Page 1 Compax3 Electromechanical Automation Operating instructions Compax3 I11T11 Positioning via digital I/Os 192-120101 N11 C3I11T11 November 2007 Release R07-1 We reserve the right to make technical changes. 05.12.07 10:01 192-120101 N11 C3I11T11 November 2007 The data correspond to the current status at the time of printing.
Page 2 Internet: www.parker-automation.com http://www.parker-automation.com E-mail: sales.automation@parker.com mailto:sales.automation@parker.com Parker Hannifin GmbH & Co. KG - registered office: Bielefeld - Amtsgericht: Bielefeld HRA 14808 Personally liable shareholder: Parker Hannifin Management GmbH - Amtsgericht: Bielefeld HRB 35489 executive board: Dr. Gerd Scheffel, Günter Schrank, Christian Stein, Kees Veraart, Hans Wolfs - Chairman of the board: Hansgeorg...
Page 3: Table Of Contents
Parker EME Introduction Contents 1. Introduction....................9 Device assignment .................. 9 Type specification plate ................ 10 Packaging, transport, storage .............. 11 Safety Instructions................. 12 1.4.1. General hazards....................12 1.4.2. Safety-conscious working .................. 12 1.4.3. Special safety instructions ................. 13 Warranty conditions ................14 Conditions of utilization ................
Page 4 Introduction Positioning via digital I/Os 3.4.6. Mains supply Compax3MP (mains module)............39 3.4.7. Braking resistor / temperature switch Compax3MP (mains module) .... 40 3.4.7.1 Temperature switch Compax3MP (mains module) ........41 3.4.8. Motor / motor brake Compax3M (axis controller) ..........41 3.4.8.1 Measurement of the motor temperature of Compax3M (axis controller) ....................
Page 5 Parker EME Introduction 4. Setting up Compax3................75 Configuration ..................75 4.1.1. Test commissioning of a Compax3 axis ............77 4.1.2. Selection of the supply voltage used ..............77 4.1.3. Motor Selection....................77 4.1.4. Optimize motor reference point and switching frequency of the motor current .......................
Page 6 Introduction Positioning via digital I/Os 4.4.7. Load identification....................190 4.4.7.1 Principle ....................190 4.4.7.2 Boundary conditions ................. 190 4.4.7.3 Process of the automatic determination of the load characteristic value (load identification) ................191 4.4.7.4 Tips ......................192 4.4.8. Alignment of the analog inputs................192 4.4.8.1 Offset alignment..................
Page 7 Parker EME Introduction Accessories order code ..............246 9. Compax3 Accessories .................250 Parker servo motors ................251 9.1.1. Direct drives ......................251 9.1.1.1 Feedback systems for direct drives ............251 9.1.1.2 Linear motors .................... 252 9.1.1.3 Torque motors................... 252 9.1.2.
Page 8 Introduction Positioning via digital I/Os 9.4.1.17 Permissible braking pulse power: BRM14/01 with C3MP10D6....278 9.4.2. Dimensions of the braking resistors ..............278 9.4.2.1 BRM8/01braking resistors ................ 278 9.4.2.2 BRM5/01 braking resistor ................. 278 9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ........279 9.4.2.4 Braking resistor BRM4/0x .................
Page 9: Introduction
Packaging, transport, storage......................11 Safety Instructions ..........................12 Warranty conditions ...........................14 Conditions of utilization........................15 Device assignment This manual applies to the following devices: Compax3S025V2 + supplement Compax3S063V2 + supplement Compax3S100V2 + supplement Compax3S150V2 + supplement Compax3S015V4 + supplement Compax3S038V4 + supplement Compax3S075V4 + supplement...
Page 10: Type Specification Plate
Introduction Positioning via digital I/Os Type specification plate You will find the exact description of the device on the type specification plate, which can be found on the device: Compax3 - Type specification plate: Explanation: Type designation The complete order designation of the device (2, 5, 6, 9, 8). C3: Abbreviation for Compax3 S025: Single axis device, nominal device current in 100mA (025=2.5A) M050: Multi-axis device, nominal device current in 100mA (050=5A)
Page 11: Packaging, Transport, Storage
Parker EME Introduction 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.
Page 12: Safety Instructions
Introduction Positioning via digital I/Os Safety Instructions In this chapter you can read about: General hazards ..........................12 Safety-conscious working ........................12 Special safety instructions .........................13 1.4.1. 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 13: Special Safety Instructions
Parker EME Introduction 1.4.3. 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 rotating parts.
Page 14: Warranty Conditions
Introduction Positioning via digital I/Os Warranty conditions The device must not be opened. Do not make any modifications to the device, except for those described in the manual. Make connections to the inputs, outputs and interfaces only in the manner described in the manual.
Page 15: Conditions Of Utilization
Parker EME Introduction Conditions of utilization In this chapter you can read about: Conditions of utilization for CE-conform operation ................15 Conditions of utilization for UL certification Compax3S ..............18 Current on the mains PE (leakage current) ..................19 Supply networks ..........................20 1.6.1.
Page 16 Introduction Positioning via digital I/Os Motor and Feedback Operation of the devices only with motor and feedback cables whose plugs cable: contain a special full surface area screening. Requirements for <100 m (the cable must not be rolled up!) Compax3S motor A motor output filter (see page 257) is required for motor cables >20m : cable MDR01/04 (max.
Page 17 Parker EME Introduction 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. In a domestic area this product can cause radio frequency disturbance, in which case the user may be required to implement appropriate remedial measures.
Page 18: Conditions Of Utilization For Ul Certification Compax3S
Introduction Positioning via digital I/Os 1.6.2. Conditions of utilization for UL certification Compax3S UL certifiction for Compax3S conform to UL: according to UL508C Certified E-File_No.: E235 342 The UL certification is documented by a ”UL” logo on the device (type specification plate).
Page 19: Current On The Mains Pe (Leakage Current)
Parker EME Introduction Fuses In addition to the main fuse, the devices must be equipped with a S 201 K or S 203 K fuse made by ABB. C3S025V2: ABB, nominal 480V 10A, 6kA C3S063V2: ABB, nominal 480V, 16A, 6kA...
Page 20: Supply Networks
Introduction Positioning via digital I/Os 1.6.4. Supply networks The Compax3 servo controller series is designed for fixed connection to TN networks (TN-C, TN-C-S or TN-S). Please note that the line-earth voltage may not exceed 300VAC. When grounding the neutral conductor, mains voltages of up to 480VAC are permitted.
Page 21: Compax3 I11 T11: Positioning Via Digital I/Os
Parker EME Compax3 I11 T11: Positioning via digital I/Os 2. Compax3 I11 T11: Positioning via digital I/Os Due to its high functionality, the Positioning version of Compax3 forms an ideal basis for many applications in high-performance motion automation. Up to 31 motion profiles (target position, speed, acceleration, retardation, jerk) can be programmed with the PC software.
Page 22: Compax3 Device Description
Compax3 device description Positioning via digital I/Os 3. Compax3 device description In this chapter you can read about: Meaning of the status LEDs - Compax3 axis controller..............22 Meaning of the status LEDs - Compax3MP (mains module).............22 Connections of Compax3S ........................23 Compax3MP/Compax3M connections ....................34 Connections of Compax3H........................43 Communication interfaces .........................53...
Page 23: Connections Of Compax3S
Parker EME Compax3 device description Connections of Compax3S In this chapter you can read about: Compax3S connectors ........................23 Connector and pin assignment C3S ....................24 Control voltage 24VDC / enable connector X4 C3S ................26 Motor / Motor brake (C3S connector X3)...................27 C3Sxxx V2 ............................28...
Page 24: Connector And Pin Assignment C3S
Compax3 device description Positioning via digital I/Os Caution! When the control voltage is missing there is no indication whether or not high voltage supply is available. PE connection The PE connection is made with 10mm via a grounding screw at the bottom of the device.
Page 25 Parker EME Compax3 device description 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...
Page 26: Control Voltage 24Vdc / Enable Connector X4 C3S
Compax3 device description Positioning via digital I/Os 3.3.3. Control voltage 24VDC / enable connector X4 C3S Description Line cross sections: +24V (supply) minimum: 0.25mm Gnd24 V maximum: 2.5mm Enable_in (AWG: 24 ... 12) Enable_out_a Enable_out_b Control voltage 24VDC Compax3S and Compax3H Controller type Compax3 Voltage range...
Page 27: Motor / Motor Brake (C3S Connector X3)
Parker EME Compax3 device description 3.3.4. Motor / Motor brake (C3S connector X3) Designation U (motor) V (motor) W (motor) PE (motor) Motor holding brake * Motor holding brake * * Please note that Compax3 will report error "open circuit at holding brake"...
Page 28: C3Sxxx V2
Compax3 device description Positioning via digital I/Os 3.3.5. C3Sxxx V2 In this chapter you can read about: Main voltage supply C3S connector X1.....................28 Braking resistor / high voltage DC C3S connector X2 ...............29 3.3.5.1 Main voltage supply C3S connector X1 In this chapter you can read about: Power supply plug X1 for 1 AC 230VAC/240VAC devices..............28 Power supply plug X1 for 3AC 230VAC/240VAC devices..............29...
Page 29: Braking Resistor / High Voltage Dc C3S Connector X2
Parker EME Compax3 device description Power supply plug X1 for 3AC 230VAC/240VAC devices Designation Mains connection Compax3S1xxV2 3AC Controller type S100V2 S150V2 Supply voltage Three phase 3* 230VAC/240VAC 80-253 VAC/50-60Hz Input current 10Aeff 13Aeff Maximum fuse rating per device 16 A (circuit breaker...
Page 30 Compax3 device description Positioning via digital I/Os Caution! The power voltage DC of two Compax3 1AC V2 devices (230VAC/240VAC devices) must not be connected. Braking resistor / high voltage supply plug X2 for 3AC 230VAC/240VAC devices Description + Braking resistor no short-circuit protection! - Braking resistor...
Page 31: C3Sxxx V4
Parker EME Compax3 device description 3.3.6. C3Sxxx V4 In this chapter you can read about: Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices..........31 Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices ..32 Connection of the power voltage of 2 C3S 3AC devices ..............33 3.3.6.1...
Page 32: Braking Resistor / High Voltage Supply Connector X2 For 3Ac 400Vac/480Vac_C3S Devices
Compax3 device description Positioning via digital I/Os 3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices Description + Braking resistor no short-circuit protection! - Braking resistor + DC high voltage supply - DC high voltage supply Braking operation Compax3SxxxV4 3AC Controller type S015V4...
Page 33: Connection Of The Power Voltage Of 2 C3S 3Ac Devices
Parker EME Compax3 device description 3.3.6.3 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 34: Compax3Mp/Compax3M Connections
Compax3 device description Positioning via digital I/Os Compax3MP/Compax3M connections In this chapter you can read about: Front connector..........................34 Connections on the device bottom ....................35 Connections of the axis combination ....................36 Connector and pin assignment ......................37 Control voltage 24VDC Compax3MP (mains module) ..............39 Mains supply Compax3MP (mains module) ..................39 Braking resistor / temperature switch Compax3MP (mains module)..........40 Motor / motor brake Compax3M (axis controller) ................41...
Page 35: Connections On The Device Bottom
Parker EME Compax3 device description 3.4.2. Connections on the device bottom Always switch devices off before wiring them! Dangerous voltages are still present until 5 minutes 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 36: Connections Of The Axis Combination
