence: Installation of the C3 The Compax3 ServoManager can be installed directly from the Compax3 ServoManager DVD. Click on the corresponding hyperlink resp. start the installation program "C3Mgr_Setup_V..exe" and follow the instructions.
Page 100: Compax3M
Operation with notebooks in current-saving mode may lead, in individual cases,  to communication problems. Connection Your PC is connected with Compax3 via a RS232 cable (SSK1 (see on page between PC and 363)). Compax3 Cable SSK1 (see on page 363) (COM 1/2-interface on the PC to X10 on the Compax3 or via adapter SSK32/20 on programming interface of Compax3H).
Page 101: Test Commissioning Of A Compax3 Axis
Due to continuous optimization, individual monitor displays may have changed. This does however hardly influence the general proceeding. 4.1.2. Selection of the supply voltage used Please select the mains voltage for the operation of Compax3. This influences the choice of motors available. 4.1.3. Motor selection...
Page 102: Optimize Motor Reference Point And Switching Frequency Of The Motor Current
This must already be observed in the planning stage of the plant! The preset motor current switching frequency depends on the performance variant of the Compax3 device. The respective Compax3 devices can be set as follows: 192-120113 N08 C3I12T11 - December 2010...
Page 103 Setting up Compax3 Parker EME Resulting nominal and peak currents depending on the switching frequency Compax3S0xxV2 at 1*230VAC/240VAC Switching S025V2 S063V2 frequency* 16kHz 2.5A 6,3A 5.5A 12,6A (<5s) peak 32kHz 2.5A 5.5A (<5s) 5.5A 12,6A peak Compax3S1xxV2 at 3*230VAC/240VAC Switching...
Page 104 Setting up Compax3 C3I12T11 Resulting nominal and peak currents depending on the switching frequency Compax3HxxxV4 at 3*400VAC Switching H050V4 H090V4 H125V4 H155V4 frequency* 8kHz 125A 155A (<5s) 75A 135A 187.5A 232.5A peak 16kHz 100A (<5s) 49.5A 112.5A 123A 150A peak 32kHz (<5s) 28.5A...
Page 105: Ballast Resistor
Setting up Compax3 Parker EME 4.1.5. Ballast resistor If the regenerative brake output exceeds the amount of energy that can be stored by the servo controller (see on page 382), then an error will be generated. To ensure safe operation, it is then necessary to either reduce the accelerations resp.
Page 106: Defining The Reference System
Setting up Compax3 C3I12T11 4.1.7. Defining the reference system The reference system for positioning is defined by: a unit,  the travel distance per motor revolution,  a machine zero point with true zero,  positive and negative end limits.
Page 107 Setting up Compax3 Parker EME Unit: Grade Gear transmission ratio 70:4 => 4 load revolutions = 70 motor revolutions Travel distance per motor revolution = 4/70 * 360° = 20.571 428 5 ...° (number cannot be represented exactly) Instead of this number, you have the option of entering it exactly as a numerator...
Page 108 Rotary table applications, belt conveyor..After the reset travel distance (exactly specifiable as numerator and denominator (see on page 104)) the position values in Compax3 are reset to 0. Example: Conveyor belt (from the "Conveyor belt" example) with reset path...
Page 109: Machine Zero
Machine zero modes without home switch ..............118 Adjusting the machine zero proximity switch ..............123 Machine zero speed and acceleration ................123 The Compax3 machine zero modes are adapted to the CANopen profile for Motion Control CiADS402. Position reference Essentially, you can select between operation with or without machine reference.
Page 110: Positioning After Homing Run
Setting up Compax3 C3I12T11 Positioning after homing run The positioning made after the home switch has been found can be switched off. For this enter in the “machine zero” window in the configuration wizard “no” under “approach MN point after MN run”.
Page 111: Absolute Encoder
It differs from the physical Multiturn in the way that the motor may not be moved by more than half a turn if Compax3 (24VDC) is switched off - unless the absolute position is lost.
Page 112: Machine Zero Modes Overview
In some cases, the function “direction reversal via Stromschwelle” is also possible, then you will need no initiator, Compax3 detects the end of the travel range via the threshold. Please observe the respective notes.
Page 113 Setting up Compax3 Parker EME Example axis with the initiator signals Direction reversal / end switch on the negative end of the travel range (the assignment of the reversal / end switch inputs (see on page 127) to travel range side can be changed).
Page 114: Homing Modes With Home Switch (On X12/14)
Setting up Compax3 C3I12T11 Homing modes with home switch (on X12/14) In this chapter you can read about: Without motor reference point ..................112 With motor reference point..................... 115 Without motor reference point In this chapter you can read about: Without direction reversal switches ................
Page 115 Setting up Compax3 Parker EME MN-M 21,22: MN Initiator = 1 on the negative side The MN initiator can be positioned at any location within the travel range. The travel range is then divided into 2 contiguous ranges: one range with deactivated MN initiator (positive part of the travel range) and one range with activated MN initiator (negative part of the travel range).
Page 116 Setting up Compax3 C3I12T11 MN-M 23...26: Direction reversal switches on the positive side Without motor zero point, with direction reversal switches 1: Logic state of the home switch 2: Logic state of the direction reversal switch MN-M 27...30: Direction reversal switches on the negative side...
Page 117 Setting up Compax3 Parker EME With motor reference point In this chapter you can read about: Without direction reversal switches ................115 With direction reversal switches ..................116 Without direction reversal switches MN-M 3,4: MN-Initiator = 1 on the positive side The MN initiator can be positioned at any location within the travel range.
Page 118 Setting up Compax3 C3I12T11 MN-M 5,6: MN-Initiator = 1 on the negative side The MN initiator can be positioned at any location within the travel range. The travel range is then divided into 2 contiguous ranges: one range with deactivated MN initiator (positive part of the travel range) and one range with activated MN initiator (negative part of the travel range).
Page 119 Setting up Compax3 Parker EME MN-M 7...10: Direction reversal switches on the positive side With motor zero Machine zero modes with a home switch which is activated in the middle of the point, with direction travel range and can be deactivated to both sides.
Page 120: Machine Zero Modes Without Home Switch
Setting up Compax3 C3I12T11 Machine zero modes without home switch In this chapter you can read about: Without motor reference point ..................118 With motor reference point..................... 120 Without motor reference point MN-M 35: MN (machine zero) at the current position The current position when the MN run is activated is used as an MN.
Page 121 Setting up Compax3 Parker EME MN-M 17,18: Limit switch as machine zero 1: Logic state of the direction reversal switch Function Reversal via Stromschwelle If no direction reversal switches are available, the reversal of direction can also be performed during the machine zero run via the function “direction reversal via Stromschwelle”.
Page 122 Only for motor feedback with distance coding (the absolute position can be determined via the distance value). Compax3 determines the absolute position from the distance of two signals and then stops the movement (does not automatically move to position 0).
Page 123 Setting up Compax3 Parker EME With direction reversal switches Machine zero modes with a home switch which is activated in the middle of the travel range and can be deactivated to both sides. The assignment of the direction reversal switches (see on page 127) can be changed.
Page 124 Only for motor feedback with distance coding (the absolute position can be determined via the distance value). Compax3 determines the absolute position from the distance of two signals and then stops the movement (does not automatically move to position 0).
Page 125: Adjusting The Machine Zero Proximity Switch
Setting up Compax3 Parker EME Adjusting the machine zero proximity switch This is helpful in some cases with homing modes that work with the home switch and motor reference point. If the motor reference point happens to coincide with the position of the MN...
Page 126: Travel Limit Settings
Setting up Compax3 C3I12T11 4.1.7.3 Travel Limit Settings Software end limits The error reaction when reaching the software end limits can be set: Possible settings for the error reaction are: No response  Downramp / stop  Downramp / stromlos schalten (standard settings) ...
Page 127 Setting up Compax3 Parker EME Hysteresis in disabled state: If the axis stands currentless at an end limit, another error may be reported due to position jitter after acknowledging the end limit error. To avoid this, a hysteresis surrounding the end limits was integrated (size corresponds to the size of the positioning window).
Page 128 Setting up Compax3 C3I12T11 Behavior with software end limits of a referenced axis Position within Position outside Position outside target outside target outside and aiming in the target within and aiming in the opposite direction of the travel direction of the travel range...
Page 129: Change Assignment Direction Reversal / Limit Switches
Setting up Compax3 Parker EME Limit switch / Limit switches functioning as direction reversal switches during homing run, will not direction reversal trigger a limit switch error. switch Behavior in the case The error can be acknowledged with activated limit switch.
Page 130: Defining Jerk / Ramps
According to VDI2143 the jerk is defined (other than here) as the jump in according to acceleration (infinite value of the jerk function). VDI2143 This means that positionings with Compax3 are without jerk according to VDI2143, as the value of the jerk function is limited. Motion sequence 1: Position...
Page 131: Ramp Upon Error / Deenergize
Setting up Compax3 Parker EME Jerk Unit: Unit/s Range: 0 ... 10 000 000 Standard value: 1 000 000 STOP delay After a STOP signal, the drive applies the brakes with the delay that is set (2). Please observe: The configured STOP ramp is limited. The STOP ramp will not be smaller than the deceleration set in the last motion set.
Page 132 Setting up Compax3 C3I12T11 Manual acceleration/deceleration and speed control You can set the motion profile for moving with JOG+ or JOG- here. 1: Manual acceleration / Deceleration 2: Manual speed control +: I2: MANUAL+ or CW.2 -: I3: MANUAL- or CW.3...
Page 133: Limit And Monitoring Settings
Setting up Compax3 Parker EME 4.1.9. Limit and monitoring settings In this chapter you can read about: Current (Torque) Limit ....................131 Positioning window - Position reached ................131 Following error limit ......................133 Maximum operating speed .....................133 4.1.9.1 Current (Torque) Limit The current required by the speed controller is limited to the current limit.
Page 134 Setting up Compax3 C3I12T11 Velocity Signal “position reached” turns into “velocity reached”. STOP Signal “position reached” shows that the drive is at a standstill. No position monitoring takes place in status START (M.E5=24VDC or CW.13=1) Therefore reset the start signal to 0 after the START edge.
Page 135: Following Error Limit
Setting up Compax3 Parker EME 4.1.9.3 Following error limit The error reaction upon a following error can be set: Possible settings for the error reaction are: No response  Downramp / stop  Downramp / stromlos schalten (standard settings) ...
Page 136: Operating Mode / I/O Assignment
Limit switch 2 Machine zero initiator GND24V All inputs and outputs have 24V level. Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be connected) Input-/Output extension (see on page 134) Optimization The display of the digital inputs in the optimization window of the C3 ServoManager...
Page 137: I/O Assignment, Control Word And Status Word With Control Via Com Port
