Parker Compax3 Series Operating Instructions Manual
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Parker Compax3 Series Operating Instructions Manual

Positioning via digital i/os
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See also: Installation Manual , Operating Instructions Manual
Electromechanical Automation
Operating instructions Compax3 I11 T11
Positioning via digital I/Os
I11 T11 192-120101 N6 - March 2004
Release 1/2004 (as from firmware V2.03)
We reserve the right to make technical changes.
10.03.04 09:06
I11 T11 192-120101 N6 - March 2004
The data correspond to the technical state at the time of printing.

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  • Page 1 Electromechanical Automation Operating instructions Compax3 I11 T11 Positioning via digital I/Os I11 T11 192-120101 N6 - March 2004 Release 1/2004 (as from firmware V2.03) We reserve the right to make technical changes. 10.03.04 09:06 I11 T11 192-120101 N6 - March 2004 The data correspond to the technical state at the time of printing.
  • Page 2 Introduction ____________________________ Copyright © 2003 Parker Hannifin GmbH EME All rights reserved. Microsoft Word, Microsoft Office, Windows®, Window 95™, Window 98™, Windows NT®, Window 2000™, Window XP™ and MS-DOS™ are trademarks of Microsoft Corporation. EME - Electromechanical Automation Europe Germany:...

  • Page 3: Table Of Contents

    Parker EME Device assignment New Compax3 functions Contents 1. Introduction .....................7 Device assignment .................. 7 Type specification plate ................8 Release 1/2004 ..................9 1.3.1. New Compax3 functions ................... 9 1.3.1.1 Direct drives .................... 9 1.3.1.2 Switching frequency of the power output stage can be set ....9 1.3.1.3...
  • Page 4 Introduction New Compax3 functions 3.1.9. Analog / Encoder (plug X11)................27 3.1.9.1 Wiring of the analog input ..............27 3.1.9.2 Wiring of analog outputs ............... 27 3.1.10. Digital inputs/outputs (plug X12) ..............28 3.1.10.1 Input wiring of digital inputs..............28 3.1.10.2 Output wiring of digital outputs..............
  • Page 5 7. Error .......................92 Error list....................92 8. Compax3 Accessories ................105 Order code for Compax3 ..............105 Accessories order code ..............106 Parker servo motors ................108 8.3.1. Direct drives ....................108 8.3.1.1 Transmitter systems for direct drives ..........108 8.3.1.2 Linear motors ..................
  • Page 6 Introduction New Compax3 functions EMC measures ..................123 8.5.1. Mains filter ...................... 123 8.5.1.1 Mains filter NFI01/01................123 8.5.1.2 Mains filter NFI01/02................124 8.5.1.3 Mains filter for NFI01/03..............124 8.5.2. Motor output filter..................125 8.5.2.1 Motor output filter MDR01/04.............. 125 8.5.2.2 Motor output choke MDR01/01 ............

  • Page 7: Introduction

    Parker EME Introduction 1. Introduction In this chapter you can read about: Device assignment ...........................7 Type plate ............................8 Release 1/2004 ..........................9 Safety instructions ..........................12 Warranty conditions........................13 Conditions of utilization........................14 Device assignment This manual applies to the following devices: Compax3 S025 V2 + supplement...

  • Page 8: Type Specification Plate

    Introduction Type specification plate You will find the exact description of the device on the type specification plate, which is located on the right side of the device: Compax3 - Type specification plate: Explanation: Type designation The complete order designation of the device (2, 5, 6, 10, 9) C3S025V2 C3: Abbreviation for Compax3 S: Single axis device with direct AC mains power supply...

  • Page 9: Release 1/2004

    Parker EME Introduction Release 1/2004 In this chapter you can read about: New Compax3 functions........................9 New functions of the Compax3 software tools ................10 Complements / corrections in manual and online help ..............11 1.3.1. New Compax3 functions In this chapter you can read about: Direct drives .............................9...