Compax3 device description Positioning via digital I/Os 3.4.3. Connections of the axis combination The Compax3M 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 37: Connector And Pin Assignment
Parker EME Compax3 device description 3.4.4. Connector and pin assignment Overview: Compax3MP Compax3M out X30 in X31 X30 out SSK33 SSK28 DC - Versorgung X9 (24VDC) DC - Supply 24VDC-Supply AC - Versorgung Highvoltage DC-Bus AC - Supply Maximum no. of C3M axes in a combination: 15 axes (max. 2400µF)
Page 38 Compax3 device description Positioning via digital I/Os 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. Compax3MP Compax3M X20/1 Communication Bus Communication Bus X20/2 X20/3 X11/1 X20/4...
Page 39: Control Voltage 24Vdc Compax3Mp (Mains Module)
Parker EME Compax3 device description 3.4.5. Control voltage 24VDC Compax3MP (mains module) connector X9 Designation Line cross sections: minimum: 0.5mm with contactor sleeve +24 V maximum: 6mm with contactor sleeve Gnd 24 V (AWG: 20 ... 10) Control voltage 24VDC Compax3MP / Compax3M...
Page 40: Braking Resistor / Temperature Switch Compax3Mp (Mains Module)
Compax3 device description Positioning via digital I/Os Mains connection Compax3MP10D6 Device type Compax3 MP10 Supply voltage Rated voltage 3AC 400V 230-480VAC ±10% / 50-60Hz Input current 22Aeff Maximum fuse rating per device (=short circuit rating) MTP miniature circuit breaker (ABB) Recommendation: S203-K25 Caution! The Compax3MP10D6 devices must only be operated with three phases!
Page 41: Temperature Switch Compax3Mp (Mains Module)
Parker EME Compax3 device description Maximum capacity in the axis combination: 2400µF Connection of a braking resistor on Compax3MP (mains module) Mimimum line cross section: 1.5mm Maximum line length: Maximum intermediate circuit 810VDC voltage: Switch-on threshold: 780VDC 3.4.7.1 Temperature switch Compax3MP (mains module)
Page 42: Measurement Of The Motor Temperature Of Compax3M (Axis Controller)
Compax3 device description Positioning via digital I/Os Requirements for <80m per axis (the cable must not be rolled up! The entire length of the motor cable per axis combination may not exceed 300m. Compax3M motor cable A motor output filter (see page 257) is required for motor cables >20m : MDR01/04 (max.
Page 43: Connections Of Compax3H
Parker EME Compax3 device description Connections of Compax3H In this chapter you can read about: Compax3H plugs/connections ......................43 Terminal clamps – max. line cross section C3H................45 Plug and pin assignment C3H ......................46 Motor / Motor brake C3H ........................48 Control voltage 24 VDC C3H......................49 Mains connection Compax3H......................50...
Page 44 Compax3 device description Positioning via digital I/Os Controller front plate LED2 LED3 LED1 Motor brake HEDA in (Option) 24VDC HEDA out (Option) RS232/RS485 with jumper to the Inputs Outputs (Option M10/12) programming interface Analog/Encoder Bus (Option) connector type depends on the bus system! Inputs/Outputs bus settings...
Page 45: Terminal Clamps - Max. Line Cross Section C3H
Parker EME Compax3 device description 3.5.2. Terminal clamps – max. line cross section C3H Terminal clamps – max. line cross section The line cross sections must correspond to the locally valid safety regulations. The local regulations have always priority. Power clamps...
Page 46: Plug And Pin Assignment C3H
Compax3 device description Positioning via digital I/Os 3.5.3. Plug and pin assignment C3H Overview Compax3 AC - Versorgung AC - Supply RS232 DC - Versorgung X4 (24VDC) DC - Supply SSK1 Further information on the assignment of the plug mounted at the particular device can be found below! 192-120101 N11 C3I11T11 November 2007...
Page 47 Parker EME Compax3 device description 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...
Page 48: Motor / Motor Brake C3H
Compax3 device description Positioning via digital I/Os 3.5.4. Motor / Motor brake C3H Motor connection clamps Designation M1/U U (motor) M2/V V (motor) M3/W W (motor) PE (motor) Requirements for A motor output filter is required for motor cables >50m. Please contact us. Compax3H motor cable Shielding connection of the motor cable...
Page 49: Control Voltage 24 Vdc C3H
Parker EME Compax3 device description 3.5.5. Control voltage 24 VDC C3H Connector Description X4 Pin Gnd 24 V +24V 24 VDC (power supply) Control voltage 24VDC Compax3S and Compax3H Controller type Compax3 Voltage range 21 - 27VDC Mains module with switch-on current limitation, due to...
Page 50: Mains Connection Compax3H
Compax3 device description Positioning via digital I/Os 3.5.6. Mains connection Compax3H Device protection Avoid permanent switching on and off so that the charging connection is not overloaded. Mains connection Compax3HxxxV4 Controller type H050V4 H090V4 H125V4 H155V4 Supply voltage Three phase 3*400VAC/480VAC 350-528VAC / 50-60Hz Input current 54Aeff...
Page 51: Braking Resistor / Supply Voltage C3H
Parker EME Compax3 device description 3.5.7. 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 52: Connection Of The Power Voltage Of 2 C3H 3Ac Devices
Compax3 device description Positioning via digital I/Os 3.5.7.3 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 53: Communication Interfaces
Parker EME Compax3 device description Communication interfaces In this chapter you can read about: RS232 / RS485 interface (plug X10) ....................53 Communikation Compax3M ......................54 3.6.1. RS232 / RS485 interface (plug X10) Interface selectable by contact functions assignment of X10/1: X10/1=0V RS232...
Page 54: Communikation Compax3M
Compax3 device description Positioning via digital I/Os 3.6.2. Communikation Compax3M In this chapter you can read about: PC - Compax3MP (mains module) ....................54 Communication in the axis combination (connector X30, X31) ............54 Adjusting the basic address.......................55 Setting the axis function........................55 3.6.2.1 PC - Compax3MP (mains module) Connector X3...
Page 55: Adjusting The Basic Address
Parker EME Compax3 device description 3.6.2.3 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 56: Signal Interfaces
Compax3 device description Positioning via digital I/Os Signal interfaces In this chapter you can read about: Resolver / Feedback (connector X13) ....................56 Analog / Encoder (plug X11)......................57 Digital inputs/outputs (plug X12)......................58 3.7.1. Resolver / Feedback (connector X13) PIN X13 Feedback /X13 High Density /Sub D (depending on the Feedback module) Resolver (F10) SinCos (F11)
Page 57: Analog / Encoder (Plug X11)
Parker EME Compax3 device description Note on F12: *+5V (Pin 4) is measured and controlled directly at the end of the line via Sense – and Sense +. Maximum cable length: 100m Caution! Pin 4 and Pin 5 must under no circumstances be connected! Plug in or pull out feedback connector only in switched off state (24VDC switched off).
Page 58: Wiring Of The Analog Input
Compax3 device description Positioning via digital I/Os 3.7.2.2 Wiring of the analog input Compax3 2.2K W 10nF 10K W X11/9 Ain+ 10K W Ain- X11/11 10nF 2.2K W 2.5V Ain1 (X11/10 and X11/2) has the same wiring! 3.7.3. Digital inputs/outputs (plug X12) Input/output I/O /X12 X12/...
Page 59: Connection Of The Digital Outputs/Inputs
Parker EME Compax3 device description 3.7.3.1 Connection of the digital Outputs/Inputs Wiring of digital outputs Status of digital inputs Compax3 Compax3 SPS/PLC SPS/ X12/1 X12/1 X12/11 100K W 22K W X12/6 X12/2 22K W 10nF 22K W 10K W 18.2K W...
Page 60: Installation And Dimensions Compax3
Compax3 device description Positioning via digital I/Os Installation and dimensions Compax3 In this chapter you can read about: Installation and dimensions of Compax3 S0xx V2................60 Monting and dimensions Compax3S100V2 and S0xxV4 ..............61 Monting and dimensions Compax3S150V2 and S150V4..............62 Mounting and dimensions Compax3S300V4..................63 Mounting and dimensions C3MP/C3M ....................64 Mounting and dimensions C3H......................65 3.8.1.
Page 61: Monting And Dimensions Compax3S100V2 And S0Xxv4
Parker EME Compax3 device description 3.8.2. Monting and dimensions Compax3S100V2 and S0xxV4 Mounting: 3 socket head screws M5 C3S015V4: C3S038V4: C3S075V4 / C3S100V2 : Please respect an appropriate mounting gap in order to ensure sufficient convection: At the side: 15mm...
Page 62: Monting And Dimensions Compax3S150V2 And S150V4
Compax3 device description Positioning via digital I/Os 3.8.3. Monting and dimensions Compax3S150V2 and S150V4 Mounting: 4 socket head screws M5 Please respect an appropriate mounting gap in order to ensure sufficient convection: At the side: 15mm At the top and below: at least 100mm 192-120101 N11 C3I11T11 November 2007...
Page 63: Mounting And Dimensions Compax3S300V4
Parker EME Compax3 device description 3.8.4. Mounting and dimensions Compax3S300V4 Mounting: 4 socket head screws M5 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 64: Mounting And Dimensions C3Mp/C3M
Compax3 device description Positioning via digital I/Os 3.8.5. Mounting and dimensions C3MP/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 65: Mounting And Dimensions C3H
Parker EME Compax3 device description 3.8.6. Mounting and dimensions C3H In this chapter you can read about: Mounting distances, air currents Compax3H050V4 ................66 Mounting distances, air currents Compax3H090V4 ................66 Mounting distances, air currents Compax3H1xxV4................67 The devices must be mounted vertically on a level surface in the control cabinet.
Page 66: Mounting Distances, Air Currents Compax3H050V4
Compax3 device description Positioning via digital I/Os 3.8.6.1 Mounting distances, air currents Compax3H050V4 in mm C3H050V4 3.8.6.2 Mounting distances, air currents Compax3H090V4 in mm C3H090V4 192-120101 N11 C3I11T11 November 2007...
Page 67: Mounting Distances, Air Currents Compax3H1Xxv4
Parker EME Compax3 device description 3.8.6.3 Mounting distances, air currents Compax3H1xxV4 in mm C3H1xxV4 192-120101 N11 C3I11T11 November 2007...
Page 68: Safety Function - Safe Standstill - Compax3S
Compax3 device description Positioning via digital I/Os Safety function – safe standstill – Compax3S In this chapter you can read about: Safe standstill with Compax3 principle ....................68 Devices with the "Safe Standstill" safety function................69 Safety instructions for the ”safe standstill” function ................70 Application example for ”safe standstill”...
Page 69: Devices With The "Safe Standstill" Safety Function
Parker EME Compax3 device description Notes In normal operation of Compax3, 24 V DC of power is supplied to the "Enable" input (X4/3). The drive is then controlled by the digital inputs/outputs or the fieldbus. When used properly, the ”Safe standstill” safety function is only used when the motor is at a standstill, since it is not capable of braking a motor or bringing it to a standstill by itself.
Page 70: Safety Instructions For The "Safe Standstill" Function
Compax3 device description Positioning via digital I/Os 3.9.3. Safety instructions for the ”safe standstill” function Safety functions must be tested 100%. Only qualified staff members are permitted to install the “Safe Standstill” feature and place it in service. For all applications in which the first channel of the “Safe Standstill” is implemented by means of a PLC, care must be taken that the part of the program that is responsible for current flowing to or not flowing to the drive is programmed with the greatest possible care.
Page 71: Application Example For "Safe Standstill
Parker EME Compax3 device description 3.9.4. Application example for ”safe standstill” In this chapter you can read about: Note: ..............................71 Layout: ...............................71 Circuit:..............................72 Description............................73 The application example described here corresponds to Stop Category 1 as defined by EN60204-1. A Stop Category 0 in accordance with EN 60204-1 can be implemented, for example by setting the delay time on the Emergency power-off switch to 0.
Page 72: Circuit
Compax3 device description Positioning via digital I/Os 3.9.4.3 Circuit: Gerät 1 L1 ... L3 controller I10T10:I0: X12/6 Energise I11T11:I2: X12/8 I12T11:I0: X12/6 Kanal 1 Controller Feedback Channel 1 Feedback power supply O2: X12/4 GND24V safety relay Enable X4/3 power supply X4/4 Feedback X4/5...
Page 73: Description
Parker EME Compax3 device description Switches and buttons: Closed when the safety door is closed Closed when the safety door is closed Activate Emergency power-off module Guide Device 1 to a currentless state (error acknowledge) Guide Device 2 to a currentless state (error acknowledge) 3.9.4.4...