I/Os on X12 and the inputs/outputs of the M options. Maximum load on an output: 100mA  Maximum capacitive load: 50nF (max. 4 Compax3 inputs)  Caution! The 24VDC power supply (X22/11) must be supplied from an external source and must be protected by a 1.2A delayed fuse!
Page 138 Limit switch 2 Machine zero initiator GND24V All inputs and outputs have 24V level. Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be connected) Input-/Output extension (see on page 134) Optimization The display of the digital inputs in the optimization window of the C3 ServoManager...
Page 139 Setting up Compax3 Parker EME For intra-device inputs I0 .. I3 as well as the outputs O0 ... O3 you can choose between fixed or free assignment. With fixed assignment of the intra-device inputs I0 ... I3, the respective functions...
Page 140 Setting up Compax3 C3I12T11 Status word 1 & 2 Structure of the state word 1 (object 1000.3) Description Corresponds to * Bit0 X12/6 Bit1 X12/7 Bit2 X12/8 Bit3 X12/9 Bit4 X12/10 Bit5 X12/11 Bit6 X12/12 Bit7 X12/13 Bit8 No Error...
Page 141: Encoder Simulation
Setting up Compax3 Parker EME 4.1.11. Encoder simulation You can make use of a permanently integrated encoder simulation feature to make the actual position value available to additional servo drives or other automation components. Caution! The encoder simulation is not possible at the same time as the encoder ...
Page 142: Position Mode In Reset Operation
Setting up Compax3 C3I12T11 4.1.13. Position mode in reset operation In this chapter you can read about: Examples in the help file ....................140 In reset operation (activated by the configured reset distance), additional positioning functions are possible for absolute positionings (can be set under configuration in the “Positioning options / positioning profiles”...
Page 143 Setting up Compax3 Parker EME STOP without STOP and interruption of the current positioning procedure. termination NO STOP: no STOP START: START signal (on edge) A new START resumes the positioning process at the position where it was interrupted. 192-120113 N08 C3I12T11 - December 2010...
Page 144: Reg-Related Positioning / Defining Ignore Zone
If the deceleration set in the RegMove motion set is too high, the target position is not reached. Compax3 reports error (see on page 149). By allowing for a higher deceleration, Compax3 sets the jerk and the deceleration so that the target is reached without direction reversal.
Page 145: Write Into Set Table
Set 31 Exact description (see on page 297). 31 motion sets are possible. The motion set to be executed is selected via: Compax3 inputs (with control via I/Os)  via the control word (with control via RS232 / RS285). ...
Page 146: Programmable Status Bits (Psbs)
Setting up Compax3 C3I12T11 Example: MoveAbs (Target position POS1) is interrupted by a new MoveAbs with target position (POS 5) Pos 1 Pos 5 START The following dynamic transitions are supported: Motion function in progress Possible dynamic change to the motion...
Page 147: Set Selection
Setting up Compax3 Parker EME 4.1.16.3 Set selection Set number: Address of the positioning data record. The address results from the binary value of the inputs: I/O control RS232/RS485 - Control Values Control word M.I0 Bit 8 M.I1 Bit 9 M.I2...
Page 148: Reg-Related Positioning (Regsearch, Regmove)
Setting up Compax3 C3I12T11 Acceleration Acceleration in unit/s Deceleration Deceleration in unit/s Jerk Jerk in unit/s You can optimize the motion profile data with the "ProfilViewer" (see on page 285) software tool! 4.1.16.5 Reg-related positioning (RegSearch, RegMove) For registration mark-related positioning, 2 motions are defined.
Page 149 Setting up Compax3 Parker EME Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13) RegSearch: Positioning for reg search RegMove: Positioning according to reg StartIgnore: Reg ignore window: (see on page 142) Beginning of the ignore zone StopIgnore:...
Page 150 Setting up Compax3 C3I12T11 Example 3: Reg is missing or comes after termination of the RegSearch motion set Start RegSearch StartIgnore StopIgnore Regf Start Start signal for reg positioning (M.E5 an X22/13 oder STW.13) RegSearch: Positioning for reg search RegMove:...
Page 151 Position reached can be activated for a short period, if the position window was not linked to the command value. With "Allow higher deceleration for RegMove (see on page 142)", Compax3 sets the required deceleration. 192-120113 N08 C3I12T11 - December 2010...
Page 152: Electronic Gearbox (Gearing)
C3I12T11 4.1.16.6 Electronic gearbox (Gearing) The motion function “Gearing” (electronic gearbox) moves Compax3 synchronously with a leading axis. A 1:1 synchronism or any transmission ratio can be selected via the gear factor. A negative sign - which means reversal of direction - is permitted.
Page 153: Speed Specification (Velocity)
Setting up Compax3 Parker EME Dynamic change of You can switch dynamically between 2 gearing motion sets with different gear the gear factor factors. The set acceleration counts as deceleration if the gear factor is reduced. Dynamic switching between the gearing motion function and positioning functions (MoveAbs, MoveRel, RegSearch) is possible.
Page 154: Configuration Name / Comments
Setting up Compax3 C3I12T11 4.1.18. Configuration name / comments Here you can name the current configuration as well as write a comment. Then you can download the configuration settings or, in T30 or T40 devices, perform a complete Download (with IEC program and curve).
Page 155: Configuring The Signal Source
Here the signal source is configured for the motion function “Gearing” (electronic gearbox). Available are: Gearing input signal source The HEDA real-time bus (M10 or M11 option) directly from a Compax3 master  axis an encoder signal A/B 5V ...
Page 156: Signal Source Heda
Master and Slave axis 4.2.2.1 Signal source HEDA Signal source is a Compax3 master axis in which the HEDA operating mode “HEDA master” is set. Please enter besides the desired error reaction an individual HEDA axis address in the range from 1 ...32.
Page 157 Setting up Compax3 Parker EME That is: Master_I Travel Distance per Master Axis revolution (M_Units/rev) MasterPos = Travel Distance per Master Axis revolution - Denominator MasterPos: Master Position Master_I: master increments read in I_M: Increments per revolution of the master axis...
Page 158: +/-10V Analog Speed Setpoint Value As Signal Source
Setting up Compax3 C3I12T11 Detailed structure image with: Travel Distance per Master Axis Entry in the “configuration revolution (M_Units/rev) MD = of the signal source” Travel Distance per Master Axis wizard revolution - Denominator Travel path per revolution slave axis Entry in the “configuration...
Page 159 Setting up Compax3 Parker EME Time frame signal source master Averaging and a following filter (interpolation) can help to avoid steps caused by discrete signals. If the external signal is analog, there is no need to enter a value here (Value = 0).
Page 160: Load Control
Setting up Compax3 C3I12T11 Load control In this chapter you can read about: Configuration of load control ..................160 Error: Position difference between load mounted and motor feedback too high ..... 161 Load control signal image ....................161 The load control can be activated via an additional feedback system for the acquisition of the actual position of the load.
Page 161 Setting up Compax3 Parker EME The most significant bit must be transmitted the first! Caution!Feedback systems, transmitting data containing error or status bits are not supported! Examples of supported SSI feedback systems:  IVO / GA241 SSI;  Thalheim / ATD 6S A 4 Y1;...
Page 162: Configuration Of Load Control
Scaling factor for an additional adaptation of the feedback signal (is normally  not required = 1) Maximum difference tot he motor position  Upon exceeding this value, Compax3 will report error 7385hex (see on page 161) (29573dec) Intervention limitation (=2201.13 in % of the reference velocity or reference  speed);...
Page 163: Error: Position Difference Between Load Mounted And Motor Feedback Too High
 0 (defined via the machine zero offset) was approached. Then an alignment of the position values is performed and the load control is activated. After switching on Compax3.  When writing "1" into object 2201.2  When activating the load control.
Page 164: Object For The Load Control (Overview)
Setting up Compax3 C3I12T11 4.3.3.1 Object for the load control (overview) Object name Object Format PD Valid begin ning 410.6 C3.LimitPosition_LoadControlMaxPosDiff Position difference load-motor (error threshold) C4_3 680.23 C3.StatusPosition_LoadControlActual Actual position of the load C4_3 680.20 C3.StatusPosition_LoadControlDeviation Position difference load-motor (unfiltered) C4_3 680.22...
Page 165: Optimization
Setting up Compax3 Parker EME Optimization In this chapter you can read about: Optimization window ...................... 164 Scope ..........................165 Controller optimization ....................173 Signal filtering with external command value ..............238 Input simulation ......................240 Setup mode ........................242 Load identification ......................
Page 166: Optimization Window
Setting up Compax3 C3I12T11 4.4.1. Optimization window Layout and functions of the optimization window Segmentation Functions (TABs) Oscilloscope (see on page 165)  Window1: Optimization: Controller optimization Window 2:  D/A Monitor (see on page 321): Output of status values via 2 ...
Page 167: Scope
Special feature: In the single mode you can close the ServoManager after the activation of the measurement and disconnect the PC from Compax3 and upload the measurement into the ServoManager later. 4.4.2.1 Monitor information...
Page 168: User Interface
Setting up Compax3 C3I12T11 Cursor modes -functions Depending on the operating mode, different cursor functions are available within the osci monitor. The functions can be changed sequentially by pressing on the right mouse button. Cursor Symbol Function Set Marker 1...
Page 169 5: Special functions (see on page 169) (Color settings; memorizing settings and measurement values) 6: Loading a measurement from Compax3: in the single mode you can close the ServoManager after the activation of the measurement and disconnect the PC from Compax3 and upload the measurement later.
Page 170 Setting up Compax3 C3I12T11 For the operating modes SINGLE, NORMAL and AUTO, the following XDIV time settings are possible: XDIV Mode Scanning time Samples DIV/TOTAL Measuring time 0.5ms 125us 4/40 1.0ms 125µs 8/80 10ms 2.0ms 125µs 16/160 20ms 5.0ms 125µs...
Page 171 Setting up Compax3 Parker EME Resetting channel CH 1..4: All channel settings are deleted.  Please note: Channels can only be filled with sources one after the other. It is, for example, not possible to start a measurement which has only a signal source for channel 2! Select channel color:Here you can change the color of the channel.
Page 172 Setting up Compax3 C3I12T11 Functions: Select background color:Adapt background color to personal requirements.  Select grid color:Adapt grid color to personal requirements.  Memorize OSCI settings in file: The settings can be memorized in a file on any  drive. The file ending is *.OSC.
Page 173: Example: Setting The Oscilloscope
If a trigger event occurs, the measurement values are captured until the measurement is completed. Afterwards, the measurement values are read from the Compax3 and displayed. The display mask of trigger channel 1 was not yet limited, therefore it shows all 16 bit tracks (b0...b15).
Page 174 Setting up Compax3 C3I12T11 Example: Only b0 and b1 are to be displayed: Set display mask to 03 192-120113 N08 C3I12T11 - December 2010...
Page 175: Controller Optimization
For the control, Compax3 requires on the one hand the actual position and on the other hand the commutation position, which represents the reference between the mechanic feedback position and the motor magnet.
Page 176 Setting up Compax3 C3I12T11 Overview of the processes during configuration and setup of the Compax3 drive system The controller default settings are calculated from the configured motor and application parameters with the aid of the automatic controller design which runs in the background.