  • Page 10: New Machine Zero Modes

    Introduction 1.3.1.5 New machine zero modes Several new machine zero modes with limit switch: MN-Mode 1,2 7-10, 11-14, 17,18, 23-26, 27-30 New machine zero modes in connection with the feedback module F12 F12 (direct drives) and distance coded feedback system: MN-Mode 130 - 133 Limit switch can be configured 1.3.1.6 RS485 / RS232 interface...

  • Page 11: C3 Motormanager: Configuration Of Almost Any Motors

    Parker EME Introduction 1.3.2.2 C3 MotorManager: configuration of almost any motors New: Integration of distance coded feedback systems Export / Import of user defined (customer’s) motor Calibration of commutation also for linear motors with small travel path Changes Linear motors with brakes can be configured...

  • Page 12: Safety Instructions

    Introduction Safety Instructions In this chapter you can read about: General hazards ..........................12 Working safely..........................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: Conditions Of Utilization

    < 5m (fully shielded on ground – e.g. ground of control cabinet) Motor and resolver Operation of the devices only with Parker motor and resolver cables (their cable: plugs contain a special full surface area screening). The following cable lengths are permitted: Motor cable <...
  • Page 15 Signal leads should never pass close to excessive sources of interference (motors, transformers etc.). Accessories: Make sure to use only the accessories recommended by Parker Connect all cable shields at both ends, ensuring large contact areas! Warning: This is a product in the restricted sales distribution class according to EN 61800-3.

  • Page 16: Conditions Of Utilization For Ul Permission

    Introduction 1.6.2. Conditions of utilization for UL permission UL certification according to UL508C conform to UL: E-File_No.: E235 342 Certified The UL certification is documented by a “UL” logo on the device (type specification plate) “UL“ logo Conditions of utilization The devices are only to be installed in a degree of contamination 2 environment (maximum).

  • Page 17: 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 18 Compax3 I11 T11: Positioning via digital I/Os Operating modes You can select between two operating modes: Absolute mode or Endless mode Furthermore, you can activate the functions Manual+ and Manual- via a set-up mode. Configuration Configuration is made on a PC using the Compax3 ServoManager. Install the program on your PC and connect the PC to the Compax3 X 10 via the RS232 port.

  • Page 19: Compax3 Device Description

    Parker EME Compax3 device description 3. Compax3 device description In this chapter you can read about: Plug and connector assignment Compax3..................20 Installation and dimensions Compax3.....................31 I11 T11 192-120101 N6 - March 2004...

  • Page 20: Plug And Connector Assignment Compax3

    Compax3 device description Conditions of utilization for UL permission Plug and connector assignment Compax3 In this chapter you can read about: Function of the LEDs on the front panel..................21 Power supply plug X1 for 230VAC devices ..................21 Power supply plug X1 for 400VAC devices ..................22 Ballast resistor / High voltage supply plug X2 for 230VAC devices ..........22 Ballast resistor / High voltage supply plug X2 for 400VAC devices ..........23 Motor / Motor brake (plug X3) ......................24...

  • Page 21: Function Of The Leds On The Front Panel

    Parker EME Plug and connector assignment Compax3 Function of the LEDs on the front panel Caution! When the control voltage is missing there is no indication whether or not high voltage supply is available. 3.1.1. Function of the LEDs on the front panel...

  • Page 22: Power Supply Plug X1 For 400 Vac Devices

    Compax3 device description Power supply plug X1 for 400 VAC devices 3.1.3. Power supply plug X1 for 400 VAC devices Description Mains connection Compax3 Sxxx V4 Controller type S038 V4 S075 V4 S150 V4 S300 V4 Mains voltage Three-phase 3*400VAC 80-480 VAC+10% / 50-60 Hz Rated input current 6Aeff...

  • Page 23: Ballast Resistor / High Voltage Supply Plug X2 For 400Vac Devices

    Parker EME Plug and connector assignment Compax3 Ballast resistor / high voltage supply plug X2 for 400VAC devices Brake operation Compax3 Sxxx V2 Controller type S025 V2 S063 V2 Capacitance / storable energy 560µF / 15Ws 1120µF /30Ws Minimum ballast - resistance 100Ω...