Page 74: N11 C3I11T11 November
Compax3 device description Positioning via digital I/Os Access to the hazardous area Activate Emergency power-off switch The two-channel disconnecting at the emergency power-off switch deactivates the emergency power-off module – the contacts 13 – 14 will open immediately. Channel 1:Compax3 devices receive the command via the Energize input to guide the drive to a currentless state (using the ramp configured in the C3 ServoManager for "drive disable").
Page 75: Setting Up Compax3
Parker EME Setting up Compax3 4. Setting up Compax3 In this chapter you can read about: Configuration .............................75 Test commissioning Compax3......................105 Device status ...........................107 Optimization.............................108 Configuration In this chapter you can read about: Test commissioning of a Compax3 axis ....................77 Selection of the supply voltage used ....................77...
Page 76 Setting up Compax3 Positioning via digital I/Os Configuration sequence: Installation of the C3 The Compax3 ServoManager can be installed directly from the Compax3 ServoManager DVD. Click on the appropriate hyperlink or start the installation program "C3Mgr_Setup_V..exe" and follow the instructions. PC requirements Recommendation: Operating system:...
Page 77: Test Commissioning Of A Compax3 Axis
Parker EME Setting up Compax3 Configuration Then you can double click on "Configuration" to start the configuration wizard. The wizard will lead you through all input windows of the configuration. Input quantities will be described in the following chapters, in the same order in which you are queried about them by the configuration wizard.
Page 78: Optimize Motor Reference Point And Switching Frequency Of The Motor Current
Setting up Compax3 Positioning via digital I/Os 4.1.4. Optimize motor reference point and switching frequency of the motor current Optimization of the The motor reference point is defined by the reference current and the reference motor reference (rotational) speed. Standard settings are: point Reference current = nominal current Reference (rotational) speed = nominal (rotational) speed...
Page 79 Parker EME Setting up Compax3 Resulting nominal and peak currents depending on the switching frequency Compax3S0xxV2 at 1*230VAC/240VAC Switching S025V2 S063V2 frequency* 16kHz 2.5A 6.3A nominal 5.5A 12.6A (<5s) peak 32kHz 2.5A 5.5A nominal (<5s) 5.5A 12.6A peak Compax3S1xxV2 at 3*230VAC/240VAC...
Page 80 Setting up Compax3 Positioning via digital I/Os Resulting nominal and peak currents depending on the switching frequency Compax3HxxxV4 at 3*400VAC Switching H050V4 H090V4 H125V4 H155V4 frequency* 8 kHz 125A 155A nominal 135A 187.5A 232.5A peak (<5s) 16kHz 100A nominal 49.5A 112.5A 123A 150A...
Page 81: Braking Resistor
Parker EME Setting up Compax3 Resulting nominal and peak currents depending on the switching frequency Compax3MxxxD6 at 3*400VAC Switching M050D6 M100D6 M150D6 frequency* 8 kHz nominal peak (<5s) 16kHz 3.8A 7.5A nominal 7.5A peak (<5s) 32kHz 2.5A 3.8A nominal 7.5A peak (<5s)
Page 82: General Drive
Setting up Compax3 Positioning via digital I/Os 4.1.6. General Drive External moment of inertia / load The external moment of inertia is required for adjusting the servo controller. The more accurately the moment of inertia of the system is known, the better is the stability and the shorter is the settle-down time of the control loop.
Page 83: Measure Reference
Parker EME Setting up Compax3 4.1.7.1 Measure reference In this chapter you can read about: You can select from among the following for the unit: Unit of Travel icrements * angle degrees or Inch. The unit of measure is always [mm] for linear motors.
Page 84 Setting up Compax3 Positioning via digital I/Os Unit: mm Gear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutions Number of pinions: 12 Tooth separation: 10mm Travel path per motor revolution = 4/7 * 12 * 10mm = 68.571 428 5 ... mm (this number cannot be expressed exactly) Instead of this number, you have the option of entering it exactly as a numerator and denominator:...
Page 85 Parker EME Setting up Compax3 Reset distance Numerator Unit: Unit of Travel Range: depending on the chosen unit Standard value: depending on the chosen unit Unit of Travel Division Standard value Increments 10 ... 1 000 000 1 ... 2000 Degrees 1 ...
Page 86: Machine Reference Modes (Mn-Ms)
Setting up Compax3 Positioning via digital I/Os 4.1.7.2 Machine reference modes (MN-Ms) Essentially, you can select between operation with or without machine reference. Position reference point However, when operating without machine zero, bear in mind that only operation in continuous mode is possible. 31 position data records are possible for operation without machine zero, whereas only 15 position data records are possible for operation with machine zero, because the machine zero proximity switch is read in via the input I7 (X12/14) to...
Page 87 Parker EME Setting up Compax3 MN-M 3.4: MN-Initiator = 1 on the positive 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 (left of the MN initiator) and one range with activated MN initiator (right of the MN initiator).
Page 88 Setting up Compax3 Positioning via digital I/Os MN-M 33,34: MN at motor zero point The motor reference point is now evaluated (no MN initiator): Without home MN-M 33:For a MN run, starting from the current position, the next motor zero point switch in the negative travel direction is taken as the MN.
Page 89: Adjusting The Machine Zero Proximity Switch
Parker EME Setting up Compax3 Caution! Wrong settings can cause hazard for man and machine. It is therefore essential to respect the following: Choose a low machine zero speed. Set the machine zero acceleration to a high value, so that the drive changes direction quickly, the value must, however, not be so high that the limit threshold is already reached by accelerating or decelerating (without mechanical limitation).
Page 90: Software End Limits
Setting up Compax3 Positioning via digital I/Os The machine reference offset is used to determine the actual reference point for positioning. That is: Zero point = Machine zero + Machine zero offset Note: If the machine zero proximity switch is at the positive end of the travel range, the machine zero offset must be = 0 or negative.
Page 91: Defining Jerk / Ramps
Parker EME Setting up Compax3 4.1.8. Defining jerk / ramps In this chapter you can read about: Jerk limitation.............................91 Ramp upon error / deenergize......................92 4.1.8.1 Jerk limitation Jerk The jerk (marked with ”4” in the drawing below) describes the change in acceleration (derivation of the acceleration) The maximum change in acceleration is limited via the jerk limitation.
Page 92: Ramp Upon Error / Deenergize
Setting up Compax3 Positioning via digital I/Os Deceleration on STOP After a STOP signal, the drive applies the brakes with the delay that is set (2). NO STOP: I0: no STOP The STOPdelay is only valid if STOP with interruption (see page 99) was configured.
Page 93: Limit And Monitoring Settings
Parker EME Setting up Compax3 4.1.9. Limit and Monitoring Settings In this chapter you can read about: Current (Torque) Limit ........................93 Positioning window - Position reached ....................93 Following error limit..........................95 Maximum operating speed ........................95 4.1.9.1 Current (Torque) Limit The current required by the speed controller is limited to the current limit.
Page 94 Setting up Compax3 Positioning via digital I/Os Handshake with PLC for small positionings START: I1: START signal POS:O1: Position reached Sequence: Reaction Compax3 START of a positioning Position reached goes to "0" From position reached = "0" follows: Positioning completed Position reached = "1"...
Page 95: Following Error Limit
Parker EME Setting up Compax3 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 setting) The following error is a dynamic error.
Page 96: 4.1.10. Encoder Simulation
Setting up Compax3 Positioning via digital I/Os 4.1.10. 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. Simulated Encoder Output Resolution Unit: Increments per revolution / pitch Range: 4 - 16384 Standard value: 1024 Any resolution can be set Limit frequency: 620kHz i.
Page 97: Operating Modes
Parker EME Setting up Compax3 4.1.11.1 Operating modes Operating mode: Absolute mode or continuous mode Absolute mode A fixed measuring system is associated with the travel range: A fixed defined zero point exists. All positions are referred to this zero point.
Page 98 Setting up Compax3 Positioning via digital I/Os Action Behaviour START 1 after Power On Machine zero run (home) Positioning data record address irrelevant START 2 Positioning data record address is read in Positioning data record 3 is executed START 3 Positioning data record address irrelevant Positioning data record 4 is executed START 4...
Page 99 Parker EME Setting up Compax3 Single positioning On a START edge (X12/7=24VDC), the positioning data record addressed via the inputs I3 to I6 (I7) is always executed. Therefore the desired positioning data record must be addressed before each START. E/I3...
Page 100 Setting up Compax3 Positioning via digital I/Os Sequential In the case of STOP with termination the sequential positioning procedure is positioning discontinued. The motion data record address is read in new. STOP without termination STOP and interruption of the current positioning procedure. NO STOP: I0: no STOP START: I1: START signal (on edge) A new START resumes the positioning process at the position where it was...
Page 101: Define Positioning Data Records
Parker EME Setting up Compax3 Examples in the help file In the help file you can find here examples for the functioning of the individual positioning modes. 4.1.11.2 Define positioning data records Positioning data record: 1: Target position 2: Travel speed...
Page 102 Setting up Compax3 Positioning via digital I/Os Input window: A positioning data record has the following contents: address Mode Target Posi- Accele- Decele- Repetition position tion ration ration number (delay) Address: Address of the positioning data record. The desired positioning data record is selected via the inputs I3 to I6 (to I7 without machine home switch).
Page 103: Dynamic Positioning
Parker EME Setting up Compax3 Special feature Repetition number = 0: End of a sequential positioning procedure The data record with repetition number 0 is invalid The positioning data record address is read in new and the new positioning data record is executed.
Page 104: 4.1.12. Error Response
Setting up Compax3 Positioning via digital I/Os 4.1.12. Error response Under "configuring: Under "configuration: error reaction" you can change the error reaction for individual errors (see page 243) (the error no. which can be influenced is displayed). Possible settings for the error reaction are: No response downramp / stop Downramp / stromlos schalten (standard setting)
Page 105: Test Commissioning Compax3
Parker EME Setting up Compax3 Test commissioning Compax3 Required wiring: X1: Mains supply X10 to PC /1: 230V AC +10% RS232 / RS485 /2: 0V /3: PE Motor / Brake X12: (see following) Inputs/Outputs X4: 24VDC /3: Enable with 24VDC...
Page 106 Setting up Compax3 Positioning via digital I/Os Positioning In order to be able to position according to the specified positioning data records, it is usually necessary to carry out a machine zero run after switching on (if machine zero has been configured). This takes place automatically with the first START after Power On.
Page 107: Device Status
Parker EME Setting up Compax3 Device status Key: I0, I1, I2: Input = 24VDC /I0, /I1: Input = 0V I2: positive edge at I2 O1: Position reached The device can be brought into various states via the inputs: I0: No stop...
Page 108: Optimization
Setting up Compax3 Positioning via digital I/Os Optimization In this chapter you can read about: Optimization window........................109 Scope...............................110 Controller optimization ........................119 Signal filtering with external command value...................184 Input simulation..........................185 Setup mode .............................187 Load identification..........................190 Alignment of the analog inputs ......................192 C3 ServoSignalAnalyzer........................194 ProfileViewer for the optimization of the motion profile..............229 Turning the motor holding brake on and off..................231...