Page 177 Setting up Compax3 Parker EME Application parameters The wizard guided entry of the application parameters takes place directly in the ServoManager. Carefully verify the entries and default values in order to detect entry errors in the run-up. After the configuration download, the drive can be set up and be optimized if needs be.
Page 178: Configuration
Setting up Compax3 C3I12T11 4.4.3.2 Configuration In this chapter you can read about: Control path ........................176 Motor parameters relevant for the control ..............177 Mass inertia ........................177 Nominal point data ......................177 Saturation values ......................179 Quality of different feedback systems ................179 Typical problems of a non optimized control ..............
Page 179: Motor Parameters Relevant For The Control
Setting up Compax3 Parker EME Explanation: The motor is controlled by the servo drive with control voltage U. During motion of the motor, an internal back e.m.f. U is induced. This antagonizes the control voltage and is therefore deduced in the motor model. The difference is available for the acceleration of the motor.
Page 180 Pulse current [in % of the nominal current]  The pulse current can be provided by the Compax3 for the duration of the pulse current time (as far as the device current permits). The thermal pulse load of the motor rises due to the pulse current. This pulse load is monitored by the i²t monitoring in the Compax3.
Page 181: Saturation Values
Analog sine/cosine signals or digital encoder signals (RS422 standard) are used to transmit the incremental position information. Due to the high interpolation rate (approx. 14 bits) of the Compax3 servo controller, an analog sine/cosine signal is in most cases preferable to digital encoder signals.
Page 182: Typical Problems Of A Non Optimized Control
Setting up Compax3 C3I12T11 Resolution The less precise the resolution, the higher the quantization noise on the velocity signal. Noise The feedbacks have different levels of analog noise, which have a negative effect on the control. The noise can be dampened with the aid of filters in the actual value acquisition, however at the cost of the controller bandwidth.
Page 183: Feedback Error Compensation
Following error Feedback error compensation Feedbacks with sine/cosine tracks may have different errors. The feedback error compensation supported by Compax3 eliminates offset and gain errors on both tracks online. The feedback error compensation is activated in the MotorManager: "Feedback system" wizard under "feedback error compensation".
Page 184: Commutation Settings
With the I²t - monitoring, the motor is protected against overload or thermal destruction. For this, knowledge on the load bearing capacity of the motor is required. This information van be taken from the manufacturer documentation (motor parameters). Compax3 monitored: Continuous usage of the motor (motor usage) ...
Page 185 Setting up Compax3 Parker EME Motor continuous usage In this chapter you can read about: Linearized motor characteristic lien for different operating points ........183 This kind of monitoring watches over the continually deliverable torque (continuous current). This continuous current depends on the velocity and is acquired online from the linearization of the motor characteristic line.
Page 186 Setting up Compax3 C3I12T11 Reference point 1: higher velocity at reduced torque S3 20% 65°C DT S3 50% 65°C DT S1 105 °C DT S1 65°C DT 1000 1500 2000 2500 3000 [1/min] Standstill current rp1: Reference point 1 (defined in the C3 ServoManager)
Page 187: Relevant Application Parameters
Limit and monitoring settings ..................189 Application parameters relevant for the control (C3 ServoManager) Compax3 is configured with the aid of the C3 ServoManager. Here you can make application dependant settings. Among these are also parameters, that are relevant for the control. They will be explained below.
Page 188 Setting up Compax3 C3I12T11 Switching frequency of the motor current / motor reference point In this chapter you can read about: Following Error (Position Error) ..................186 Reduction of the current ripple ..................186 Motor parameters ......................187 Changing the switching frequency and the reference point ..........188 The higher the switching frequency, the better the quality of the current control.
Page 189 Other motor ........................187 Motor types supported ....................188 Parker Motor If a Parker motor is used for the application, the parameters are already contained in the installed software. You can just select one of the available motors from the first configuration page.
Page 190 Setting up Compax3 C3I12T11 Motor types supported Compax3 supports the following motor types: Permanently excited synchronous rotary motors  Permanently excited synchronous linear motors  Asynchronous rotary motors  In general, rotary and linear motors do have the same signal flow chart. The difference consists solely in the basic physical values, which refer to circular movement resp.
Page 191: Asynchronous Motors
Determination of the commutation settings ..............192 Asynchronous motors: Extension of the controller structure ........... 192 Type specification plate data On the 2nd. wizard page of the Compax3 MotorManager, the type specification plate data must be entered. 192-120113 N08 C3I12T11 - December 2010...
Page 192: Replacement Switching Diagram - Data For A Phase
Setting up Compax3 C3I12T11 Replacement switching diagram - data for a phase This data can be obtained from the manufacturer or be determined by measurement. Nominal phase voltage Stator leg resistance Leak reactance (for f=50Hz mains frequency) X1σ=2πfL1σ: Stator leakage inductance L1σ:...
Page 193: Saturation Behavior
Setting up Compax3 Parker EME Saturation behavior The saturation of the main field inductance can be considered with the help of the following characteristic. Activate the "consider saturation values" checkbox. /% v. L Hmax Pa[%] (Lhmax) z.B 160% 100% Pb[%] (Sbeg) / % v.
Page 194: Rotor Time Constant
If the value of the rotor time constant is not known, it can be approximated automatically. Determination of the commutation settings On the last wizard page of the Compax3 MotorManager, the commutation settings (feedback direction reversal and commutation direction reversal) can be determined automatically.
Page 195: Automatic Controller Design
Setting up Compax3 Parker EME 4.4.3.3 Automatic controller design In this chapter you can read about: Dynamics of a control ....................193 Cascade control ......................200 Rigidity .......................... 200 Automated controller design ..................202 Controller coefficients ....................204 Dynamics of a control In this chapter you can read about: Structure of a control .....................
Page 196 Setting up Compax3 C3I12T11 Stability problem in the high-frequency range: The "control structure" figure shows that the reverse effect in the control loop (negative feedback) is a prerequisite for the functioning of a control system. Due to the delay in signal transmission, the effect of the negative feedback is diminished or even compensated.
Page 197 Setting up Compax3 Parker EME P-TE - Symbol Κp,T W(t) X(t) Step response of a delay component Step response of a first order delay component with Kp=1 and TE=2.0s X t TE P-T E T: Tangent S: Input jerk P-TE: Output value of the P-TE component TE: Time constant of the P-TE component The definition of the delay time constant is displayed in the above figure.
Page 198 Setting up Compax3 C3I12T11 Determination of the control surface from the transmission behavior of a P-TE component. 1: Control surface of the approximated system 2: Control surface of the ideal P-T1 component The velocity of a dynamic system can also be described in the frequency range. In the frequency range, the system behavior is analyzed to sinusoidal inputs signals of different frequencies (frequency response).
Page 199 Setting up Compax3 Parker EME Frequency response of the P-TE component (value and phase) 0795 π ⋅ The cut-off frequency is the frequency where the input signal is attenuated by 3dB (-3dB attenuation). The phase shift between the output and the input is -45° at this frequency.
Page 200 W: Setpoint value X: Actual value Z: Disturbance variable In order to examine the disturbance and setpoint behavior, the Compax3 setup software offers 4 jerk functions. Test functions Test functions for the analysis of disturbance and setpoint behavior of the control...
Page 201 The feedforward signals work with calculated factors and contribute to an improved contour constancy due to the minimization of the following error. Compax3 servo controller structure Setpoint generator Feed Foward Control...
Page 202 The effects of the non-linearity for the superposed controllers can be reduced by  the subordinate control loops. In the Compax3 servo drive, a triple cascade control is implemented with the following controllers - position controller, velocity controller and current controller. Cascade structure of Compax3...
Page 203 In order to simulate this load jerk electronically, a disturbance current jerk is fed to the Compax3 as a variable proportional to the disturbance torque at the velocity controller output. Electronic simulation of a disturbance torque jerk with the disturbance...
Page 204 Setting up Compax3 C3I12T11 Disturbance jerk response 1: Compensation torque of the controller 2: Simulated disturbance torque 3: Actual speed 4: Following error 5: Settling Time Correlation between the terms introduced The introduced terms: Stability  Damping  Velocity ...
Page 205 Setting up Compax3 Parker EME Please observe: Faulty motor and application parameters may lead under certain circumstances to instable controllers. The controller parameters are not directly available for the optimization. Instead, they can be changed with the aid of the following optimization parameters:...
Page 206 Setting up Compax3 C3I12T11 Controller coefficients In this chapter you can read about: Velocity Loop P Term ....................204 D-term of the KD velocity controller ................204 P-term KV position loop ....................204 Dependence of the controller coefficients from the optimization objects The controller coefficients are influenced by the optimization objects such as "stiffness"...
Page 207: Setup And Optimization Of The Control
For the setup and optimization of the control loops, the optimization window is available. The Compax3 control functionality is divided into 2 sections, standard and advanced; the advanced functionality does however incorporate the entire standard functionality. The switching can be made in the optimization window.
Page 208: Standard
(see on page 238) ! Complementary structure for load control (see on page 161). Compax3 controller structures (see on page 206, see on page 212, see on page 214). 192-120113 N08 C3I12T11 - December 2010...
Page 209 Setting up Compax3 Parker EME Symbol Description Proportional term signal is multiplied with K First order delay component (P-T1 term) Integration block (I-block) PI-block Kp,T Limitation block (signal limitation) Notch filter (band elimination filter) Addition block blue Optimization objects description...
Page 210 Setting up Compax3 C3I12T11 Limitation of the setpoint velocity Limitation of the setpoint velocity in the control signal sector of the position loop: This limitation value is calculated from the maximum mechanical velocity of the motor and the set value in the configuration in % of the nominal velocity. The smaller of the two values is used for the limitation.
Page 211 Minimal following error  Improves the transient response  Gives greater dynamic range with lower maximum current  The Compax3 servo drive disposes of four feedforward measures (see in the standard cascade structure): Velocity Feed Forward  Acceleration feed-forward ...