  • Page 24: Motor / Motor Brake (Plug X3)

    Compax3 device description Motor / Motor brake (plug X3) Connection of the power voltage of 2 Compax3 V4 devices (400V devices) In order to improve the conditions during brake operation, the DC power voltage of 2 devices may be connected. The capacity as well as the storable energy are increased;...

  • Page 25: Control Voltage 24Vdc / Enable (Plug X4)

    Parker EME Compax3 device description 3.1.7. Control voltage 24VDC / enable (plug X4) Description +24 V Gnd24 V Enable_in Enable_out_a Enable_out_b Control voltage 24 VDC Controller type Compax3 Voltage range 21 - 27VDC Current drain of the device 0.8 A Total current drain 0.8 A + Total load of the digital outputs +...

  • Page 26: Rs232 / Rs485 Interface (Plug X10)

    Compax3 device description 3.1.8. RS232 / RS485 interface (plug X10) Interface selectable by contact functions assignment of X10/1: X10/1=0V RS232 X10/1=5V RS485 RS232 RS232 (Sub D) (Enable RS232) 0V RS485 2-wire RS485 two wire (Sub D) Pin 1 and 9 jumpered externally Enable RS485 (+5V) res.

  • Page 27: Analog / Encoder (Plug X11)

    Parker EME Compax3 device description 3.1.9. Analog / Encoder (plug X11) PIN X11 Reference High Density Sub D +24V (output for encoder) max. 70mA Reserved D/A monitor channel 1 (±10V, 8-bit resolution) D/A monitor channel 0 (±10V, 8-bit resolution) +5V (output for encoder) max. 150mA...

  • Page 28: Digital Inputs/Outputs (Plug X12)

    Compax3 device description 3.1.10. Digital inputs/outputs (plug X12) The assignment of X12 depends on the operating mode "Normal or Commissioning Mode". Only 4 motion profiles can be selected in commissioning mode. The inputs "Manual+" and "Manual-" are available for this. Input/output I/O /X12 X12/...

  • Page 29: Output Wiring Of Digital Outputs

    Parker EME Compax3 device description The circuit example is valid for all digital inputs! F1: Delayed action fuse F2: Quick action electronic fuse; can be reset by switching the 24VDC supply off and on again. 3.1.10.2 Output wiring of digital outputs...
  • Page 30 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 length of cable: 100m Caution! Pin 4 and Pin 5 must under no circumstances be connected! Resolver cable (see on page 119) SinCos cable (see on page 120) I11 T11 192-120101 N6 - March 2004...

  • Page 31: Installation And Dimensions Compax3

    Parker EME Compax3 device description Installation and dimensions Compax3 In this chapter you can read about: Installation and dimensions Compax3 S0xx V2................31 Installation and dimensions Compax3 S038 and S075 V4 ..............32 Installation and dimensions Compax3 S150 V4 ................33 Installation and dimensions Compax3 S300 V4 ................34 3.2.1.

  • Page 32: Installation And Dimensions Of Compax3 S038 And S075 V4

    Compax3 device description 3.2.2. Installation and dimensions of Compax3 S038 and S075 V4 Mounting: 3 socket head screws M5 Mounting spacing: Device separation 15 mm Compax3 S038 V4: Compax3 S075 V4: I11 T11 192-120101 N6 - March 2004...

  • Page 33: Installation And Dimensions Of Compax3 S150 V4

    Parker EME Compax3 device description 3.2.3. Installation and dimensions of Compax3 S150 V4 Mounting: 4 socket head screws M5 Mounting spacing: Device separation 15 mm I11 T11 192-120101 N6 - March 2004...

  • Page 34: Installation And Dimensions Of Compax3 S300 V4

    Compax3 device description 3.2.4. Installation and dimensions of Compax3 S300 V4 Mounting: 4 socket head screws M5 Mounting spacing: Device separation 15 mm Compax3 S300 V4 is force-ventilated via a fan integrated into the heat dissipater! I11 T11 192-120101 N6 - March 2004...