Page 109: Optimization Window
Parker EME Setting up Compax3 4.4.1. Optimization window Layout and functions of the optimization window Segmentation Functions (TABs) Window 1: Scope (see page 110) Window 2: Optimization: Controller optimization D/A Monitor (see page 242): Output of status values via 2...
Page 110: Scope
Setting up Compax3 Positioning via digital I/Os 4.4.2. Scope In this chapter you can read about: Monitor information ..........................111 User interface ..........................112 Example: Setting the Oscilloscope ....................117 The integrated oscilloscope function features a 4-channel oscilloscope for the display and measurement of signal images (digital and analog) consisting of a graphic display and a user interface.
Page 111: Monitor Information
Parker EME Setting up Compax3 4.4.2.1 Monitor information 1: Display of the trigger information 2: Display of the operating mode and the zoom setting 2a: Green indicates, that a measurement is active (a measurement can be started or stopped by clicking here).
Page 112: User Interface
Setting up Compax3 Positioning via digital I/Os In the ROLL operating mode, marker functions and set trigger level positions are not available. 4.4.2.2 User interface In this chapter you can read about: Oscilloscope operating mode switch: ....................113 Setting the time basis XDIV ......................114 Settings for channels 1..4 ........................114 Trigger settings ..........................115 Special functions..........................116...
Page 113: Oscilloscope Operating Mode Switch
Parker EME Setting up Compax3 Oscilloscope operating mode switch: Oscilloscope operating mode switch: Selection of the desired operating mode: SINGLE, NORMAL; AUTO and ROLL by clicking on this button. Changing the operating mode is also permitted during a measurement. The current measurement is interrupted and started again with the changed settings.
Page 114: Setting The Time Basis Xdiv
Setting up Compax3 Positioning via digital I/Os Setting the time basis XDIV Setting the time basis XDIV Depending on the selected operating mode, the time basis can be changed via the arrow keys. For the operatiing modes SINGLE, NORMAL and AUTO, the following XDIV time settings are possible: XDIV Mode...
Page 115: Trigger Settings
Parker EME Setting up Compax3 Reset Channel CH 1..4 all channel settings are deleted. Please note: Channels can only be fileld 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 116: Special Functions
Setting up Compax3 Positioning via digital I/Os Special functions Menu with special oscilloscope functions such as memorizing or loading settings. 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.
Page 117: Example: Setting The Oscilloscope
Parker EME Setting up Compax3 4.4.2.3 Example: Setting the Oscilloscope SINGLE measurement with 2 channels and logic trigger on digital inputs The order of the steps is not mandatory, but provides a help for better understanding. As a rule, all settings can be changed during a measurement. This will lead to an...
Page 118 Setting up Compax3 Positioning via digital I/Os Example: Only b0 and b1 are to be displayed: Set display mask to 03 192-120101 N11 C3I11T11 November 2007...
Page 119: Controller Optimization
Parker EME Setting up Compax3 4.4.3. Controller optimization In this chapter you can read about: Introduction ............................119 Configuration ...........................122 Automatic controller design ......................137 Setup and optimization of the control ....................150 4.4.3.1 Introduction In this chapter you can read about: Basic structure of the control with Compax3 ...................119 Proceeding during configuration, setup and optimization ..............119...
Page 120 Setting up Compax3 Positioning via digital I/Os 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 121 Parker EME Setting up Compax3 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 122: Configuration
Setting up Compax3 Positioning via digital I/Os 4.4.3.2 Configuration In this chapter you can read about: Control path .............................122 Motor parameters relevant for the control..................123 Mass inertia .............................123 Nominal point data...........................123 Saturation values ..........................125 Quality of different feedback systems....................125 Typical problems of a non optimized control ...................126 Feedback error compensation ......................127 Commutation settings ........................129 I²t - monitoring of the motor ......................129...
Page 123: Motor Parameters Relevant For The Control
Parker EME Setting up Compax3 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 124 Setting up Compax3 Positioning via digital I/Os Motor characteristic line of a synchronous servo motor (torque via velocity) SMH 60 30 1,4 ...2ID...4: 3000rpm at 400VAC [Nm] S3 20% 65°C DT S3 50% 65°C DT S1 105 °C DT S1 65°C DT 1000 1500 2000...
Page 125: Saturation Values
Parker EME Setting up Compax3 Saturation values A motor may show a saturation behavior at higher currents due to iron saturation. This results in the reduction of the winding inductance at higher currents. As the inductance value of the winding enters directly into the P term of the current controller, the saturation at higher currents will result in too fast current control.
Page 126: Typical Problems Of A Non Optimized Control
Setting up Compax3 Positioning via digital I/Os 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 127: Feedback Error Compensation
Parker EME Setting up Compax3 Increased following error Increased following error when approaching the target position or the reduction of the following error takes too long Following error Setpoint velocity Actual velocity Instable behavior Setpoint velocity Actual velocity Following error Feedback error compensation Feedbacks with sine/cosine tracks may have different errors.
Page 128 Current = 50mA/Div Speed = 0.2mm/s/Div Time = 3.8ms/Div Type of motor: Parker LMDT 1200-1 ironless linear motor Linear encoder: Renishaw RGH 24B with 20µm resolution Servo controller: Compax3 In order to accept the changes in the MotorManager in the project, the individual configuration pages must be clicked through.
Page 129: Commutation Settings
Parker EME Setting up Compax3 Commutation settings Another prerequisite for a good control quality is the correct motor commutation. This comprises several settings. The commutation angle describes the relation of the feedback position with respect to the motor pole pair position.
Page 130 Setting up Compax3 Positioning via digital I/Os Motor continuous usage In this chapter you can read about: Linearized motor characteristic lien for different operating points ...........130 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 131 Parker EME Setting up Compax3 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] Continual stall current rp1: Reference point 1 (defined in the C3 ServoManager)
Page 132: Relevant Appication Parameters
Setting up Compax3 Positioning via digital I/Os Reference point 2: Increased torque thanks to additional cooling 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] Continual stall current Nominal point rp2: Reference point 2 (defined in the C3 ServoManager)
Page 133 For this reason, you must consider derated data of the servo controller for the drive design with higher switching frequencies. Motor parameters In this chapter you can read about: Parker Motor ............................134 Other motor............................134 Supported motor types ........................135 192-120101 N11 C3I11T11 November 2007...
Page 134 Setting up Compax3 Positioning via digital I/Os Parker Motor If a Parker motor is used for the appication, the parameters are already contained in the installed software. You can just select one of the available motors from the first configuration page.
Page 135 Parker EME Setting up Compax3 Supported motor types Compax3 supports the following motor types: Permanently excited synchronous rotaty 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 136 Setting up Compax3 Positioning via digital I/Os Limit and Monitoring Settings On the "limit and monitoring settings" wizard page, you can set among others the current and velocity limits in % of the nominal values. The nominal values are motor parameters resulting from the motor library or from shifting the reference point on the "motor reference point"...
Page 137: Automatic Controller Design
Parker EME Setting up Compax3 4.4.3.3 Automatic controller design In this chapter you can read about: Dynamics of a control ........................137 Cascade control ..........................144 Stiffness ............................145 Automated controller design ......................147 Controller coefficients ........................148 Dynamics of a control In this chapter you can read about: Structure of a control ........................137...
Page 138: Stability, Attenuation
Setting up Compax3 Positioning via digital I/Os stability, attenuation In this chapter you can read about: Stability problem in the high-frequency range: ................138 Stability problem in the low-frequency range:..................138 In general, two stability problems may occur in a servo drive control: Stability problem in the high-frequency range: The "control structure"...
Page 139: Velocity, Bandwidth
Parker EME Setting up Compax3 Velocity, bandwidth In this chapter you can read about: P-TE - Symbol ..........................139 Jerk response of a delay component....................139 Approximation of a well-attenuated control loop................139 Frequency response of the P-TE component (value and phase) ............141...
Page 140 Setting up Compax3 Positioning via digital I/Os surface of the ideal system, the approximated system can be described, up to a certain frequency, with the transmission function of the P-T1 component. 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.
Page 141: Setpoint And Disturbance Behavior Of A Control Loop
Parker EME Setting up Compax3 Frequency response of the P-TE component (value and phase) 0795 π ⋅ The cutt-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 142 Setting up Compax3 Positioning via digital I/Os Demand behavior W: Setpoint value X: Actual value Z: Disturbance variable Disturbance behavior 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.
Page 143: Response
Parker EME Setting up Compax3 Characteristics of a control loop setpoint response Response time. (Time elapsing until the control variable reaches one of the +-5% tolerance limits for the first time) Settling time. (Time elapsing until the control variable ultimately enters the +-...
Page 144: Cascade Control
Setting up Compax3 Positioning via digital I/Os Limitation behavior Each control variable is limited by the control (actuating) element. If the control variable demanded by the controller is within the linear range (without limitation), the control loop shows the behavior defined by the design. If the controller demands however a higher control variable than permitted by the limitation, the control variable is limited and the controller slows down.
Page 145: Stiffness
Parker EME Setting up Compax3 Stiffness In this chapter you can read about: Static stiffness..........................145 Dynamic stiffness..........................145 Correlation between the terms introduced..................147 The stiffness of a drive represents an important characteristic. The faster the disturbance variable can be compensated in the velocity control path and the smaller the oscillation caused, the higher the stiffness of the drive.
Page 146 Setting up Compax3 Positioning via digital I/Os Electronic simulation of a disturbance torque jerk with the disturbance current jerk Position Controller Speed Controller Current Controller Motor Positionsregler Drehzahlregelung Stromregelung Feeding in of a disturbance current jerk, which corresponds to a disturbance torque jerk. The maximum amplitude an the settling time of the following error decline with rising dynamic stiffness.
Page 147: Automated Controller Design
Parker EME Setting up Compax3 Correlation between the terms introduced The introduced terms: stability Attenuation velocity bandwidth setpoint and disturbance behavior Control variable limitation Replacement time constant Stiffness are related as follows: A well-attenuated control features a stable control behavior.
Page 148: Controller Coefficients