Page 212 Setting up Compax3 C3I12T11 Motion cycle without feedforward control Motion cycle with feedforward measures Velocity feedforward Velocity and acceleration feedforward Velocity, acceleration and current feedforward Velocity, acceleration , current and jerk feedforward 192-120113 N08 C3I12T11 - December 2010...
Page 213 Parker EME Control signal filter / filter of actual acceleration value The filters in the Compax3 firmware are implemented as P-T1 filters (first order deceleration component see chapter 0 (see on page 238, see on page 238, see on page 239).) The two "control signal filter (velocity loop)"...
Page 214: Advanced
Actual velocity 681.5 2120.1<125 µs unfiltered The framed objects are coupling objects for Compax3 - Compax3 coupling via HEDA. Please note that the corresponding controller components must be deactivated for the coupling: When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object description) When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object...
Page 215 (see on page 238) ! Complementary structure for load control (see on page 161). Compax3 controller structures (see on page 206, see on page 212, see on page 214). Symbol...
Page 216 (see on page 238) ! Complementary structure for load control (see on page 161). Compax3 controller structures (see on page 206, see on page 212, see on page 214). 192-120113 N08 C3I12T11 - December 2010...
Page 217 Setting up Compax3 Parker EME Symbol Description Proportional term signal is multiplied with K First order delay component (P-T1 term) Integration block (I-block) PI-block Kp,T Limitation block (signal limitation) Notch filter (band elimination filter) Addition block blue Optimization objects description...
Page 218 Setting up Compax3 C3I12T11 Optimization parameter Advanced Current controller The current controller works with a P component in the feedback; this results in very low overshoot. With the aid of object 2220.27 (Bit = “0”), it is possible to switch to P component in the forward path.
Page 219 If a second position feedback is available for the acquisition of the load position, the load control can be activated. For more detailed information on the load control see device help for T30/T40 devices in the setup chapter Compax3\\load control. Luenberg observer In this chapter you can read about: Introduction observer .....................
Page 220 Setting up Compax3 C3I12T11 efficient aid available to increase the signal quality. Increase in signal quality in the observer means that the noise components decrease, and the dynamics improve as the observed speed is feedforward-controlled undelayed by the current and is not just calculated delayed from the position signal using simple differentiation.
Page 221 Digital hall sensors are the most common aid to prevent this. Due to the mechanical design it is however impossible or very hard to integrate these sensors in some motors. The Compax3 automatic commutation function (in the F12 direct drive device) described below allows however to use incremental feedback systems without hall sensors.
Page 222 Quadrature current (torque forming) The automatic commutation function (AK) in Compax3 uses the position dependent sinusoidal torque course of permanently excited AC synchronous motors. If the motor windings are energized with DC voltage for instance, the motor develops a...
Page 223 Setting up Compax3 Parker EME Prerequisites for the automatic commutation A movement of the motor must be permitted. The movement actually occurring  depends greatly on the motor (friction conditions) itself, as well as on the load moved (inertia). Applications requiring a motor brake, i.e. applications where active load torques ...
Page 224 Setting up Compax3 C3I12T11 Searching for the torque maxima (phase 1) If the sum of the actual and the estimated error angle is ±90° electrically, the motor torque is maximal for the provided current. If you gradually increase the provided motor current, the motor will, from a defined value on, surpass its friction torque and exceed a motion threshold defined by O2190.3:...
Page 225 Setting up Compax3 Parker EME Test for positive feedback (phase 3) Here it is verified, if the motor performs a motion in the expected positive direction in the event of positive current in the torque maximum. The same motion threshold (defined via O2190.3) as in phase 1 is valid.
Page 226 (e.g. by changing the masses involved), it is not sufficiently activated by the notch filter. Wrongly set notch filter In the Compax3, two notch filters which are independent of each other are implemented. Frequency response of the notch filter.
Page 227 Setting up Compax3 Parker EME Note: If this distance is too small, the stability of the control can be very negatively influenced! Bandwidth filter 1 (O2150.2) / bandwidth filter 2 (O2150.5) This defines the width of the notch filter. The value refers to the entire frequency band, where the attenuation of the filter is higher than (-)3dB.
Page 228 Setting up Compax3 C3I12T11 Current jerk response with the activated saturation characteristic line The parameterization of the characteristic line is made in the MotorManager. Note: In order to accept the changes in the MotorManager in the project, the  entire configuration must be confirmed.
Page 229: Commissioning Window
Setting up Compax3 Parker EME Friction compensation The activation of the friction compensation (end of the velocity loop) , n, O2200.24, Obj. 2200.20) Filter tracking error 688.14 Current & jerk feed-forward RMS 2100.2 Stiffness 2100.3 Damping 681.6 Speed 681.10 Setpoint Speed 2100.7 Velocity loop - "D"...
Page 230 Setting up Compax3 C3I12T11 Motion profile at jerk-controlled setpoint generation Position Velocity Acceleration Jerk The drive cannot move randomly through hard profiles, as certain physical limits exist for the acceleration ability due to the motor physics and the limitation of the control variable.
Page 231: Proceeding During Controller Optimization
Setting up Compax3 Parker EME Time function and power density spectrum of Compax3 setpoint generator with different jerk settings Power density over the frequency The profile can be simply calculated and displayed for control purposes. External setpoint generation During external setpoint generation, the necessary feedforward signals are calculated from the external setpoint with the aid of numerical differentiation and final filtering.
Page 232 Setting up Compax3 C3I12T11 Main flow chart of the controller optimization Start Configuration of the application Optimization of the error and setpoint behavior Is a LCB actuator used? Default: 1. Switch on advanced mode 2. Set bandwidth of current control to 30% 3.
Page 233 Setting up Compax3 Parker EME Controller optimization disturbance and setpoint behavior (standard) In this chapter you can read about: Controller optimization standard ..................232 Controller optimization of toothed belt drive ..............233 192-120113 N08 C3I12T11 - December 2010...
Page 234 Setting up Compax3 C3I12T11 Controller optimization standard „Controller optimization standard “ Select speed jerk response in the setup window / tab “parameter), select the size of the jerk and define jerk. Respect the setpoint speed and the actual speed Setpoint speed...
Page 235 Setting up Compax3 Parker EME Controller optimization of toothed belt drive • The stiffness of a drive able to oscillate can be increased by using the D-component. If the D-component is too large, the control is destabilized. “Controller optimization toothed belt drive”...
Page 236 Setting up Compax3 C3I12T11 Controller optimization disturbance and setpoint behavior (advanced) In this chapter you can read about: Controller optimization Advanced .................. 235 Flow chart controller optimization of a direct drive ............236 Controller optimization guiding transmission behavior ............ 237...
Page 237 Setting up Compax3 Parker EME Controller optimization Advanced „Controller optimization Advanced“ Observer technology Observer time constant (Obj. 2120.1) >=125µs (the higher the value, the slower the observer) Select speed jerk response in the setup window / tab “parameter”, select the size of the jerk and specify the jerk.
Page 238 Setting up Compax3 C3I12T11 Flow chart controller optimization of a direct drive “Controller optimization direct drive” See chapters: -“Control measures for drives iinvolving friction” Is it a PowerRod? Default settings for PowerRod: Status controller with disturbance torque 1.) “following error filter” (Obj. 2200.24) = 1470µs -“Observer time constant”...
Page 239 Setting up Compax3 Parker EME Controller optimization guiding transmission behavior Controller optimization guiding behavior Specify travel parameters (20% of the final speed) and activate movement cycle Evaluation of the signals with the aid of the software oscilloscope : Recommendation(signals): 1.) Setpoint speed of setpoint generator (Obj. 681.4) 2.) Actual speed filtered (Obj.
Page 240: Signal Filtering With External Command Value
Setting up Compax3 C3I12T11 4.4.4. Signal filtering with external command value In this chapter you can read about: Signal filtering for external setpoint specification and electronic gearbox ......238 Signal filtering for external setpoint specification and electronic cam ......239 The command signal read in from an external source (via HEDA or physical input) can be optimized via different filters.
Page 241: Signal Filtering For External Setpoint Specification And Electronic Cam
Setting up Compax3 Parker EME Note: A setpoint jerk setpoint feedback is not required for external setpoint  specification. The description of the objects can be found in the object list.  4.4.4.2 Signal filtering for external setpoint specification and...
Page 242: Input Simulation
The pre-setting of an analog input value is always made in addition to the physical analog input. The function of the inputs depends on the Compax3 device type; please refer to the respective online help or the manual. The input simulation is only possible if the connection with Compax3 is active and if the commissioning mode is deactivated! 4.4.5.1...
Page 243: Operating Principle
Setting up Compax3 Parker EME 4.4.5.2 Operating Principle Window Compax3 InputSimulator: 1. Row:Standard Inputs E7 ... E0 = “0” button not pressed; = “1” switch pressed 2. Row: Optional digital inputs (M10 / M12) Green field: port 4 is defined as input...
Page 244: Setup Mode
If the setup mode is left, the drive is deactivated and the das Steuerungsprogramm (IEC-Programm) is re-activated. Note: The parameters of the commissioning window are saved with the project and are  loaded into Compax3 if the commissioning mode is activated (see explanation below). 192-120113 N08 C3I12T11 - December 2010...
Page 245: Motion Objects In Compax3
Setting up Compax3 Parker EME 4.4.6.1 Motion objects in Compax3 The motion objects in Compax3 describe the active motion set. The motion objects can be influenced via different interfaces. The following table describes the correlations: Source active motion objects Compax3 device ==>...
Page 246: Load Identification
Setting up Compax3 C3I12T11 4.4.7. Load identification In this chapter you can read about: Principle .........................244 Boundary conditions ......................244 Process of the automatic determination of the load characteristic value (load identification)245 Tips ..........................246 Automatic determination of the load characteristic value: of the mass moment of inertia with rotary systems ...
Page 247: Process Of The Automatic Determination Of The Load Characteristic Value (Load Identification)
Setting up Compax3 Parker EME 4.4.7.3 Process of the automatic determination of the load characteristic value (load identification) Please click on "unknown: default values are used" in the configuration wizard in  the "External moment of inertia" window. After the configuration download, you can enter directly, that the optimization ...
Page 248: Tips
Setting up Compax3 C3I12T11 4.4.7.4 Tips Problem Measures Speed too low Increase maximum speed and adapt travel (with reverse operation) range* Speed too low Increase maximum speed (with continuous operation) Test movement missing A test movement is important for drives with high friction or with mechanical slack points (play).