  • Page 35: Setting Up Compax3

    Parker EME Setting up Compax3 4. Setting up Compax3 In this chapter you can read about: Configuration ..........................35 Test setup Compax3........................64 Device states..........................66 Optimization ...........................68 Configuration In this chapter you can read about: Motor selection ..........................37 Optimize motor reference point and switching frequency of the power output stage ......38 Ballast resistor..........................39...
  • Page 36 Setting up Compax3 Installation and dimensions of Compax3 S300 V4 Configuration sequence: Installation of the C3 ServoManager The Compax3 ServoManager can be installed directly from the Compax3 CD. Click on the appropriate hyperlink or start the installation program "C3Mgr_Setup_V..exe" and follow the instructions. Minimum requirements For successful installation, your PC must meet the following minimum requirements:...

  • Page 37: Motor Selection

    Parker EME Configuration Motor selection 4.1.1. Motor selection The selection of motors can be broken down into: Motors that were purchased in Europe and Motors that were purchased in the USA. You will find non-standard motors under "Additional motors" and Under "User-defined motors"...

  • Page 38: Optimize Motor Reference Point And Switching Frequency Of The Power Output Stage

    Setting up Compax3 Optimize motor reference point and switching frequency of the power output stage 4.1.2. Optimize motor reference point and switching frequency of the power output stage Optimization of the The motor reference point is defined by the reference current and the reference motor reference (rotational) speed.

  • Page 39: Ballast Resistor

    Parker EME Configuration Ballast resistor Compax3 S0xx V2 at 230VAV Power output S025 V2 S063 V2 stage switching frequency 8kHz 2.5A 6.3A nominal pre-set 5.5A 12.6A (<5s) peak 16kHz 2.5A 5.5A nominal (<2,5s) 5.5A 12.6A peak Compax3 S0xx V4 at 3*400VAC...

  • Page 40: General Drive

    Setting up Compax3 General drive 4.1.4. 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 41: Measure Reference

    Parker EME Configuration Defining the reference system 4.1.5.1 Measure reference In this chapter you can read about: You can select from among the following for the unit: Unit increments or angle degree. The unit of measure is always [mm] for linear motors.
  • Page 42 Setting up Compax3 Defining the reference system Unit: mm gear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutions Number of teeth for pinion: 12 Tooth spacing: 10 mm 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 43 Parker EME Configuration Defining the reference system A reset path of 300 mm can be entered directly with numerator = 300 mm and denominator = 1. Reset mode is not possible for linear motors. Note: Please do use the reset function only in normal mode! It is not appropriate to use the reset function in continuous mode.

  • Page 44: Machine Reference Modes (Mn-Ms)

    Setting up Compax3 Defining the reference system 4.1.5.2 Machine reference modes (MN-Ms) Position reference Essentially, you can select between operation with or without machine 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 45 Parker EME Configuration Defining the reference system Machine reference modes (MN-M) MN-M 3.4: MN-Initiator = 1 auf der positiven Seite 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 46 Setting up Compax3 MN-M 5,6: MN-Initiator = 1 on the negative side The MN initiator can be positioned at any location within the travel range. The travel range is then divided into 2 contiguous ranges: one range with deactivated MN initiator (positive part of the travel range) and one range with activated MN initiator (negative part of the travel range).
  • Page 47 Parker EME Setting up Compax3 MN-M 35: MN at the current position The current position when the MN run is activated is used as an MN. MN-M 128/129: Rising of current while moving to block Without an MN initiator, an end of travel region (block) is used as an MN.

  • Page 48: Adjusting The Machine Zero Proximity Switch

    Setting up Compax3 4.1.5.3 Adjusting the machine zero proximity switch This is helpful in some cases with machine reference modes that work with the MN initiator and motor reference point. If the motor reference point happens to coincide with the position of the MN initiator, there is a possibility that small movements in the will cause the machine reference point to shift by one motor revolution (to the next motor reference point).