Setting up Compax3 Positioning via digital I/Os corresponds to the bandwidth of the current loop) describes the velocity of the velocity loop (see below). Jerk response of the velocity loop depending on the optimization paramter "attenuation" and "stiffness" Attenuation = 100% Stiffness = 100% 1: Setpoint value 2: Actual value (stiffness = 200%)
Page 149 Parker EME Setting up Compax3 Velocity Loop ”P” Term ⋅ ⋅ ⋅ ⋅ ⋅ ⋅ ⇒ ∧ ∧ the replacement time constant of the closed velocity loop. The mechanical integration time constant of the motor. Linear function (straight) between attenuation and KPV...
Page 150: Setup And Optimization Of The Control
Setting up Compax3 Positioning via digital I/Os 4.4.3.4 Setup and optimization of the control In this chapter you can read about: Standard ............................150 Advanced............................157 Commissioning window ........................173 Proceeding during controller optimization..................175 For the setup and optimization of the control loops, the optimization window is available.
Page 151: Standard Cascade Structure
Parker EME Setting up Compax3 standard cascade structure Actual value monitoring 192-120101 N11 C3I11T11 November 2007...
Page 152: In This Chapter You Can Read About
Setting up Compax3 Positioning via digital I/Os Symbol Description Proportional term signal is multiplied with K First order delay component (P-T1 component) Integration block (I-block) PI-block Kp,T Limitation block (signal limitation) Notch filter (band elimination filter) Addition block blue Optimization objects description (simple pointer line) Status objects...
Page 153 Parker EME Setting up Compax3 Limitation of hte 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 154: Feedforward Channels
Setting up Compax3 Positioning via digital I/Os Feedforward channels In this chapter you can read about: Influence of the feedforward measures ...................154 Motion cycle without feedforward control..................155 Motion cycle with feedforward measures..................155 The feedforward channels are used for the specific influence of the guiding behavior of a control.
Page 155 Parker EME Setting up Compax3 Motion cycle without feedforward control Motion cycle with feedforward measures Velocity feedforward Velocity and acceleration feedforward 192-120101 N11 C3I11T11 November 2007...
Page 156: Control Signal Filter / Filter Of Actual Acceleration Value
Setting up Compax3 Positioning via digital I/Os Velocity,acceleration and current feedforward Velocity,acceleration , current and jerk feedforward Control signal filter / filter of actual acceleration value The filters in the Compax3 firmwar are implemented as P-T1 filters (first order delay component see chapter 0) The two "control signal filter (velocity loop)"...
Page 157: Advanced
Parker EME Setting up Compax3 Advanced In this chapter you can read about: Extended cascade (structure variant 1) ...................158 Extended cascade structure (structure variant 2 with disturbance variable observer) ....160 Optimization parameter Advanced ....................161 EMC feedforward..........................162 Motor parameters ..........................162 Filter "External Command Interface" ....................162 Voltage decoupling ..........................162...
Page 158: Extended Cascade (Structure Variant 1)
Setting up Compax3 Positioning via digital I/Os Extended cascade (structure variant 1) Actual value monitoring 192-120101 N11 C3I11T11 November 2007...
Page 159 Parker EME Setting up Compax3 Symbol Description Proportional term signal is multiplied with K First order delay component (P-T1 component) Integration block (I-block) PI-block Kp,T Limitation block (signal limitation) Notch filter (band elimination filter) Addition block blue Optimization objects description...
Page 160: Extended Cascade Structure (Structure Variant 2 With Disturbance Variable Observer)
Setting up Compax3 Positioning via digital I/Os Extended cascade structure (structure variant 2 with disturbance variable observer) Actual value monitoring 192-120101 N11 C3I11T11 November 2007...
Page 161: Optimization Parameter Advanced
Parker EME Setting up Compax3 Symbol Description Proportional term signal is multiplied with K First order delay component (P-T1 component) Integration block (I-block) PI-block Kp,T Limitation block (signal limitation) Notch filter (band elimination filter) Addition block blue Optimization objects description...
Page 162: Emc Feedforward
Setting up Compax3 Positioning via digital I/Os EMC feedforward The EMC feedforward compensates the electromagnetically generated back e.m.f. of the motor U . This signal is proportional to velocity and is deduced from the setpoint velocity of the setpoint generator. Motor parameters Furthermore you can re-optimize the motor parameters inductance, resistance and EMC (or Kt) in the advanced mode.
Page 163 Parker EME Setting up Compax3 The observer technology offers the advantage that the velocity can be calculated with the aid of integration. The idea of the observer principle is to connect a mathematical model of the control path parallel to the section observed and with the same transfer behaviour.
Page 164: Commutation Settings Of The Automatic Commutation
Setting up Compax3 Positioning via digital I/Os particular to direct drive systems with fixed moving masses, as otherwise the mismatch between model and the physical drive system has a destabilising influence on the transfer behaviour of the speed control. A remedy is to increase the observer dynamics, however this increases the noise of the observed signals.
Page 165 Parker EME Setting up Compax3 Display of the commutation error in incremental feedback systems Δε = 0 (adjusted) Δε ≠ 0 (not adjusted) Rotor was turned in switched-off state. blue: ideal position red: unfavourable position PM: magnetic flux of the permanent magnets Current pointer Δε...
Page 166 Setting up Compax3 Positioning via digital I/Os 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.
Page 167 Parker EME Setting up Compax3 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 168 Setting up Compax3 Positioning via digital I/Os Latching of the motor (phase 2) Here, the drive is brought to the position with the provided motor torque=0, where the angular error is either +-180° or 0°. Current rise in the second phase. O2190.1 Timp*k1-O2190.1, max.
Page 169: Notch Filter
Parker EME Setting up Compax3 Other During the sequence (time according to parameterization>>1s) the automatic commutation is externally visualized by a LED blinking code (green permanent and red blinking). Device errors will lead to an abort of the automatic commutation.
Page 170 Setting up Compax3 Positioning via digital I/Os Frequency response of the notch filter. Center frequency = 500Hz Bandwitdh = 50Hz Depth = 0.99 (-40dB) Parameterization by 3 objects. In this chapter you can read about: Frequency filter 1 (O2150.1) / frequency filter 2 (O2150.4) .............170 Bandwidth filter 1 (O2150.2) / bandwidth filter 2 (O2150.5).............170 Depth filter 1 (O2150.3) / depth filter 2 (O2150.6) ................171 Frequency filter 1 (O2150.1) / frequency filter 2 (O2150.4)
Page 171: Saturation Behavior
Parker EME Setting up Compax3 Depth filter 1 (O2150.3) / depth filter 2 (O2150.6) With this the size of the attenuation of the filter must be at the position of the center frequency. One stands here for complete attenuation (-∞ dB) and zero for no attenuation.
Page 172: Control Measures For Drives Iinvolving Friction
Setting up Compax3 Positioning via digital I/Os Control measures for drives iinvolving friction In this chapter you can read about: Deadband following error.........................172 Friction compensation........................173 Some drives, which involve much friction due to their guiding system, may show permanent oscillation at standstill. The transition between static friction (standstill) and kinetic friction (very low speed) is very steep.
Page 173: Commissioning Window
Parker EME Setting up Compax3 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 174 Setting up Compax3 Positioning via digital I/Os 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 175: Proceeding During Controller Optimization
Parker EME Setting up Compax3 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 externalsetpoint with the aid of numerical differentiation and final filtering.
Page 176 Setting up Compax3 Positioning via digital I/Os 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 177 Parker EME Setting up Compax3 Controller optimization disturbance and setpint behavior (standard) In this chapter you can read about: Controller optimization standard ......................178 Controller optimization of toothed belt drive ..................179 192-120101 N11 C3I11T11 November 2007...
Page 178 Setting up Compax3 Positioning via digital I/Os 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 Actual speed Incrase attenua tin...
Page 179 Parker EME Setting up Compax3 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 180 Setting up Compax3 Positioning via digital I/Os Controller optimization disturbance and setpint behavior (advanced) In this chapter you can read about: Controller optimization Advanced ....................181 Flow chart controller optimization of a direct drive................182 Controller optimization guiding transmission behavior ..............183 192-120101 N11 C3I11T11 November 2007...
Page 181 Parker EME Setting up Compax3 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 182 Setting up Compax3 Positioning via digital I/Os 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 : 1.) “following error filter”(Obj. 2200.21) = 1470µs Status controller with disturbance torque -“Observer time constant”...
Page 183 Parker EME Setting up Compax3 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 184: Signal Filtering With External Command Value
Setting up Compax3 Positioning via digital I/Os 4.4.4. Signal filtering with external command value The command signal read in from an external source (via HEDA or physical input) can be optimized via different filters. For this the following filter structure is available: 2020.6 speed 2020.7...
Page 185: Input Simulation
Parker EME Setting up Compax3 4.4.5. Input simulation In this chapter you can read about: Calling up the input simulation......................185 Functionality.............................186 Function The input simulation is used for the performance of tests without the complete input/output hardware being necessary. The digital inputs (standard and inputs of M10/M12 option) as well as the analog inputs are supported.
Page 186: Functionality
Setting up Compax3 Positioning via digital I/Os 4.4.5.2 Functionality Window Compax3 InputSimulator: 1st series: Standard inputs I7 ... I0 = ”0” button not pressed; = ”1” switch pressed 2nd series:Optional digital inputs (M10 / M12) Green field: port 4 is defined as input Red field: port 4 is defined as output the least significant input is always on the right side 3rd series:if the button ”deactivating physical inputs”...
Page 187: Setup Mode
Parker EME Setting up Compax3 4.4.6. Setup mode The setup mode is used for moving an axis independent of the system control The following functions are possible: Machine reference run Jog+ / Jog- Activation / deactivation of the motor holding brake.
Page 188: Motion Objects In Compax3
Setting up Compax3 Positioning via digital I/Os 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 189: Commissioning The Load Control
Parker EME Setting up Compax3 4.4.6.2 Commissioning the load control If a load control was configured,l the following buttons are displayed in the Commissioning window : Status of the load control yellow =>off green => on Activate / Deactivate load control...
Page 190: Load Identification
Setting up Compax3 Positioning via digital I/Os 4.4.7. Load identification In this chapter you can read about: Principle ............................190 Boundary conditions ........................190 Process of the automatic determination of the load characteristic value (load identification) ..191 Tips ..............................192 Automatic determination of the load characteristic value: of the mass moment of inertia with rotary systems of the mass with linear systems 4.4.7.1...
Page 191: Process Of The Automatic Determination Of The Load Characteristic Value (Load Identification)
Parker EME Setting up Compax3 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 window is to be opened.
Page 192: Tips
Setting up Compax3 Positioning via digital I/Os 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 193: Offset Alignment