Page 249: Alignment Of The Analog Inputs
Setting up Compax3 Parker EME 4.4.8. Alignment of the analog inputs In this chapter you can read about: Offset alignment ......................247 Gain alignment .......................247 Signal processing of the analog inputs ................248 There are two possibilities to align the analog inputs in the optimization window: Wizard-guided under commissioning: Commissioning functions (click on the ...
Page 250: Signal Processing Of The Analog Inputs
Setting up Compax3 C3I12T11 4.4.8.3 Signal processing of the analog inputs Precise interpolation config 685.3 Analog 0 X11/9 + Actual value monitoring X11/11- 170.3 170.4 170.2 685.4 Analog 1 X11/10+ Actual value monitoring X11/2- 171.3 171.4 171.2 B: Continuative structure image (see on page 238)
Page 251: C3 Servosignalanalyzer
The function range of the ServoSignalAnalyzer is divided into 2 units: Analysis in the time range This part of the function is freely available within the Compax3 ServoManager. The Compax3 ServoManager is part of the Compax3 servo drive delivery range.
Page 252: Signal Analysis Overview
 individual parts of the control as well as of the control path These functions are available in the Compax3 ServoManager after the activation (see on page 251) with the aid of a system-dependent key. You do not require expensive and complex measurement equipment -> a...
Page 253: Installation Enable Of The Servosignalanalyzer
Installation enable of the ServoSignalAnalyzer In this chapter you can read about: Prerequisites ......................... 251 Installation ........................251 Activation........................251 Prerequisites Compax3 with up-to-date controller board (CTP 17)  Firmware version R06-0 installed  Installation Execution of the C3 ServoManager Setup (on CD) ...
Page 254 Acknowledge with OK and enter the key, which is on your clipboard, into an e-  mail, which you please send to eme.ssalicence@parker.com (mailto:eme.ssalicence@parker.com). After receipt of the reply, copy the attached file "C3_SSA.KEY" into the C3 ...
Page 255: Analyses In The Time Range
Setting up Compax3 Parker EME 4.4.9.4 Analyses in the time range Selection and parameterization of the desired analysis function Exemplary step function step Value = Step Size The following functions are available: 192-120113 N08 C3I12T11 - December 2010...
Page 256 Setting up Compax3 C3I12T11 Position demand value step: For analysis of the demand value behavior of the position control Step value < (admissible motion range / 2) => even a 100% overshoot does not incite an error message Speed demand value step: For analysis of the demand value behavior of the...
Page 257 Setting up Compax3 Parker EME The motion range monitoring is especially important during current step  responses, as position as well as speed control are deactivated during the measurement. Max permitted speed When exceeding this value, an error is triggered, the controller decelerates and reports an error.
Page 258: Measurement Of Frequency Spectra
Setting up Compax3 C3I12T11 4.4.9.5 Measurement of frequency spectra In this chapter you can read about: Functionality of the measurement .................. 256 Leak effect and windowing .................... 257 Please note that you require a license key (see on page 251, see on page 249)
Page 259 Setting up Compax3 Parker EME Leak effect and windowing If frequencies not corresponding to the frequency resolution are present in the analyzed spectrum, the so-called leak effect can be caused. Display of the leak effect with the aid of a 16 point discrete Fourier transformation...
Page 260 Setting up Compax3 C3I12T11 Sine at 204Hz ∆f=8Hz / f0=204Hz = 25.5⋅∆f / frequency does not correspond to the frequency resolution! The sine frequency has only minimally changed, due to which it does, however, no longer match the frequency resolution (204Hz/8Hz=25.5) => leak effect...
Page 261: Measurement Of Frequency Responses
Setting up Compax3 Parker EME 4.4.9.6 Measurement of frequency responses In this chapter you can read about: Safety instructions concerning the frequency response measurement ......259 Functionality of the measurement .................. 259 Open/Closed Loop frequency response measurement ..........261 Excitation Signal ......................262 Non-linearities and their effects ..................
Page 262 Setting up Compax3 C3I12T11 In general, the analysis of the dynamic behavior of a system is made by analyzing the input and output signals. If you transform the input signal as well as the output signal of a system into the range (Fourier transformation) and then divide the output signal by the input signal, you get the complex frequency response of the system.
Page 263 Setting up Compax3 Parker EME Open/Closed Loop frequency response measurement In order to be able to analyze the transmission behavior of subordinate systems (such as for example speed control, current control or mechanical system), the influence of the superposed controls on the measurement must be avoided.
Page 264 Setting up Compax3 C3I12T11 Excitation Signal In order to be able to analyze the behavior of the system at individual frequencies, it is necessary that these frequencies can be measured in the input signal as well as in the output signal. For this, a signal generator excites all frequencies to be measured.
Page 265 Setting up Compax3 Parker EME Non-linearities and their effects In this chapter you can read about: Attenuation of the excitation amplitude ................263 Shifting the working point into a linear range ..............264 Non-linearities in mechanical systems are for example due to friction, backlash or position-dependent transmissions (cams and crankshaft drives).
Page 266 Setting up Compax3 C3I12T11 The signal range is reduced so that approximately linear conditions are valid. The results of the measurement will then display the dynamic behavior at the working point. Example cam drive: If the drive moves considerably (e.g. 180°) during the measurement, the behavior of the system will change greatly over this range =>...
Page 267 Setting up Compax3 Parker EME : Speed of the test movement test move : Speed of the excitation signal stimulation static friction: Static friction Example backlash: (for example in gearboxes) Here, non-linearities are caused, if the tooth edges will turn from one side to the other during measurement.
Page 268: Overview Of The User Interface
Setting up Compax3 C3I12T11 4.4.9.7 Overview of the user interface In this chapter you can read about: Selection of the signal or system to be measured............266 Frequency settings ......................271 Speed control ........................ 271 Other settings ........................ 273 Operating and status field ....................
Page 269 Setting up Compax3 Parker EME Current control Closed current control Shows the dynamic behavior of the closed current control. => How a signal on the current demand value is transmitted to the current actual value. (response) Signal Frequency generator response...
Page 270: Mechanical System
Setting up Compax3 C3I12T11 Mechanical system Current to velocity Shows the dynamic behavior between the measured current actual value and the velocity actual value Signal Frequency generator response measurement f: disturbance torque desired Position Velocity Current actual 2*Pi*J position controller...
Page 271: Position Control
Setting up Compax3 Parker EME Application: for the analysis of the dynamic behavior of the mechanic system  Position control Closed position control Shows the dynamic behavior of the closed position control. => How a signal on the position demand value is transmitted to the position actual value.
Page 272 Setting up Compax3 C3I12T11 Signal generator Signal Generator Position controller Lageregler actual position Lageistwert desired position Lagesollwert Velocity controller Geschwindigkeitsregler actual velocity Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f: disturbance torque Störmoment velocity controlled system...
Page 273: Frequency Settings
Setting up Compax3 Parker EME Frequency settings   (1) start frequency This is the smallest frequency at which is still measured. During the measurement  of frequency spectrum and noise frequency response this results automatically from the bandwidth and is only displayed as an information.
Page 274 Setting up Compax3 C3I12T11 Application: During the optimization of the velocity control for verification  For the design of superposed controllers.  Open velocity control Shows the dynamic behavior of all components in the velocity control loop, but without closing it.
Page 275: Other Settings
Setting up Compax3 Parker EME Signal generator Signal Generator Position controller Lageregler actual position Lageistwert desired position Lagesollwert Velocity controller Geschwindigkeitsregler actual velocity Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f: disturbance torque Störmoment velocity controlled system...
Page 276 Setting up Compax3 C3I12T11 Non cumulated measurement (a & d) The measured data are displayed directly. This is especially suitable if you wish to analyze the effects of changes on the measurement results directly and promptly. The disadvantage is however a smaller noise distance (quality) and an increased sensitiveness of the measurement towards unique disturbances.
Page 277: Operating And Status Field
Setting up Compax3 Parker EME Cascade diagram (c) Frequency spectra are displayed subject to time. The information on the value of the signal is color-coded. Cascade diagrams of the velocity signal during an acceleration process This kind of display is suitable for the analysis of temporal changes in the measured spectrum.
Page 278 Setting up Compax3 C3I12T11 (4) status of the activity of the different partitions of the measurement a: Registration of the measurement in the controller b: Upload of the measurement from the controller to the PC c: Processing the measurement in the PC...
Page 279: Display Of The Measurement Result
Setting up Compax3 Parker EME Display of the measurement result Frequency spectra Bode diagrams: Value and phase 192-120113 N08 C3I12T11 - December 2010...
Page 280: Display Of The Measurement Point At The Cursor Position
Setting up Compax3 C3I12T11 By clicking with the left mouse button on the legend, this can be shifted by 90°. By clicking on the color bar, the color of the respective graph can be modified. Cascade diagrams By clicking with the left mouse button on the color scale, you can change between autoscale mode and fixscale mode.
Page 281: Basics Of Frequency Response Measurement
Setting up Compax3 Parker EME 4.4.9.8 Basics of frequency response measurement In this chapter you can read about: Distinction between signals and systems ............... 279 Linear Systems (LTI System) ..................280 Mechanical system ......................281 Resonance points and their causes ................282 In the drive and control technology, the display of signals and systems in the frequency range is often the best possibility to solve different tasks.
Page 282 Setting up Compax3 C3I12T11 Linear Systems (LTI System) Further explanations are based on the concept of so-called linear systems. This means that doubling the input value means that the portion of the output value influenced by it is also doubled. This, for instance, is not the case in the event of influence due to limitations, friction and backlash.
Page 283 Setting up Compax3 Parker EME The frequency response shows the amplification (value) and the phase shift (phase), which a signal is submitted to when passing through a system. The displayed bode diagram allows the following conclusions: If a sine with 60Hz and an amplitude of 1A is present at the input, a sine delayed by 94°...
Page 284 Setting up Compax3 C3I12T11 Resonance points and their causes In this chapter you can read about: Rotary two mass system ....................282 Linear two mass system ....................283 Toothed belt drive as two mass system ................. 284 Mechanical system with a resonance point...