  • Page 49: Software End Limits

    Parker EME Setting up Compax3 4.1.5.4 Software end limits The travel range is defined via the negative and positive end limits. 1: negative end limit 2: positive end limit End limit in absolute operating mode Positioning is limited to the end limits. The drive remains in place at the end limits if a larger destination has been specified.

  • Page 50: Defining Jerk / Ramps

    Setting up Compax3 4.1.6. Defining jerk / ramps In this chapter you can read about: Ramp upon error/deenergize ......................51 Jerk You can use the jerk limit (= maximum change in acceleration) to limit the maximum change in acceleration. A motion process generally starts from a standstill, accelerates constantly at the specified acceleration to then move at the selected speed to the target position.

  • Page 51: Ramp Upon Error / Deenergize

    Parker EME Setting up Compax3 STOP delay After a STOP signal, the drive applies the brakes with the delay that is set (2). NO STOP: I0: no STOP The STOP delay applies only when STOP with delay (see also page 58) has been configured.

  • Page 52: Limit And Monitoring Settings

    Setting up Compax3 +: I5: HAND+ (only in commissioning mode) -: I6: HAND- (only in commissioning mode) Manual travel control is possible only in setup mode - this is activated in the optimizing window with the Compax3 ServoManager. 4.1.7. Limit and monitoring settings In this chapter you can read about: Current limit ............................52 Positioning window –...

  • Page 53: Tracking Error Limit

    Parker EME Setting up Compax3 No position monitoring takes place in status START (E1=24VDC). Therefore reset the start signal to 0 after the START flank. Behaviour of O1 is set to "0" after Power On "Position reached" O1 goes to "1" after the machine zero run (after position 0 has been reached)

  • Page 54: Encoder Simulation

    Setting up Compax3 Error message If the tracking error exceeds the specified tracking error limit, the “tracking error time“ then expires. If the tracking error is even greater than the tracking error limit at the end of the tracking error time, an error is reported. If the tracking error falls short of the tracking error limit, a new tracking error time is then started.

  • Page 55: Positioning

    Parker EME Setting up Compax3 4.1.9. Positioning Function Positioning takes place with 31 positioning data records (15 when operating with machine zero) which are defined via address, mode (POSA,POSR), target position, speed, acceleration, deceleration (delay) and number of repetitions. The desired positioning data record is selected via the inputs (I3-I7) and started via a START edge.
  • Page 56 Setting up Compax3 Endless mode The actual position is set to 0 before each positioning. Thus the travel range has no fixed zero point. All positionings are relative - in relation to the actual position. START START START Note Since the positioning mode (relative or absolute) can be selected additionally for each positioning data record, mixed operation is possible too.
  • Page 57 Parker EME Setting up Compax3 START 3 Positioning data record address irrelevant Positioning data record 4 is executed START 4 Positioning data record address irrelevant Positioning data record 4 is executed, because repetition counter = 2 START 5 Positioning data record address irrelevant...
  • Page 58 Setting up Compax3 START 2 Positioning data record address is read in Positioning data record 7 is executed START 3 Positioning data record address is read in Positioning data record 13 is executed Defining the STOP function The function of the input I0 "no STOP" (I0=0V = STOP) can be set. STOP with termination STOP and terminate the current positioning...

  • Page 59: Define Positioning Data Records

    Parker EME Setting up Compax3 NO STOP: I0: no STOP START: I1: START-Signal (with edge) A new START resumes the positioning process at the position where it was interrupted. Overview: Relationship between the chosen STOP function and the positioning mode...
  • Page 60 Setting up Compax3 1: Target position 2: Travel speed 3. Maximum acceleration 4: Maximum deceleration 5: Maximum jerk (see on page 5) (the same for all positioning data records) Input window: A positioning data record has the following contents: Address Mode Target Posi-...
  • Page 61 Parker EME Setting up Compax3 Address: Address of the positioning data record. The desired positioning data record is selected via the inputs I3 to I6 (to I7 without machine zero proximity switch). The address is given by the binary value of the inputs, whereby I3 ≡...