Parker EME Setting up Compax3 by directly entering under optimization: Analog Input 4.4.8.1 Offset alignment Performing an offset alignment when working with the ±10V analog interface in the optimization window under optimization: Analog input Offset [170.4]. Enter the offset value for 0V input voltage.
Page 194: C3 Servosignalanalyzer
Setting up Compax3 Positioning via digital I/Os 4.4.9. C3 ServoSignalAnalyzer In this chapter you can read about: ServoSignalAnalyzer – function range.....................194 Signal analysis overview........................195 Installation enable of the ServoSignalAnalyzer ................196 Analyses in the time range ......................198 Measurement of frequency spectra ....................201 Measurement of frequency responses ....................204 Overview of the user interface ......................211 Basics of frequency response measurement...................223...
Page 195: Signal Analysis Overview
Parker EME Setting up Compax3 4.4.9.2 Signal analysis overview The ServoSignalAnalyzer offers three basic methods of analyzing systems: Analysis in the time range by measuring the step response Spectral analysis of individual signals Measurement of frequency response (Bode diagram) of the position control or of...
Page 196: Installation Enable Of The Servosignalanalyzer
Setting up Compax3 Positioning via digital I/Os 4.4.9.3 Installation enable of the ServoSignalAnalyzer In this chapter you can read about: Prerequisites............................196 Installation............................196 Activation ............................196 Prerequisites Compax3 with up-to-date controller board (CTP 17) Firmware version R06-0 installed Installation Execution of the C3 ServoManager Setup (on CD) If the firmware is too old =>...
Page 197 A double click on the preselected C3 ServoSignalAnalyzer will generate a system-dependent key. 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 ServoManager directory (C:\Programs\Parker\C3Mgr2\).
Page 198: Analyses In The Time Range
Setting up Compax3 Positioning via digital I/Os 4.4.9.4 Analyses in the time range Selection and parameterization of the desired analysis function Exemplary step function 192-120101 N11 C3I11T11 November 2007...
Page 199 Parker EME Setting up Compax3 The following functions are available: 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...
Page 200 Setting up Compax3 Positioning via digital I/Os If the drive approaches the limits of the motion range, the controller will decelerate so that the drive will come to a standstill within the permitted motion range. The maximum permitted velocity is used to calculate the deceleration ramp, therefore the drive stops even before reaching the range limits and reports an error.
Page 201: Measurement Of Frequency Spectra
Parker EME Setting up Compax3 4.4.9.5 Measurement of frequency spectra In this chapter you can read about: Functionality of the measurement....................201 Leak effect and windowing ......................202 Please note that you require a licence hey (see page 196, see page 194) for...
Page 202 Setting up Compax3 Positioning via digital I/Os 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 Complete oscillation period in the scanning Non complete oscillation period in the scanning period...
Page 203 Parker EME Setting up Compax3 Sine at 204Hz Δf=8Hz / f0=204Hz = 25,5⋅Δf / 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 204: Measurement Of Frequency Responses
Setting up Compax3 Positioning via digital I/Os 4.4.9.6 Measurement of frequency responses In this chapter you can read about: Safety instructions concerning the frequency response measurement ...........204 Functionality of the measurement....................204 Open/Closed Loop frequency response measurement ..............206 Excitation Signal ..........................207 Non-linearities and their effects .......................208 Please note that you require a licence hey (see page 196, see page 194) for this application!
Page 205 Parker EME Setting up Compax3 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 singal of a system into the range (Fourier transformation) and then divide the output singnal by the input signal, you get the complex frequency response of the system.
Page 206 Setting up Compax3 Positioning via digital I/Os 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. Influence of a superposed system on the frequency response measured In the simplest case, the superposed controls are switched off completely (Open Loop) This provides the best measurement results due to the elimination of any...
Page 207 Parker EME Setting up Compax3 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 208 Setting up Compax3 Positioning via digital I/Os Non-linearities and their effects In this chapter you can read about: Attenuation of the excitation amplitude....................209 Shifting the working point into a linear range...................209 Non-linearities in mechanical systems are for example due to friction, backlash or position-dependent transmissions (cams and crankshaft drives).
Page 209 Parker EME Setting up Compax3 Attenuation of the excitation amplitude Signal amplitude too small => no non-linearity in the signal range Signals Input Signal System Spectrum Input Signal Output Signal Output Output Signal Signal Input Signal 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.
Page 210 Setting up Compax3 Positioning via digital I/Os Example rubbing caused by friction: In systems subject to a distinct transition between rubbing caused by friction and sliding friction, the rubbing force will reduce abuptly as soon as the drive is moved (v>0).
Page 211: Overview Of The User Interface
Parker EME Setting up Compax3 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................211 Frequency settings ..........................215 velocity control ..........................215 Other settings ..........................217 Operating and status field........................219 Display of the measurement result ....................221...
Page 212 Setting up Compax3 Positioning via digital I/Os 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. Signal Signal Frequency generator generator response...
Page 213: Current Control
Parker EME Setting up Compax3 Application: For the graphic design of the position control. Compliance of Position control Shows the dynamic disturbance value behavior of the position control. => which dynamic influence does a disturbance torque have on the following error.
Page 214: Mechanical System
Setting up Compax3 Positioning via digital I/Os 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 215: Frequency Settings
Parker EME Setting up Compax3 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 216 Setting up Compax3 Positioning via digital I/Os use: 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. Signal Frequency generator...
Page 217: Other Settings
Parker EME Setting up Compax3 Other settings (1) Excitation Serves to set the excitation signal of the frequency response measurement. (2) Permissible following error (only for frequency response measurement) The resulting following error is increased by the injection of the excitation signal during the frequency response measurement.
Page 218 Setting up Compax3 Positioning via digital I/Os Comparison of two frequency spectra without and with cumulation 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 219: Operating And Status Field
Parker EME Setting up Compax3 Operating and status field (1) Start and Stop of the measurement (2) Status display Current status of the measurement or of the controller (if no measurement is taking place). (3) Progress of the registration of the signals in the controller The time of registration of the signals in the controller itself can, depending on the bandwidth and the kind of measurement, take up to one minute.
Page 220 Setting up Compax3 Positioning via digital I/Os (5) Different settings and options Functions available in a pull-down menu: Open superposed control loops (see page 206) accept load force This serves, when opening the velocity controller, to accept the load which the controller has provided at the time of switching off =>...
Page 221: Display Of The Measurement Result
Parker EME Setting up Compax3 Display of the measurement result Frequency spectra Bode diagrams: Value and phase Magnitude Phase Position Controller open Velocity Controller closed Velocity Controller opened 192-120101 N11 C3I11T11 November 2007...
Page 222: Dispaly Of The Measurement Point At The Cursor Position
Setting up Compax3 Positioning via digital I/Os 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 Color scale Frequency By clicking with the left mouse button on the color scale, you can change between...
Page 223: Basics Of Frequency Response Measurement
Parker EME Setting up Compax3 4.4.9.8 Basics of frequency response measurement In this chapter you can read about: Distinction between signals and systems ..................223 Linear Systems (LTI System) ......................224 Mechanical system ..........................225 Resonance points and their causes....................226 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 224 Setting up Compax3 Positioning via digital I/Os 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 225 Parker EME Setting up Compax3 The frequency response shows the amplification (value) and the phase shift (phase), which a signal is submittedd 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 226 Setting up Compax3 Positioning via digital I/Os Resonance points and their causes In this chapter you can read about: Rotary two mass system........................227 Linear two mass system ........................227 Toothed belt drive as two mass system...................228 Mechanical system with a resonance point ARes fARes: Anti resonance frequency fRes: Resonance frequency...
Page 227 Parker EME Setting up Compax3 Rotary two mass system The shown system corresponds for instance to a motor with a flywheel coupled via a shaft. Hereby J1 corresponds to the motor moment of inertia and J2 to the moment of inertia of the flywheel.
Page 228: Examples Are Available As A Movie In The Help File
Setting up Compax3 Positioning via digital I/Os Toothed belt drive as two mass system M o to r b e w e gte M a sse G e trie b e Z a h n riem e n M a sse A c hs e A n trie b sza h n rad In toothed belt drives, the toothed belt is the elastic coupling element.
Page 229: 4.4.10. Profileviewer For The Optimization Of The Motion Profile
Parker EME Setting up Compax3 4.4.10. 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 ......229 Mode 2: Compax3 input values are deduced from times and maximum values ......230 You will find the ProfileViewer in the Compax3 ServoManager under the "Tools"...
Page 230: Mode 2: Compax3 Input Values Are Deduced From Times And Maximum Values
Setting up Compax3 Positioning via digital I/Os 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 values of the profile: the parameters Position, Speed, Acceleration, Deceleration, Acceleration Jerk and Deceleration Jerk...
Page 231: 4.4.11. Turning The Motor Holding Brake On And Off
Parker EME Setting up Compax3 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: For an axis to which torque is applied in the stationary state (e.g. for a z-axis) the drive can be switched on and off in a manner such that no load movement takes place.
Page 232: Communication
USB: SSK33/03 (only for Compax3M) 5.1.1. RS485 setting values If ”Master=Pop” was selected, only the settings compatible with the Pops (Parker Operator Panels) made by Parker are possible. Please note that the connected Pop has the same RS485 setting values.
Page 233: Ascii - Record
Parker EME Communication 5.1.2. 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 234: Binary Record
Communication Positioning via digital I/Os 5.1.3. Binary record The binary record with block securing is based on 5 different telegrams: 2 request telegrams which the control sends to Compax3 and 3 response telegrams which Compax3 returns to the control. Telegram layout Basic structure: Start code address...
Page 235 Parker EME Communication Response telegram Compax3> Bits 0 and 1 are used to identify the response Bit 3 is always 0 The maximum number of data bytes in the request telegram is 256, in the response telegram 253. The block securing (CRC16) is made via the CCITT table algorithm for all characters.
Page 236 Communication Positioning via digital I/Os Block securing: Checksum calculation for the CCITT table algorithm The block securing for all codes is performed via the following function and the corresponding table: The ”CRC16” variable is set to ”0” before sending a telegram. Function call: CRC16 = UpdateCRC16(CRC16, Character);...