Page 285 Setting up Compax3 Parker EME Calculation of the resonance frequencies in the rotary system with a hollow shaft as elastic coupling element π π ⋅ ⋅ ⋅ ⋅ − ∫ ⋅ ⋅ ⋅       ⋅...
Page 286: Examples Are Available As A Movie In The Help File
Setting up Compax3 C3I12T11 Toothed belt drive as two mass system Motor bewegte Masse Getriebe Zahnriemen Masse Achse Antriebszahnrad In toothed belt drives, the toothed belt is the elastic coupling element. Its rigidity depends directly on the lengths I1 and I2 and changes in dependence of the position of the moved mass.
Page 287: Profileviewer For The Optimization Of The Motion Profile
ProfileViewer for the optimization of the motion profile In this chapter you can read about: Mode 1: Time and maximum values are deduced from Compax3 input values ....285 Mode 2: Compax3 input values are deduced from times and maximum values ....286 You will find the ProfilViewer in the Compax3 ServoManager under the "Tools"...
Page 288: Mode 2: Compax3 Input Values Are Deduced From Times And Maximum Values
Setting up Compax3 C3I12T11 4.4.10.2 Mode 2: Compax3 input values are deduced from times and maximum values A jerk-limited motion profile is calculated from the positioning time and the  maximum speed / acceleration As a result you will get, besides a graphical display, the following characteristic ...
Page 289: Turning The Motor Holding Brake On And Off
Parker EME 4.4.11. Turning the motor holding brake on and off Compax3 controls the holding brake of the motor and the power output stage. The time behavior can be set. Application: With an axis that is subject to momentum when it is halted (e. g. for a z-axis) the drive can be switched on and off such that no movement of the load takes place.
Page 290: Control Via Rs232 / Rs485 / Usb
Control via RS232 / RS485 / USB C3I12T11 5. Control via RS232 / RS485 / USB In this chapter you can read about: Status diagram ......................289 I/O assignment, control word and status word with control via COM port ....... 290 Examples include: Control via COM port ................
Page 291: Status Diagram
Control via RS232 / RS485 / USB Parker EME Status diagram Status diagram for control via RS232 / RS485 Error ERROR Power OFF CW = xxxx xxxx xxxx xxx0 CW = xxxx xxxx xxxx xxx1 STOP with break Homing CW = x1x x xxxx xxxx 0011...
Page 292: I/O Assignment, Control Word And Status Word With Control Via Com Port
Control via RS232 / RS485 / USB C3I12T11 Status values: Description ERROR Error, drive currentless Power OFF Drive currentless and ready to operate Manual operation; Manual+, Manual- possible Homing Machine zero run, status is exited automatically after the position 0 has been approached Standstill Drive stationary with current with setpoint value = 0...
Page 293 Limit switch 2 Machine zero initiator GND24V All inputs and outputs have 24V level. Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be connected) Input-/Output extension (see on page 134) Optimization The display of the digital inputs in the optimization window of the C3 ServoManager...
Page 294: Control Word
Control via RS232 / RS485 / USB C3I12T11 5.2.2. Control word Structure of the control word (object 1100.3) Function Corresponds to * Bit0 Quit (edge) / energize axis I0: X12/6 Bit1 No Stop I1: X12/7 Bit2 JOG + I2: X12/8 Bit3 JOG - I3: X12/9...
Page 295: Status Word 1 & 2
Control via RS232 / RS485 / USB Parker EME 5.2.3. Status word 1 & 2 Structure of the state word 1 (object 1000.3) Description Corresponds to * Bit0 X12/6 Bit1 X12/7 Bit2 X12/8 Bit3 X12/9 Bit4 X12/10 Bit5 X12/11 Bit6...
Page 296: Examples Include: Control Via Com Port
Control via RS232 / RS485 / USB C3I12T11 Examples include: Control via COM port Control via COM port is executed via the control word (object 1100.3) and the  status word (object 1000.3). These examples are based on the ASCII record, they may, however, also be ...
Page 297 The address of the set executed last can be read out via status word2 object 1000.4: o1000.4 Description of the set table The set table can be written in either via the Compax3 ServoManager or directly via the COM port. Example: Entry of a motion set in set 5.
Page 298 Control via RS232 / RS485 / USB C3I12T11 Absolute positioning on position 234,54  Velocity 21,4  Acceleration 200  Deceleration 500  Jerk maximum 10000  Programmable status bits:  PSB2 must remain unchanged  PSB1 = 1 and ...
Page 299: Layout Of The Set Table
Control via RS232 / RS485 / USB Parker EME Layout of the set table In this chapter you can read about: General layout of the table ..................... 297 Assignment of the different motion functions ..............297 Definition of the states of the programmable status bits (PSBs): ........298 The motion sets are memorized in an object table.
Page 300: Definition Of The States Of The Programmable Status Bits (Psbs)
Modem MB-Connectline MDH 500 / MDH 504 ............... 305 C3 settings for RS485 two wire operation ..............306 C3 settings for RS485 four wire operation..............307 Overview of all possible communication modes between Compax3 devices and a 192-120113 N08 C3I12T11 - December 2010...
Page 301: Pc <-> Compax3 (Rs232)
Control via RS232 / RS485 / USB Parker EME 5.5.1. PC <-> Compax3 (RS232) PC <-> Compax3 (RS232): Connections to a device 192-120113 N08 C3I12T11 - December 2010...
Page 302 Control via RS232 / RS485 / USB C3I12T11 192-120113 N08 C3I12T11 - December 2010...
Page 303: Pc <-> Compax3 (Rs485)
Control via RS232 / RS485 / USB Parker EME 5.5.2. PC <-> Compax3 (RS485) PC <-> Compax3 (RS485) 192-120113 N08 C3I12T11 - December 2010...
Page 304: Pc <-> C3M Device Combination (Usb)
Control via RS232 / RS485 / USB C3I12T11 5.5.3. PC <-> C3M device combination (USB) PC <-> C3M device combination 192-120113 N08 C3I12T11 - December 2010...
Page 305: Usb-Rs485 Moxa Uport 1130 Adapter
Control via RS232 / RS485 / USB Parker EME 5.5.4. USB-RS485 Moxa Uport 1130 adapter The serial UPort 1130 USB adapter offers a simple and comfortable method of connecting an RS-422 or RS-485 device to your laptop or PC. The UPort 1130 is connected to the USB port of your computer and complements your workstation with a DB9 RS-422/485 serial interface.
Page 306: Ethernet-Rs485 Netcom 113 Adapter
Control via RS232 / RS485 / USB C3I12T11 5.5.5. ETHERNET-RS485 NetCOM 113 adapter Manufacturer link: http://www.vscom.de/666.htm (http://www.vscom.de/666.htm) 192-120113 N08 C3I12T11 - December 2010...
Page 307: Modem Mb-Connectline Mdh 500 / Mdh 504
With the modems MDH500 and MDH504 manufactured by MB-Connectline, you can establish an independent connection. A virtual COM port is generated and the communication with the PC as well as the Compax3 takes place via RS232 or RS485. It is not necessary to make any modem settings on the Compax3.
Page 308: C3 Settings For Rs485 Two Wire Operation
Control via RS232 / RS485 / USB C3I12T11 5.5.7. C3 settings for RS485 two wire operation C3 ServoManager RS485 wizard settings: download with configuration in RS232 mode°! Communication settings C3S/C3M: Object Function Value 810.1 Protocol 16 (two wire) 810.2 Baud rate 115200 810.3 NodeAddress...
Page 309: C3 Settings For Rs485 Four Wire Operation
Control via RS232 / RS485 / USB Parker EME 5.5.8. C3 settings for RS485 four wire operation C3 ServoManager RS485 wizard settings: download with configuration in RS232 mode Communication settings C3S/C3M: Object Function Value 810.1 Protocol 0 (4 wire) 810.2...
Page 310: Com Port Protocol
ASCII - record ........................ 309 Binary record ......................... 310 You can communicate with Compax3 in order to read or write objects via plug X10 ( or X3 on the mains module of Compax3M) on the front via a COM port (max. 32 nodes).
Page 311: Ascii - Record
Control via RS232 / RS485 / USB Parker EME 5.6.2. ASCII - record The general layout of a command string for Compax3 is as follows: [Adr] command CR RS232: no address RS485: Compax3 address in the range 0 ... 99 Address settings can be made in the C3 ServoManager under "RS485 settings"...
Page 312: Binary Record
The block securing (CRC16) is made via the CCITT table algorithm for all characters. After receiving the start code, the timeout monitoring is activated in order to avoid that Compax3 waits in vain for further codes (e.g. connection interrupted) The 192-120113 N08 C3I12T11 - December 2010...
Page 313 0x.. 0x.. Answer from Compax3 if access to the object was denied (e.g. function cannot be executed at that point in time or object has no reading access). The error no. is coded according to the DriveCom profile resp. the CiA Device Profile DSP 402.
Page 314 This function is called up for each Byte (Character) of the telegram. The result forms the last two bytes of the telegram Compax3 checks the CRC value on receipt and reports CRC error in the case of a deviation. Function...
Page 315: Remote Diagnosis Via Modem
The function setup mode as well as the ROLL mode of the oscilloscope are not available for remote diagnosis! It is not recommended to use the logic analyzer in the Compax3 IEC61131-3 debugger due to the limited bandwidth. Requirements: For modem operation, a direct and stable telephone connection is required.
Page 316: Structure
ATE0 cr ATQ1 cr Hyper- Compax3.ini terminal The green part of the drawing shows the proceeding for Compax3 release versions < R5-0! The proceeding for Compax3 release versions < R5-0 is described in an application example (.../modem/C3_Appl_A1016_language.pdf on the Compax3 CD).
Page 317: Configuration Of Local Modem 1
If a configuration download is interrupted, the original settings in the non volatile memory of the Compax3 are still available. You have to finish the communication on the PC side and to reset the Compax3 via the 24V supply before you can start a new trial.
Page 318: Recommendations For Preparing The Modem Operation
Control via RS232 / RS485 / USB C3I12T11 5.7.4. Recommendations for preparing the modem operation Preparations: Settings in Compax3 under "configure communication: Modem settings":  Modem initialization: "ON"  Modem initialization after Power On: "ON"  Modem check: "ON" ...
Page 319: Compax3 - Objects
Compax3 - Objects Parker EME 6. Compax3 - Objects In this chapter you can read about: Object overview I12 T11 ....................317 Detailed object list ......................320 Object overview I12 T11 Object- Object name Object 170.2 C3.AnalogInput0_Gain Gain analog input 0 170.4...
Page 320 Compax3 - Objects C3I12T11 Object- Object name Object 688.1 C3.StatusCurrent_Reference Status of setpoint current RMS (torque forming) 688.18 C3.StatusCurrent_ReferenceDINT Target current r.m.s. 681.6 C3.StatusSpeed_Error Status control deviation of speed 681.11 C3.StatusSpeed_FeedForwardSpeed Status speed feed forward 681.21 C3.StatusSpeed_LoadControlFiltered Speed of the load feedback (filtered) 2210.17...
Page 321 Compax3 - Objects Parker EME Object- Object name Object 1901.1 C3Array.Col01_Row01 variable Column 1 Row 1 1902.1 C3Array.Col02_Row01 variable Column 2 Row 1 1904.1 C3Array.Col04_Row01 variable Column 4 Row 1 1905.1 C3Array.Col05_Row01 variable Column 5 Row 1 1906.1 C3Array.Col06_Row01 variable Column 6 Row 1 1907.1...
Page 322: Detailed Object List
Compax3 - Objects C3I12T11 Object- Object name Object 3300.9 C3Plus.TouchProbe_IgnoreZone_End End of the ignore zone 3300.8 C3Plus.TouchProbe_IgnoreZone_Start Beginning of the ignore zone Time constant tracking filter HEDA-process 2109.1 C3Plus.TrackingfilterHEDA_TRFSpeed position 1152.20 C3Plus.RegMove_ParametersModified Status RegMove 688.17 C3Plus.StatusCurrent_FieldWeakeningFactor Reciprocal of the field weakening factor FF 670.4...
Page 323: Status Values
Status values Parker EME 7. Status values In this chapter you can read about: D/A-Monitor ........................321 Status values ......................... 321 A list of the status values supports you in optimization and commissioning. Open the optimization function in the C3 ServoManager (double-click on...
Page 324: Error
Error C3I12T11 8. Error Standard error reactions: Reaction 2: Downramp with "de-energize" then apply brake (see on page 287) and finally de-energize. For errors with standard reaction 2 the error reaction can be changed (see on page 151). Reaction 5: deenergize immediately (without ramps), apply brake. Caution! A Z-axis may drop down due to the brake delay times Most pending errors can be acknowledged with Quit! The following errors must be acknowledged with Power on:...