  • Page 62: Dynamic Positioning

    START E/I3 - E/I6 -1- 4.1.10. 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 63: 4.1.11. Configuration Name / Comments

    Parker EME Setting up Compax3 4.1.11. Configuration name / comments Here you can name the current configuration as well as write a comment. I11 T11 192-120101 N6 - March 2004...

  • Page 64: Test Commissioning Compax3

    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 (see below) Inputs/Outputs X4: 24VDC /3: enable with X13 to the motor 24VDC position transmitter Operational enable of the servo controller:...
  • Page 65 Parker EME Setting up Compax3 After you have configured the Compax3 according to your application with the help of the Compax3 ServoManager, you can now carry out the first motor movements. Travel via Manual+ In the optimising window of the Compax3 ServoManager you can run the motor in and Manual- positive or negative movement direction.

  • Page 66: Device Status

    Setting up Compax3 Device status Motor energized- Positioning to selected positioning data record I1 & I0 Deceleration Motor energized / ramp upon „Stop/ Positioning data records de-energize" disabled De-energize Energize motor motor with delay with delay Motor de-energized Quit Error with reaction 5 Deceleration De-energize...
  • Page 67 Parker EME Setting up Compax3 I2: energize motor $% % % % 2: Quit The device is brought into various device states. The transitions are implemented via various ramps and the defined switching of the motor brake (see on page 76 ).

  • Page 68: Optimization

    Setting up Compax3 Optimization In this chapter you can read about: Controller dynamic..........................68 Setup mode ............................75 Engaging and disengaging the motor holding brake ...............76 The controller optimization of the Compax3 is carried out in 2 steps: Via the standard settings (stiffness, damping, rotation speed controller and rotation speed filter), with the help of which many applications can be optimized in a simple manner.

  • Page 69: Stiffness Of The Speed Controller

    Parker EME Setting up Compax3 4.4.1.1 Stiffness of the speed controller The stiffness is proportional to the control loop speed. Nominal value: 100% On increasing stiffness: Control action becomes faster. The control loop oscillates above a critical threshold value. Set the stiffness with an adequate safety margin with respect to the oscillation threshold value.

  • Page 70: Damping Of The Speed Controller

    Setting up Compax3 4.4.1.2 Damping of the speed controller The damping influences the target value overshoot magnitude and the decay time constant of control loop oscillation. Nominal value: 100% On increasing the damping: Overshoot decreases. High frequency oscillation of the servo drive takes place as from a certain threshold value.

  • Page 71: Advanced Control Parameters

    Parker EME Setting up Compax3 4.4.1.4 Advanced control parameters Controller structure: The status values are divided into 2 groups (unser levels): standard: here you can find all important status values advanced: advanced status values, require a better knowledge Switching of the...
  • Page 72 Setting up Compax3 2100.7: D component speed controller Unit: % Range: 0 ... 4 000 000 Standard value: 0 2100.6: Actual acceleration value filter Unit: % Range: 0 ... 550 Standard value: 100 2100.4: Moment of inertia Unit: % Range: 10 ... 500 Standard value: 100% Forward control measures Forward control of rotation speed, acceleration and current...
  • Page 73 Parker EME Setting up Compax3 Positioning without forward control: 2010.1: Forward speed control Unit: % Range: 0 ... 500 Standard value: 100% Effect of the rotation speed forward control 1: target speed value 2: actual speed value 3: motor current 4: tracking error 2010.2: Acceleration forward control...
  • Page 74 Setting up Compax3 Additional effect of forward acceleration control 1: target speed value 2: actual speed value 3: motor current 4: tracking error 2010.4: Current forwards control Unit: % Range: 0 ... 500 Standard value: 0% Additional effect of forward current control 1: target speed value 2: actual speed value 3: motor current...