Page 237: Remote Diagnosis Via Modem
Parker EME Communication Remote diagnosis via Modem In this chapter you can read about: Structure ............................238 Configuration of local modem 1 .......................239 Configuration of remote modem 2 ....................240 Recommendations for preparing the modem operation ..............241 Caution! As the transmission via modem may be very slow and interference-prone, the...
Page 238: Structure
Communication Positioning via digital I/Os 5.2.1. Structure Layout and configuration of a modem connection ServoManager - Compax3: machine Release > R5-0 Compax3 Compax3 Compax3 konfig ServoManager ServoManager konfig konfig Modem 1 Modem 2 konfig Phone SSK31 Release > R4-5 < R5-0 konfig konfig Release <...
Page 239: Configuration Of Local Modem 1
Parker EME Communication 5.2.2. Configuration of local modem 1 Menu "Options: Communication settings RS232/RS485..." must be opened Select "Connection via Modem" Under "name" you can enter a name for the connection Enter the target telephone number. Note: If an ISDN telephone system is operated within a company network, an additional "0"...
Page 240: Configuration Of Remote Modem 2
Communication Positioning via digital I/Os 5.2.3. Configuration of remote modem 2 Settings in Compax3 under "configure communication: Modem settings": Modem initialization = "ON": After the SSK31 modem cable has been connected, Compax3 initializes the modem Modem initialization after Power On = "ON": After Power on of Compax3, the device initializes the modem Modem check = "ON": a modem check is performed The timeout periods are set to reasonable standard values according to our...
Page 241: Recommendations For Preparing The Modem Operation
Parker EME Communication 5.2.4. 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" Deposit SSK31 cable in the control cabinet. Install modem in the control cabinet and connect to telephone line.
Page 242: Status Values
Status values Positioning via digital I/Os 6. Status values In this chapter you can read about: D/A-Monitor............................242 Status values ...........................242 A list of the status values supports you in optimization and commissioning. Open the optimization function in the C3 ServoManager (double-click on optimization in the tree) You will find the available status values in the lower right part of the window under selection (TAB) ”Status values”...
Page 243: Error
Parker EME Error 7. Error Standard error reactions: Reaction 2 : Downramp with "de-energize" then apply brake (see page 231) and finally de-energize. For errors with standard reaction 2 the error reaction can be changed (see page 104). Reaction 5 : switch-off of the current immediately (without ramp), application of the brake.
Page 244: Order Code
Order code Positioning via digital I/Os 8. Order code In this chapter you can read about: Order code device: Compax3 ......................245 Order code for mains module: Compax3MP ...................246 Accessories order code ........................246 192-120101 N11 C3I11T11 November 2007...
Page 245: Order Code Device: Compax3
Parker EME Order code Order code device: Compax3 Example: C3S025V2F10I10T10M00 Device model: Compax3 Single axis Highpower Multi-axis device Device currents static/dynamic; supply voltage 2.5A / 5A ; 230VAC (single phase) 6.3A / 12.6A ; 230VAC (single phase) 10A / 20A ; 230VAC (three phase) 15A / 30A ;...
Page 246: Order Code For Mains Module: Compax3Mp
Order code Positioning via digital I/Os Order code for mains module: Compax3MP Example: C3MP10D6USBM00 Device model: Compax3M Power module Nominal power; supply voltage 10kW; 400VAC (3-phase) Interface: USB connection Options: no additional supplement Accessories order code Order Code connection set for Compax3S for C3S0xxV2 ZBH 02/01 0 2 /...
Page 247: N11 C3I11T11 November
Parker EME Order code Order code for motor cables for SMH / MH56 / MH70 / MH105 (1.5mm ; up to ..5 5 / 13.8A) for SMH / MH56 / MH70 / MH105 (1.5mm ; up to (cable chain compatible) 5 4 / ...
Page 248 Order code Positioning via digital I/Os Order code for interface cables and plugs PC – Compax3 (RS232) 0 1 / ..PC - Compax3MP (USB) 3 3 / ..on X11 (Ref/Analog) and X13 at C3F001D2 with flying leads 2 1 / ...
Page 249 Parker EME Order code Order Code CANopen Fieldbus Coupler CANopen Standard max. vectorial sum current for bus terminals 1650mA at 5V 3 3 7 CANopen ECO max. vectorial sum current for bus terminals 650mA at 5V 3 4 7 Length code 1...
Page 250: Compax3 Accessories
Compax3 Accessories Positioning via digital I/Os 9. Compax3 Accessories In this chapter you can read about: Parker servo motors ........................251 EMC measures ..........................253 Connections to the motor.........................259 External braking resistors ........................268 Connection set for Compax3S......................281 Connection set for Compax3MP/Compax3M ..................283 Operator control module BDM ......................284...
Page 251: Parker Servo Motors
Parker EME Compax3 Accessories Parker servo motors In this chapter you can read about: Direct drives.............................251 Rotary servo motors ........................252 9.1.1. Direct drives In this chapter you can read about: Feedback systems for direct drives ....................251 Linear motors ...........................252 Torque motors ..........................252 9.1.1.1...
Page 252: Linear Motors
6m 9.1.1.3 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- automation.com in the direct drives section.
Page 253: Emc Measures
Parker EME Compax3 Accessories EMC measures In this chapter you can read about: Mains filter ............................253 Motor output filter..........................257 Mains filter ............................258 9.2.1. Mains filter For radio disturbance suppression and for complying with the emission limit values for CE conform operation (see page 15)we offer mains filters:...
Page 254: Mains Filter Nfi01/02
Compax3 Accessories Positioning via digital I/Os 9.2.1.2 Mains filter NFI01/02 for Compax3 S0xx V4, Compax3 S150 V4 and Compax3 S1xx V2 Dimensional drawing: 70±0,3 Ø 4 9.2.1.3 Mains filter for NFI01/03 for Compax3 S300 Dimensional drawing: 115±0,3 Ø 4 192-120101 N11 C3I11T11 November 2007...
Page 255: Mains Filter Nfi02/0X
Parker EME Compax3 Accessories 9.2.1.4 Mains filter NFI02/0x Filter for mounting below theCompax3 Hxxx V4 housing Dimensional drawing: B FU Stated in mm Filter type Dimensions Hole distances Distances Weight Grounding Connection clamp clamp B1 H1 T1 BFU HF C3H050V4...
Page 256: Mains Filter Nfi03/01
Compax3 Accessories Positioning via digital I/Os 9.2.1.5 Mains filter NFI03/01 for Compx3MP10D6 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 NFI03/01 240 50 85 270 0,8 30 255 5,4 10mm...
Page 257: Motor Output Filter
Parker EME Compax3 Accessories 9.2.2. Motor output filter In this chapter you can read about: Motor output filter MDR01/04......................257 Motor output filter MDR01/01......................257 Motor output filter MDR01/02......................258 Wiring of the motor output filter......................258 We offer motor output filters for disturbance suppression when the motor connecting cables are long (>20m):...
Page 258: Motor Output Filter Mdr01/02
Compax3 Accessories Positioning via digital I/Os 9.2.2.3 Motor output filter MDR01/02 up to 30A nominal motor current (1.1mH) Dimensional drawing: U1 V1 W1 + U2 V2 W2 + Weight: 5.8kg 9.2.2.4 Wiring of the motor output filter Compax3 Motor 9.2.3. Mains filter Mains filters serve for reducing the low-frequency interferences on the mains side.
Page 259: Connections To The Motor
Parker EME Compax3 Accessories Connections to the motor In this chapter you can read about: Resolver cable ..........................260 SinCos© cable ..........................261 EnDat cable .............................262 Overview of motor cables ........................262 Motor cable with plug........................263 Motor cable for terminal box ......................264 Encoder cable..........................267 Under the designation "REK.."...
Page 260: Resolver Cable
Compax3 Accessories Positioning via digital I/Os 9.3.1. Resolver cable REK42/.. Pin 1 Lötseite / solder side Compax3 (X13) Resolver Crimpseite / crimp side Lötseite 2x0,25 SIN+ SIN+ solder side Codiernut S = 20° SIN- SIN- 2x0,25 COS+ COS+ COS- COS- 2x0,25 REFres+ Ref+...
Page 261: Sincos© Cable
Parker EME Compax3 Accessories 9.3.2. 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 262: Endat Cable
Compax3 Accessories Positioning via digital I/Os 9.3.3. EnDat cable GBK38/..: (cable chain compatible) Feedback Compax3 (X13) Pin 1 Sense+ Up(sens.) Sense- 0V(sens.) Lötseite VCCTemp 2x0,14 Lötseite / Crimpseite solder side Temp BU/BK BU 0,5 2x0,14 Clock+ WH/GN 0,5 CLK/ Clock- RD/BK YE/BK BN/GN...
Page 263: Motor Cable With Plug
Parker EME Compax3 Accessories 9.3.5. Motor cable with plug MOK55/.. (max. 13.8A) Cable: 6x1,5mm Lötseite / solder side Crimpseite / crimp si d e +24V Bremse/ Brake gn/ye gn/ye PE ( ) Schirm auf Schirmanbindung selement Screen at screen contact...
Page 264: Motor Cable For Terminal Box
Compax3 Accessories Positioning via digital I/Os 9.3.6. Motor cable for terminal box Design on the example of MOK59/..: (max. 18.9A) standard Cable: 6x2.5mm 140mm 75mm 30mm 30mm 30mm Compax3 Motor Bremse/Brake +24V Bremse/Brake -24V gn/ge gn/ge PE ( Schirm au f Schirmanb indung selemen t Absc hirmband kleben d Screen at screen con tact sc reen tape stick ing...
Page 265 Parker EME Compax3 Accessories Strip cable on 140mm Cut off shield for about 65mm, loosen, fold back over external cover (for about 75mm) and fix with insulating tape. Fix 2x approx. 30mm shrinking hose (adhesive) Strip ends of lines for 10mm and fix terminal sleeves 2.5...
Page 266: Connection Of Terminal Box Mh145 & Mh205
Compax3 Accessories Positioning via digital I/Os 9.3.6.1 Connection of terminal box MH145 & MH205 Terminal Assignment Phase U Phase V Phase W Brake (+ red for MH205) Brake (- blue for MH205) Additional designations can be found on the connection cable clamping board - motor (interal).
Page 267: Encoder Cable
Parker EME Compax3 Accessories 9.3.7. Encoder cable GBK23/..: Connection Encoder - Compax3 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 will find the length code in the accessories order code (see page 246).
Page 268: External Braking Resistors
Observe the instructions on the resistors (warning plate). Please note that the length of the supply cable must not exceed 2m! Braking resistors for Compax3 Braking Resistor (see page 268) Device Rated Power BRM08/01 (100Ω) Compax3S025V2 Compax3S015V4 Compax3S038V4 BRM05/01 (56Ω) Compax3S063V2 180W Compax3S075V4 BRM05/02 (56Ω)
Page 269: Permissible Braking Pulse Powers Of The Braking Resistors
Parker EME Compax3 Accessories 9.4.1. Permissible braking pulse powers of the braking resistors In this chapter you can read about: Calculation of the BRM cooling time....................270 Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4........271 Permissible braking pulse power: BRM08/01 with C3S025V2 ............271 Permissible braking pulse power: BRM09/01 with C3S100V2 ............272...
Page 270: Calculation Of The Brm Cooling Time
Compax3 Accessories Positioning via digital I/Os 9.4.1.1 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 F = 1.
Page 271: Permissible Braking Pulse Power: Brm08/01 With C3S015V4 / C3S038V4
Parker EME Compax3 Accessories 9.4.1.2 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] 9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 BRM08/01 (230V) 10000 F=10 F=0.5 1000...
Page 272: Permissible Braking Pulse Power: Brm09/01 With C3S100V2
Compax3 Accessories Positioning via digital I/Os 9.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2 BRM09/01 (230V_3AC) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 9.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4 BRM10/01 (400/480V) 100000 F=100 F=50 F=20 F=10 F=0.5 10000 1000 Braking time [s]...
Page 273: Permissible Braking Pulse Power: Brm05/01 With C3S063V2
Parker EME Compax3 Accessories 9.4.1.6 Permissible braking pulse power: BRM05/01 with C3S063V2 BRM05/01 (230V) 10000 F=20 F=10 F=0.5 1000 Braking time [s] 9.4.1.7 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...
Page 274: Permissible Braking Pulse Power: Brm05/02 With C3S075V4
Compax3 Accessories Positioning via digital I/Os 9.4.1.8 Permissible braking pulse power: BRM05/02 with C3S075V4 BRM05/02 (400/480V) 100000 F=50 F=100 F=20 10000 F=0.5 F=10 1000 Braking time [s] 9.4.1.9 Permissible braking pulse power: BRM04/01 with C3S150V2 BRM04/01 (230V_3AC) 10000 F=20 F=10 F=0.5 1000 Braking time [s]...