Page 325: Order Code
Order code Parker EME 9. Order code Order code device: Compax3 Example: C3S025V2F10I10T10M00 Device type: Compax3 Single axis Highpower Multi-axis device Device currents static/dynamic; supply voltage 2.5A / 5A ; 230VAC (single phase) 6.3 A / 12.6 A ; 230VAC (1 phase) 10A / 20A ;...
Page 326: Order Code For Mains Module: Psup
MH / SMH motors (cable chain compatible) for EnDat 2.1 for MH / SMH motors (cable chain compatible) ..Encoder – Compax3 ..for LXR linear motors (cable chain compatible) ..for BLMA linear motors (cable chain compatible)
Page 327 Order code Parker EME Order Code braking resistors for C3S063V2 or C3S075V4 56Ω / 0.18kW cont. for C3S075V4 56Ω / 0.57kW cont. for C3S025V2 or C3S038V4 100Ω / 60W cont. for C3S150V4 47Ω / 0.57kW cont. 4/01:15Ω / 0.57kW cont.
Page 328 Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) Compax3H X10 RS232 connection control  Programming interface (delivered with the device) Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) ..
Page 329 Length A (Pop - 1. Compax3) variable (the last two numbers according to the length code for cable, for example SSK27/nn/01) Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is more than 1 Compax3, i.e. nn greater than 01)
Page 330: 10. Compax3 Accessories
Compax3 Accessories C3I12T11 10. Compax3 Accessories In this chapter you can read about: Parker servo motors ...................... 328 EMC measures ......................331 Connections to the motor ....................339 External braking resistors ....................345 Condenser module C4 ....................359 Operator control module BDM ..................360 EAM06: Terminal block for inputs and outputs ...............
Page 331: Transmitter Systems For Direct Drives
Parker EME 10.1.1.1 Transmitter systems for direct drives The Feedback option F12 makes it possible to operate linear motors as well as torque motors. Compax3 supports the following transmitter systems: Special encoder systems for direct Option F12 drives Sine-Cosine signal (max. 5Vss*; typical ...
Page 332: Linear Motors
6m 10.1.1.3 Torque motors Parker offers you an extensive range of torque motors that can be adapted to your application. Please contact us for information. Additional information can be found on the Internet http://www.parker-eme.com in the direct drives section.
Page 333: Emc Measures
Compax3 Accessories Parker EME 10.2 EMC measures In this chapter you can read about: Mains filter ........................331 Motor output filter ......................336 Mains filters ........................338 10.2.1. Mains filter For radio disturbance suppression and for complying with the emission limit values...
Page 334: Mains Filter Nfi01/01
Compax3 S025 V2 and Compax3 S063 V2 Dimensional drawing: 50,8±0,3 Ø 4 85,4 5,2 x 4 10.2.1.2 Mains filter NFI01/02 for Compax3 S0xx V4, Compax3 S150 V4 and Compax3 S1xx V2 Dimensional drawing: 70±0,3 Ø 4 192-120113 N08 C3I12T11 - December 2010...
Page 335: Mains Filter For Nfi01/03
Compax3 Accessories Parker EME 10.2.1.3 Mains filter for NFI01/03 for Compax3 S300 Dimensional drawing: 115±0,3 Ø 4 10.2.1.4 Mains filter NFI02/0x Filter for mounting below theCompax3 Hxxx V4 housing Dimensional drawing: B FU Stated in mm Filter type Dimensions Hole distances...
Page 336: Mains Filter Nfi03/01& Nfi03/03
Compax3 Accessories C3I12T11 10.2.1.5 Mains filter NFI03/01& NFI03/03 for PSUP10D6 and PSUP20D6 Dimensional drawing: Bottom view Side view Front view Coined Earthing Symbol on both sides Top view Line Terminals Load Terminals Label Filter type Weight GND(I) Connection clamp NFI03/01...
Page 337: Mains Filter Nfi03/02
Compax3 Accessories Parker EME 10.2.1.6 Mains filter NFI03/02 for PSUP10D6 Dimensional drawing: 192-120113 N08 C3I12T11 - December 2010...
Page 338: Motor Output Filter
Compax3 Accessories C3I12T11 10.2.2. Motor output filter In this chapter you can read about: Motor output filter MDR01/04 ..................336 Motor output filter MDR01/01 ..................336 Motor output filter MDR01/02 ..................337 Wiring of the motor output filter ..................337 We offer motor output filters for disturbance suppression when the motor connecting cables are long (>20m):...
Page 339: Motor Output Filter Mdr01/02
Compax3 Accessories Parker EME 10.2.2.3 Motor output filter MDR01/02 up to 30A nominal motor current (1.1mH) Dimensional drawing: U1 V1 W1 + U2 V2 W2 + Weight: 5.8kg 10.2.2.4 Wiring of the motor output filter Compax3 Motor 192-120113 N08 C3I12T11 - December 2010...
Page 340: Mains Filters
Compax3 Accessories C3I12T11 10.2.3. Mains filters In this chapter you can read about: Mains filter for PSUP30 ....................338 Mains filters serve for reducing the low-frequency interferences on the mains side. 10.2.3.1 Mains filter for PSUP30 Required mains filter for the PSUP30: 0.45 mH / 55 A We offer the following mains filters: LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm;...
Page 341: Connections To The Motor
MH / SMH motors (cable chain compatible) for EnDat 2.1 for MH / SMH motors (cable chain compatible) ..Encoder – Compax3 ..for LXR linear motors (cable chain compatible) ..for BLMA linear motors (cable chain compatible)
Page 342: Resolver Cable
Compax3 Accessories C3I12T11 10.3.1. Resolver cable REK42/.. Pin 1 Lötseite / solder side Compax3 (X13) Resolver Crimpseite / crimp side Lötseite 2x0,25 SIN+ SIN+ solder side SIN- Codiernut S = 20° SIN- 2x0,25 COS+ COS+ COS- COS- 2x0,25 REFres+ Ref+...
Page 343: Sincos© Cable
Compax3 Accessories Parker EME 10.3.2. SinCos© cable GBK24/..: Cable chain compatible Pin 1 Lötseite / solder side Crimpseite / crimp side SinCos Compax3 (X13) 2x0,25 SIN+ SIN+ Lötseite SIN- SIN- solder side 2x0,25 COS+ COS+ COS- COS- 2x0,25 DATA +485...
Page 344: Endat Cable
Compax3 Accessories C3I12T11 10.3.3. EnDat cable GBK38/..: (cable chain compatible) Feedback Compax3 (X13) Pin 1 Up(sens.) Sense+ 0V(sens.) Sense- Lötseite VCCTemp 2x0,14 Lötseite / Crimpseite solder side Temp BU/BK BU 0,5 2x0,14 Clock+ WH/GN 0,5 Clock- CLK/ RD/BK YE/BK BN/GN...
Page 345: Connection Of Terminal Box Mh145 & Mh205
Compax3 Accessories Parker EME 10.3.4.1 Connection of terminal box MH145 & MH205 Terminal Assignment Phase U Phase V Phase W Protective earth terminal Brake (+ red for MH205) Brake (- blue for MH205) Additional designations can be found on the connection cable clamping board - motor (internal).
Page 346: Encoder Cable
Compax3 Accessories C3I12T11 10.3.5. Encoder cable GBK23/..: Connection Compax3 - Encoder Pin 1 Compax3 (X11) Encoder Lötseite 2x0,14 solder side Lötseite / Crimpseite 2x0,14 2x0,14 2x0,5 Schirm auf Schirmanbindungselement Screen at screen contact 23 mm 2 mm 6 mm You can find the length code in the Order Code Accessories (see on page 324)
Page 347: External Braking Resistors
We recommend to use a thrust washer for the BRM13 and BRM14. Observe the instructions on the resistors (warning plate). Please note that the length of the supply cable must not exceed 2m! Ballast resistors for Compax3 Ballast resistor (see on page Device...
Page 348: Permissible Braking Pulse Powers Of The Braking Resistors
Permissible braking pulse power: BRM13/01 with PSUP10D6 ........355 Permissible braking pulse power: BRM14/01 with PSUP10D6 ........355 The diagrams show the permissible braking pulse powers of the braking resistors in operation with the assigned Compax3. 192-120113 N08 C3I12T11 - December 2010...
Page 349: Calculation Of The Brm Cooling Time
Compax3 Accessories Parker EME 10.4.1.1 Calculation of the BRM cooling time BRM04/01 (230V_3AC) 10000 F=20 F=10 F=0.5 1000 Braking time [s] F = Factor Cooling time = F * braking time Example 1: For a braking time of 1s, a braking power of 1kW is required. The Diagram shows the following: The required values can be found in the range between characteristic F = 0.5 and...
Page 350: Permissible Braking Pulse Power: Brm08/01 With C3S015V4 / C3S038V4
Compax3 Accessories C3I12T11 10.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4 BRM08/01 (480V) 10000 F=100 F=50 F=0.5 F=10 F=20 1000 Braking time [s] 10.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 BRM08/01 (230V) 10000 F=10 F=0.5 1000 Braking time [s]...
Page 351: Permissible Braking Pulse Power: Brm09/01 With C3S100V2
Compax3 Accessories Parker EME 10.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2 BRM09/01 (230V_3AC) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 10.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4 BRM10/01 (400/480V) 100000 F=100 F=50 F=10 F=20 F=0.5 10000 1000...
Page 352: Permissible Braking Pulse Power: Brm10/02 With C3S150V4
Compax3 Accessories C3I12T11 10.4.1.6 Permissible braking pulse power: BRM10/02 with C3S150V4 BRM10/02 (400/480V) 100000 F=10 F=0.5 10000 1000 Braking time [s] 10.4.1.7 Permissible braking pulse power: BRM05/01 with C3S063V2 BRM05/01 (230V) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 192-120113 N08 C3I12T11 - December 2010...
Page 353: Permissible Braking Pulse Power: Brm05/01 With C3S075V4
Compax3 Accessories Parker EME 10.4.1.8 Permissible braking pulse power: BRM05/01 with C3S075V4 BRM05/01 (400/480V) 100000 F=100 F=50 F=20 10000 F=10 F=0.5 1000 Braking time [s] 10.4.1.9 Permissible braking pulse power: BRM05/02 with C3S075V4 BRM05/02 (400/480V) 100000 F=50 F=100 F=20 10000 F=0.5...
Page 354: Permissible Braking Pulse Power: Brm04/01 With C3S150V2
Compax3 Accessories C3I12T11 10.4.1.10 Permissible braking pulse power: BRM04/01 with C3S150V2 BRM04/01 (230V_3AC) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 10.4.1.11 Permissible braking pulse power: BRM04/01 with C3S300V4 BRM04/01 (400V) 100000 F=100 F=50 F=20 F=10 F=0.5 10000 1000 Braking time [s]...
Page 355: Permissible Braking Pulse Power: Brm04/02 With C3S150V2
Compax3 Accessories Parker EME 10.4.1.12 Permissible braking pulse power: BRM04/02 with C3S150V2 BRM04/02 (230V) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 10.4.1.13 Permissible braking pulse power: BRM04/02 with C3S300V4 BRM04/02 (400V) 100000 F=100 F=50 F=10 F=0.5 F=20 10000 1000...
Page 356: Permissible Braking Pulse Power: Brm04/03 With C3S300V4
Compax3 Accessories C3I12T11 10.4.1.14 Permissible braking pulse power: BRM04/03 with C3S300V4 BRM04/03 (400V) 100000 F=100 F=50 F=20 F=10 F=0.5 10000 1000 Braking time [s] 10.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4 BRM11/01 (400V/480V) 100000 F=10 F=0.5 F=50 F=20 10000...
Page 357: Permissible Braking Pulse Power: Brm12/01 With C3H1Xxv4
Compax3 Accessories Parker EME 10.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4 BRM12/01 (400V/480V) 100000 F=50 F=20 F=10 F=0.5 10000 1000 Braking time [s] 10.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6 on request 10.4.1.18 Permissible braking pulse power: BRM14/01 with...
Page 358: Dimensions Of The Braking Resistors
Compax3 Accessories C3I12T11 10.4.2. Dimensions of the braking resistors In this chapter you can read about: BRM8/01braking resistors ....................356 BRM5/01 braking resistor ....................356 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............357 Ballast resistor BRM4/0x and BRM10/02 ...............357 Braking resistor BRM11/01 & BRM12/01 ...............358 Ballast resistor BRM13/01 &...
Page 359: Braking Resistor Brm5/02, Brm9/01 & Brm10/01
Compax3 Accessories Parker EME 10.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 Dimensional drawing: 95 97 10.4.2.4 Ballast resistor BRM4/0x and BRM10/02 Dimensional drawing: 1: thermal overcurrent relay Dimensions in mm: Size: BRM4/01 BRM4/02 BRM4/03 & BRM10/02 192-120113 N08 C3I12T11 - December 2010...
Page 360: Braking Resistor Brm11/01 & Brm12/01
Compax3 Accessories C3I12T11 10.4.2.5 Braking resistor BRM11/01 & BRM12/01 Dimensional drawing: Ø10,5 Dimensions in mm: BRM11/01 BRM12/02 Weight 10.4.2.6 Ballast resistor BRM13/01 & BRM14/01 Dimensional drawing: 26±0,2 C (5 : 1) Stated in mm 192-120113 N08 C3I12T11 - December 2010...
Page 361: Condenser Module C4
Compax3 Accessories Parker EME 10.5 Condenser module C4 Order code condenser module for C3S300V4 1100µF Modules Technical Characteristics Type Capacity Cable length 1100µF ~30 cm Module C4 Dimensions in mm Module C4 ∅ 6 192-120113 N08 C3I12T11 - December 2010...
Page 362: Operator Control Module Bdm
Displays and changing of values.  Display of Compax3 messages.  Duplication of device properties and IEC61131-3 program to another Compax3  with identical hardware. Additional information can be found int he BDM manual This can be found on the ...
Page 363: Eam06: Terminal Block For Inputs And Outputs
I/Os with luminous indicator for X12, X22 The terminal block EAM06/.. can be used to route the Compax3 plug connector X11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector. Via a supporting rail (Design: ) the terminal unit can be attached to a mounting rail in the switch cabinet.
Page 364 Compax3 Accessories C3I12T11 Cable plan SSK23/..: X11 to EAM 06/01 Compax3 I/O Modul Pin 1 Pin 1 Lötseite solder side Lötseite GYPK GYPK RDBU RDBU WHGN WHGN BNGN BNGN WHYE WHYE YEBN YEBN WHGY WHGY GYBN GYBN 23 mm 2 mm 6 mm Cable plan SSK24/..: X12 to EAM 06/xx...
Page 365: Interface Cable
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device) Compax3H X10 RS232 connection control  Programming interface (delivered with the device) Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system) ..
Page 366: Rs485 Cable To Pop
Length A (Pop - 1. Compax3) variable (the last two numbers according to the length code for cable, for example SSK27/nn/01) Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is more than 1 Compax3, i.e. nn greater than 01)
Page 367: I/O Interface X12 / X22
Compax3 Accessories Parker EME 10.8.3. I/O interface X12 / X22 SSK22/..: Cable for X12 / X22 with flying leads Compax3 Pin 1 Lötseite solder side GYPK GYPK RDBU RDBU WHGN WHGN BNGN BNGN WHYE WHYE YEBN YEBN WHGY WHGY GYBN...
Page 368: Encoder Coupling Of 2 Compax3 Axes
2 mm 6 mm You can find the length code in the Order Code Accessories (see on page 324) Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC Compax3 I30  Compax3 I30 or C3M-multi axis communication Profinet, EtherCAT, Ethernet Powerlink...
Page 369: Modem Cable Ssk31
Compax3 Accessories Parker EME 10.8.6. Modem cable SSK31 SSK31/.. Pin 1 Pin 1 Lötseite Lötseite Compax3 (X10) solder side solder side Modem Schirm großflächig auf Gehäuse legen Schirm großflächig auf Gehäuse legen Place sheath over large area of housing Place sheath over large area of housing brücken (Litze 0,25)
Page 370: Options M1X
Option M10 = HEDA (M11) & I/Os (M12) ..............371 10.9.1. Input/output option M12 An optional input/output extension is available for Compax3. This option is named M12 (or M10: with HEDA) and offers 8 digital 24V inputs and 4 digital outputs on X22.
Page 371: Heda (Motion Bus) - Option M11
Compax3 Accessories Parker EME Input wiring of digital inputs Compax3 SPS/PLC 24VDC 24VDC X22/11 100KΩ 22KΩ X22/6 22KΩ 10nF 22KΩ 10KΩ X22/15 The circuit example is valid for all digital inputs! F1: Quick action electronic fuse; can be reset by switching the 24VDC supply off and on again.
Page 372 Compax3 Accessories C3I12T11 Function of the HEDA LEDs Green LED (left) HEDA module energized Red LED (right) Error in the receive area Possible causes: at the Master  no slave sending back  Wrong cabling  Terminal plug is missing ...
Page 373: Option M10 = Heda (M11) & I/Os (M12)
Compax3 Accessories Parker EME Function of the HEDA LEDs Green LED (left) HEDA module energized Red LED (right) Error in the receive area Possible causes: at the Master  no slave sending back  Wrong cabling  Terminal plug is missing ...
Page 374: 11. Technical Characteristics
Technical Characteristics C3I12T11 11. Technical Characteristics Mains connection Compax3S0xxV2 1AC Controller type S025V2 S063V2 Supply voltage Single phase 230VAC/240VAC 80-253VAC / 50-60Hz Input current 6Arms 13Arms Maximum fuse rating per device 10 A (MCB miniature 16A (automatic circuit (=short circuit rating) circuit breaker, K breaker K) characteristic)
Page 375 Technical Characteristics Parker EME Mains connection PSUP10D6 Device type PSUP10 230V 400V 480V 230VAC ±10% 400VAC ±10% 480VAC ±10% Supply voltage 50-60Hz 50-60Hz 50-60Hz Rated voltage 3AC 230V 3AC 400V 3AC 480V Input current 22Arms 22Arms 18Arms Output voltage 325VDC ±10% 565VDC ±10%...
Page 376 Technical Characteristics C3I12T11 Mains connection Compax3HxxxV4 3*400VAC Device type Compax3 H050V4 H090V4 H125V4 H155V4 Three-phase 3*400VAC Supply voltage 350-528VAC / 50-60Hz Input current 66Arms 95Arms 143Arms 164Arms Output current 50Arms 90Arms 125Arms 155Arms Maximum fuse rating per 100A 160A 200A...
Page 377 Technical Characteristics Parker EME Output data Compax3S0xx at 1*230VAC/240VAC Controller type S025V2 S063V2 Output voltage 3x 0-240V 3x 0-240V Nominal output current 2.5Arms 6.3Arms Pulse current for 5s 5.5Arms 12.6Arms Power 1kVA 2.5kVA Switching frequency 16kHz 16kHz Power loss for In...
Page 378 Technical Characteristics C3I12T11 Output data Compax3Mxxx at 3*230VAC Device type Compax3 M050D6 M100D6 M150D6 M300D6 Input voltage 325VDC ±10% Output voltage 3x 0-230V (0...500Hz) Nominal output current 5Arms 10Arms 15Arms 30Arms Pulse current for 5s* 10Arms 20Arms 30Arms 60Arms Power...
Page 379 Technical Characteristics Parker EME Output data Compax3Hxxx at 3*400VAC Controller type H050V4 H090V4 H125V4 H155V4 Output voltage 3x 0-400V Nominal output current 50Arms 90Arms 125Arms 155Arms Pulse current for 5s * 75Arms 135Arms 187.5Arms 232.5Arms Power 35kVA 62kVA 86kVA 107kVA...
Page 380 Technical Characteristics C3I12T11 Resulting nominal and peak currents depending on the switching frequency Compax3S0xxV2 at 1*230VAC/240VAC Switching S025V2 S063V2 frequency* 16kHz 2.5A 6,3A 5.5A 12,6A (<5s) peak 32kHz 2.5A 5.5A (<5s) 5.5A 12,6A peak Compax3S1xxV2 at 3*230VAC/240VAC Switching S100V2 S150V2 frequency* 8kHz (<5s)
Page 381 Technical Characteristics Parker EME Resulting nominal and peak currents depending on the switching frequency Compax3MxxxD6 at 3*400VAC Switching M050D6 M100D6 M150D6 M300D6 frequency* 8kHz (<5s) 10A peak 16kHz 3.8A 7.5A (<5s) 7.5A peak 32kHz 2.5A 3.8A (<5s) 5A 7.5A peak...
Page 382 Technical Characteristics C3I12T11 Resolution of the motor position For option F10: Resolver Position resolution: 16 Bits (= 0.005°)  Absolute accuracy: ±0.167°  © For option F11: SinCos Position resolution: 13.5 Bits / Encoder sine period  => 0.03107°/encoder resolution For option F12: Maximum position resolution ...
Page 383 Technical Characteristics Parker EME Special encoder systems for direct Option F12 drives Sine-Cosine signal (max. 5Vss*; typical Analog hall sensors  1Vss) 90° offset U-V signal (max. 5Vss*; typical 1Vss)  120° offset. Sine-Cosine (max. 5Vss*; typical 1Vss)  Encoder (max.
Page 384 60 ... 1000 60 ... 1000 rating 100W Maximum continuous current Braking operation Compax3MxxxD6 (axis controller) Device type M050 M100 M150 M300 Compax3 Capacity/ 110µF/ 220µF/ 220µF/ 440µF/ storable energy 18Ws at 400V 37Ws at 400V 37Ws at 400V 74Ws at 400V...
Page 385 Technical Characteristics Parker EME Ballast resistors for Compax3 Ballast resistor (see on page Device Rated output 345) BRM08/01 (100Ω) Compax3S025V2 60 W Compax3S015V4 Compax3S038V4 BRM05/01 (56Ω) Compax3S063V2 180 W Compax3S075V4 BRM05/02 (56Ω) Compax3S075V4 570 W BRM10/01 (47Ω) Compax3S150V4 570 W BRM10/02 (470Ω)
Page 386 Technical Characteristics C3I12T11 Size / weight Compax3S Controller type Dimensions Weight [kg] HxWxD [mm] Compax3S025V2 191 x 84 x 172 Compax3S063V2 191 x 100 x 172 Compax3S015V4 248 x 84 x 172 Compax3S100V2 248 x 115 x 172 Compax3S150V2 248 x 158 x 172 Compax3S038V4 248 x 100 x 172 Compax3S075V4...
Page 387 Technical Characteristics Parker EME Safety technology Compax3S Safe torque-off in accordance with EN For implementation of the “protection  ISO 13849: 2008, Category 3, PL d/e against unexpected start-up” function Certified. described in EN1037. Test mark IFA 1003004 Please note the circuitry examples (see ...
Page 388 Technical Characteristics C3I12T11 UL certification for Compax3S conform to UL: according to UL508C  Certified E-File_No.: E235342  The UL certification is documented by a "UL" logo on the device (type specification plate). “UL” logo: UL-approval for PSUP/Compax3M conform to UL: according to UL508C ...
Page 389 Technical Characteristics Parker EME Cooling Compax3S and Compax3H Cooling mode: C3S025V2 ... S150V4: Convection C3S300V4 & C3H: Forced air ventilation with fan in the heat dissipator ³ Air flow rate:459m /h (C3H) Supply: C3S300V4, C3H050, C3H090 internal C3H125, C3H155 external 220/240VAC: 140W, 2.5µF, Stator - 62Ω...
Page 390 Technical Characteristics C3I12T11 EC directives and applied harmonized EC norms EC low voltage directive EN 61800-5-1, Standard for electric power 2006/95/EG drives with settable speed; requirements to electric safety EN 60664-1, isolation coordinates for electrical equipment in low-voltage systems EN 60204-1, machinery norm partly applied EC-EMC-directive EN 61800-3, EMC standard 2004/108/EC...
Page 391 Technical Characteristics Parker EME Functions Motion control via I/Os (Option M10 or up to 31 motion sets possible with the  M12 required) or via RS232 / RS485 following functions. Absolute positioning  Relative positioning  Electronic Gearbox (Gearing) ...
Page 392: Index
Bandwidth filter 1 (O2150.2) / bandwidth filter 2 Commutation settings of the automatic (O2150.5) • 225 commutation • 219 Basic structure of the control with Compax3 • Compax3 communication variants • 298 Compax3 - Objects • 317 Basics of frequency response measurement •...
Page 393 Index Parker EME Conditions of utilization for the STO function Correlation between the terms introduced • with Compax3M • 89 Conditions of utilization for UL certification Course of the automatic commutation function Compax3H • 24 • 221 Conditions of utilization for UL certification Current (Torque) Limit •...
Page 394 (for direct drives) • 139 Frequency settings • 271 Encoder cable • 344 Friction compensation • 227 Encoder coupling of 2 Compax3 axes • 366 Front connector • 42 Encoder simulation • 139 Function principle of the automatic EnDat cable • 342 commutation with movement •...
Page 395 Mass inertia • 177 Motion objects in Compax3 • 243 Maximum operating speed • 133 Motion profile at jerk-controlled setpoint Meaning of the status LEDs - Compax3 axis generation • 228 controller • 28 Motion set • 243 Meaning of the status LEDs - PSUP (mains Motor / Motor brake (C3S connector X3) •...
Page 396 PC - PSUP (Mains module) • 62 Mounting and dimensions PC <-> C3M device combination (USB) • 302 PSUP10/C3M050D6, C3M100D6, PC <-> Compax3 (RS232) • 299 C3M150D6 • 72 PC <-> Compax3 (RS485) • 301 Mounting and dimensions Permissible braking pulse power PSUP20/PSUP30/C3M300D6 •...
Page 397 Setting the axis function • 63 Reaction times • 135 Setting the time basis XDIV • 167 Recommendations for preparing the modem Setting up Compax3 • 97 operation • 316 Settings for channels 1..4 • 168 Reduction of the current ripple • 186 Setup and optimization of the control •...
Page 398 X2 • 36 Temperature switch PSUP (mains module) • X3 • 34 X4 • 33 Test commissioning of a Compax3 axis • 99 Test functions • 198 The calculation of the physically possible acceleration • 228 Time frame signal source master • 157...

Parker Compax3 Operating Instructions Manual

Inhalt

1 Introduction

2 C3I12T11 Function Overview

3. Compax3 Device Description

3.6 Connections of Compax3H

3.10.3. Sto (= Safe Torque Off) with Compax3M (Option S1)

Parker Eme 4. Setting up Compax3

4 Setting up Compax3

Compax3M

Parker Eme 4.1.7.2 Machine Zero

4.4.3.2 Configuration

Parker Eme

Parker Eme 4.4.3.4 Setup and Optimization of the Control

Parker Eme 4.4.9. C3 Servosignalanalyzer

4.4.9.7 Overview of the User Interface

In this Chapter You Can Read About: Selection of the Signal or System to be Measured

In this Chapter You Can Read about

5. Control Via Rs232 / Rs485 / Usb

5 Control Via RS232 / RS485 / USB

6 Compax3 - Objects

7 Status Values

8 Error

9 Order Code

10 Compax3 Accessories

Quick Links

Chapters

Related Manuals for Parker Compax3

Summary of Contents for Parker Compax3