Page 275: Permissible Braking Pulse Power: Brm04/01 With C3S300V4
Parker EME Compax3 Accessories 9.4.1.10 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] 9.4.1.11 Permissible braking pulse power: BRM04/02 with C3S150V2 BRM04/02 (230V) 10000 F=20 F=10 F=0.5 1000...
Page 276: Permissible Braking Pulse Power: Brm04/02 With C3S300V4
Compax3 Accessories Positioning via digital I/Os 9.4.1.12 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 Braking time [s] 9.4.1.13 Permissible braking pulse power: BRM04/03 with C3S300V4 BRM04/03 (400V) 100000 F=100 F=50 F=20 F=10 F=0.5...
Page 277: Permissible Braking Pulse Power: Brm11/01 With C3H0Xxv4
Parker EME Compax3 Accessories 9.4.1.14 Permissible braking pulse power: BRM11/01 with C3H0xxV4 BRM11/01 (400V/480V) 100000 F=10 F=0.5 F=50 F=20 10000 1000 Braking time [s] 9.4.1.15 Permissible braking pulse power: BRM12/01 with C3H1xxV4 BRM12/01 (400V/480V) 100000 F=50 F=20 F=10 F=0.5 10000...
Page 278: Permissible Braking Pulse Power: Brm13/01 With C3Mp10D6
Compax3 Accessories Positioning via digital I/Os 9.4.1.16 Permissible braking pulse power: BRM13/01 with C3MP10D6 On request 9.4.1.17 Permissible braking pulse power: BRM14/01 with C3MP10D6 On request 9.4.2. Dimensions of the braking resistors In this chapter you can read about: BRM8/01braking resistors .......................278 BRM5/01 braking resistor ........................278 Braking resistor BRM5/02, BRM9/01 &...
Page 279: Braking Resistor Brm5/02, Brm9/01 & Brm10/01
Parker EME Compax3 Accessories 9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 Dimensional drawing: 95 97 9.4.2.4 Braking resistor BRM4/0x Dimensional drawing: 1: thermal current overload cut-off Dimensions in mm: Size: BRM4/01 BRM4/02 BRM4/03 192-120101 N11 C3I11T11 November 2007...
Page 280: Braking Resistor Brm11/01 & Brm12/01
Compax3 Accessories Positioning via digital I/Os 9.4.2.5 Braking resistor BRM11/01 & BRM12/01 Dimensional drawing: Ø10,5 Dimensions in mm: BRM11/01 BRM12/02 Weight 9.4.2.6 Braking resistor BRM13/01 & BRM14/01 Dimensional drawing: 26±0,2 C (5 : 1) stated in mm 192-120101 N11 C3I11T11 November 2007...
Page 281: Connection Set For Compax3S
Parker EME Compax3 Accessories Connection set for Compax3S The connection set which is available as accessory comprises: a shield terminal with large contact area for the motor cable shield, and the mating plug connectors for the Compax3 plug connectors X1, X2, X3, and X4...
Page 282 Compax3 Accessories Positioning via digital I/Os ZBH02/03: for Compax3 S300 3AC V4 192-120101 N11 C3I11T11 November 2007...
Page 283: Connection Set For Compax3Mp/Compax3M
Parker EME Compax3 Accessories Connection set for Compax3MP/Compax3M The connection set which is available as accessory comprises: for Compx3M Cable clamps in different sizes for large area shielding of the motor cable, the screw for the cable clamp as well as...
Page 284: Operator Control Module Bdm
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 Compax3 CD or on our Homepage: BDM-manual (http://www.parker.com/euro_emd/EME/Literature_List/dokumentationen/BDM.pd 192-120101 N11 C3I11T11 November 2007...
Page 285: Eam06: Terminal Block For Inputs And Outputs
Parker EME Compax3 Accessories EAM06: Terminal block for inputs and outputs Order Code terminal block for I/Os without luminous indicator for X11, X12, X22 0 6 / 0 for I/Os with luminous indicator for X12, X22 0 6 / 0 The terminal block EAM06/..
Page 286 Compax3 Accessories Positioning via digital I/Os EAM6/02: Terminal block with luminous indicator for X12, X22 Width: 67.5mm 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...
Page 287 Parker EME Compax3 Accessories Cable plan SSK24/..: X12 to EAM 06/xx Compax3 I/O Modul Pin 1 Pin 1 Lötseite Lötseite solder side GYPK GYPK RDBU RDBU WHGN WHGN BNGN BNGN WHYE WHYE YEBN YEBN WHGY WHGY GYBN GYBN 23 mm...
Page 288: Interface Cable
Compax3 Accessories Positioning via digital I/Os Interface cable In this chapter you can read about: RS232 cable ............................289 RS485 cable to Pop.........................290 I/O interface X12 / X22 ........................291 Ref X11 ............................292 Encoder coupling of 2 Compax3 axes .....................293 Modem cable SSK31 ........................294 Order code for interface cables and plugs PC –...
Page 289: Rs232 Cable
Parker EME Compax3 Accessories 9.9.1. RS232 cable SSK1/.. X10 <--- --->PC n.c. 7 x 0,25mm + Schirm/Shield You will find the length code in the accessories order code (see page 246). 192-120101 N11 C3I11T11 November 2007...
Page 290: Rs485 Cable To Pop
Compax3 Accessories Positioning via digital I/Os 9.9.2. RS485 cable to Pop SSK27: Connection Pop - Compax3 - Compax3 - ... Länge / Length B Länge / Length A Compax3_n Länge / Length B Pin 1 Pin 1 Compax3_2 Pin 1 Compax3_1 Pin 1 CHA+...
Page 291: I/O Interface X12 / X22
Parker EME Compax3 Accessories 9.9.3. 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 292: Ref X11
Compax3 Accessories Positioning via digital I/Os 9.9.4. Ref X11 SSK21/..: Cable for X11 with flying leads Compax3 Pin 1 Lötseite solder side GYPK GYPK RDBU RDBU WHGN WHGN BNGN BNGN WHYE WHYE YEBN YEBN WHGY WHGY GYBN GYBN Screen 23 mm 2 mm 6 mm You will find the length code in the accessories order code (see page 246).
Page 293: Encoder Coupling Of 2 Compax3 Axes
Parker EME Compax3 Accessories 9.9.5. Encoder coupling of 2 Compax3 axes SSK29/..: Cable from Compax3 X11 to Compax3 X11 Pin 1 Pin 1 von Compax3 (X11) zu Compax3 (X11) from Compax3 (X11) to Compax3 (X11) Lötseite Lötseite 2x0,25 solder side...
Page 294: Modem Cable Ssk31
Compax3 Accessories Positioning via digital I/Os 9.9.6. 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) brücken (Litze 0,25)
Page 295: 10. Technical Data
Parker EME Technical data 10. Technical data Mains connection Compax3S0xxV2 1AC Controller type S025V2 S063V2 Supply voltage Single phase 230VAC/240VAC 80-253 VAC/50-60Hz Input current 6Aeff 13Aeff Maximum fuse rating per device 10 A (circuit breaker 16 A (circuit breaker K)
Page 296 Technical data Positioning via digital I/Os Control voltage 24VDC Compax3S and Compax3H Controller type Compax3 Voltage range 21 - 27VDC Mains module with switch-on current limitation, due to capacitive load Fuse MTP miniature circuit breaker or "delayed action fuse", due to capacitive load Current drain of the device 0.8A Total current drain...
Page 297 Parker EME Technical data Output data Compax3Sxxx at 3*400VAC Controller type S015V4 S038V4 S075V4 S150V4 S300V4 Output voltage 3x 0-400V Nominal output current 1.5Aeff 3.8Aeff 7.5 Aeff 15Aeff 30Aeff Pulse current for 5s 4.5Aeff 9.0Aeff 15Aeff 30Aeff 60Aeff Power 1kVA 2.5kVA...
Page 298 Technical data Positioning via digital I/Os Output data Compax3Hxxx at 3*400VAC Controller type H050V4 H090V4 H125V4 H155V4 Output voltage 3x 0-400V Nominal output current 50Aeff 90Aeff 125Aeff 155Aeff Pulse current for 5s * 75Aeff 135Aeff 187.5Aeff 232.5Aeff Power 35kVA 62kVA 86kVA 107kVA Switching frequency...
Page 299 Parker EME Technical data Resulting nominal and peak currents depending on the switching frequency Compax3S0xxV2 at 1*230VAC/240VAC Switching S025V2 S063V2 frequency* 16kHz 2.5A 6.3A nominal 5.5A 12.6A (<5s) peak 32kHz 2.5A 5.5A nominal (<5s) 5.5A 12.6A peak Compax3S1xxV2 at 3*230VAC/240VAC...
Page 300 Technical data Positioning via digital I/Os Resulting nominal and peak currents depending on the switching frequency Compax3MxxxD6 at 3*400VAC Switching M050D6 M100D6 M150D6 frequency* 8 kHz nominal peak (<5s) 16kHz 3.8A 7.5A nominal 7.5A peak (<5s) 32kHz 2.5A 3.8A nominal 7.5A peak (<5s)
Page 301 Parker EME Technical data Resulting nominal and peak currents depending on the switching frequency Compax3HxxxV4 at 3*400VAC Switching H050V4 H090V4 H125V4 H155V4 frequency* 8 kHz 125A 155A nominal 135A 187.5A 232.5A peak (<5s) 16kHz 100A nominal 49.5A 112.5A 123A 150A peak (<5s)
Page 302 Technical data Positioning via digital I/Os Motors and feedback systems supported Motors Sinusoidal commutated synchronous motors Direct drives Maximum rotating field frequency: 1,000Hz Linear motors Max. velocity at 8 pole motors: 15000min Torque motors General max. speed: 60*1000/number of pole pairs in [min Sinusoidal commutated asynchronous motors Maximum rotating field frequency: 1,000Hz Max.
Page 303 Parker EME Technical data Special encoder systems for direct drives Option F12 Analog hall sensors Sine - cosine signal (max. 5Vss ; typical 1Vss) 90° offset U-V Signal (max. 5Vss ; typical 1Vss) 120° offset. Encoder Sine-cosine (max. 5Vss ; typical 1Vss) (max.
Page 304 15 Ω 8 Ω 8 Ω Minimum braking- resistance Maximum continuous current Braking resistors for Compax3 Braking Resistor (see page 268) Device Rated Power BRM08/01 (100Ω) Compax3S025V2 Compax3S015V4 Compax3S038V4 BRM05/01 (56Ω) Compax3S063V2 180W Compax3S075V4 BRM05/02 (56Ω) Compax3S075V4 570W BRM10/01 (47Ω)
Page 305 Parker EME Technical data Size / weight of 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...
Page 306 Technical data Positioning via digital I/Os UL certifiction for Compax3S conform to UL: according to UL508C Certified E-File_No.: E235 342 The UL certification is documented by a ”UL” logo on the device (type specification plate). ”UL” logo Insulation requirements Protection class Protection class I according to EN60664-1 Protection against human contact According to En 61800-5-1...
Page 307 Parker EME Technical data EMC limit values Compax3S and Compax3H EMC interference emission Limit values according to EN 61 800-3, Limit value class C3/C4 without additional mains filter: Information on C2 limit value classes (see page 15) EMC disturbance immunity...
Page 308 Technical data Positioning via digital I/Os COM ports RS232 115200 baud Word length: 8 bits, 1 start bit, 1 stop bit Hardware handshake XON, XOFF RS485 (2 or 4-wire) 9600, 19200, 38400, 57600 or 115200 baud Word length 7/8 bit, 1 start bit, 1 stop bit Parity (can be switched off) even/odd 2 or 4-wire USB (Compax3M)
Page 309: 11. Index
Parker EME Index 11. Index C3Sxxx V2 • 28 C3Sxxx V4 • 31 Calculation of the BRM cooling time • 270 Access to the hazardous area • 74 Calculation of the reference current from the Accessories order code • 246 characteristic line.
Page 310: N11 C3I11T11 November
Index Positioning via digital I/Os Connector and pin assignment • 37 Disturbance behavior • 142 Connector and pin assignment C3S • 24 Disturbance jerk response • 146 Control measures for drives iinvolving friction • D-term • 148 D-term of the KD velocity controller • 149 Control path •...
Page 311 Parker EME Index General hazards • 12 Mains supply Compax3MP (mains module) • Mass inertia • 123 Maximum operating speed • 95 I/O interface X12 / X22 • 291 Meaning of the status LEDs - Compax3 axis I²t - monitoring of the motor • 129 controller •...
Page 312 Parameterization by 3 objects. • 170 Reference point 1 Parker Motor • 134 higher velocity at reduced torque • 131 Parker servo motors • 251 Reference point 2 PC - Compax3MP (mains module) • 54 Increased torque thanks to additional cooling •...
Page 313 Parker EME Index Rotary servo motors • 252 Structure of a control • 137 Rotary two mass system • 227 Supply networks • 20 RS232 / RS485 interface (plug X10) • 53 Supported motor types • 135 RS232 cable • 289 Switching frequency of the motor current / RS232 plug assignment •...
Page 314 Index Positioning via digital I/Os X3 • 27 X4 • 26 192-120101 N11 C3I11T11 November 2007...

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Compax3s015v4 Compax3s038v4 Compax3s063v2 Compax3s075v4 Compax3s100v2 Compax3s150v4 ... Show all

Parker Compax3S025V2 Operating Instructions Manual

Table of Contents

In this Chapter You Can Read About: Device Assignment

1 Introduction

2 Compax3 I11 T11: Positioning Via Digital I/Os

3. Compax3 Device Description

3.5 Connections of Compax3H

3.8 Installation and Dimensions Compax3

Parker Eme 4. Setting up Compax3

4.4.2.2 User Interface

4.4.3.2 Configuration

Parker Eme 4.4.3.3 Automatic Controller Design

4.4.3.4 Setup and Optimization of the Control

Parker Eme Advanced

4.4.9. C3 Servosignalanalyzer

Parker Eme

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

In this Chapter You Can Read about

5 Communication

6 Status Values

7 Error

8 Order Code

9 Compax3 Accessories

9.3 Connections to the Motor

10 Technical Data

11 Index

Quick Links

Chapters

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Questions and answers

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Summary of Contents for Parker Compax3S025V2