  • Page 75: Commissioning Mode

    Parker EME Setting up Compax3 4.4.2. Commissioning mode The functions Manual+/- are made available via the setup mode. Setup mode can be activated in the ServoManager under the menu item "Optimization". The following applies in setup mode: Function Input Manual+...

  • Page 76: Turning The Motor Holding Brake On And Off

    Setting up Compax3 4.4.3. Turning the motor holding brake on and off COMPAX controls the stationary state 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 77: Rs232 & Rs485 - Interface Record

    Parker EME RS232 & RS485 – interface record 5. RS232 & RS485 – interface record In this chapter you can read about: ASCII protocol ..........................77 Binary protocol ..........................79 You can communicate with Compax3 in order to read or write objects via plug X10 on the front plate either with RS232 or with RS485.
  • Page 78 RS232 & RS485 – interface record Commands requesting an Info-string (e.g. software version), are only acknowledged with the respective ASCII character sequence followed by a CR, without preceding command repetition. The length of these anser strings is here constant. Commands transferring a value to Compaxe or triggering a function in Compax3 are acknowledged by: >CR if the value can be accepted resp.

  • Page 79: Binary Record

    Parker EME RS232 & RS485 – interface record 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.
  • Page 80 RS232 & RS485 – interface record Write object – WrObj telegram D3 ... Dn Crc(Hi) Crc(Lo) 0xCX Index(Hi) Index(Lo) Subindex value 0x.. 0x.. Describing an object by a value. Positive acknowledgement – Ack-telegram Crc(Hi) Crc(Lo) 0x06 0x.. 0x.. Answer from Compax3 if a writing process was successful, i.e. the function could be executed and is completed in itself.
  • Page 81 Parker EME RS232 & RS485 – interface record 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.

  • Page 82: Status Values

    Status values 6. Status values In this chapter you can read about: Device ............................83 Motor ..............................83 Positions............................84 Speeds ............................85 Currents ............................87 Inputs .............................88 CAM ...............................89 IEC61131-3 ............................90 Feedback system ...........................91 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...

  • Page 83: Device

    Parker EME Status values Device Status of device utilization Object 683.2 Available in technology function: T10, T11, T30, T40 Unit of User level standard measurement D/A monitor output D/A monitor: measurement unit of not possible the reference value Remark: Device utilization...

  • Page 84: Positions

    Status values Unit of User level standard measurement D/A monitor output D/A monitor: measurement unit of not possible the reference value Remark: Motor pulse utilization, Stated in & of the motor pulse current. Dynamic motor utilization with reference to the nominal motor current resp., in the case of a selected motor reference point, with reference to the motor reference current.

  • Page 85: Speeds

    Parker EME Status values Available in technology function: T11, T30, T40 Unit of User level Unit advanced measurement D/A monitor output D/A monitor: measurement unit of possible Revolutions the reference value Remark: Stated in user units, continuous position Status actual position without absolute reference Object 680.13...
  • Page 86 Status values D/A monitor output D/A monitor: measurement unit of possible Rev/s the reference value Remark: Difference between speed target value and filtered actual value Status target acceleration Object 682.4 Available in technology function: T10, T11, T30, T40 Unit of User level Unit/s²...

  • Page 87: Currents

    Parker EME Status values Currents Status of effective target current (torque forming) Object 688.1 Available in technology function: T10, T11, T30, T40 Unit of User level standard measurement D/A monitor output D/A monitor: measurement unit possible of the reference value...

  • Page 88: Inputs

    Status values D/A monitor output D/A monitor: measurement unit not possible of the reference value Remark: Phase current V, Output as peak value Actual value after oversampling Status of target jerk setpoint encoder Object 688.13 Available in technology function: T11, T30, T40 Unit of User level Unit/s³...

  • Page 89: Cam

    Parker EME Status values Unit of User level Revolutions standard measurement D/A monitor output D/A monitor: not possible measurement unit of the reference value Remark: Encoder input 0 (5V), counter state in turns of the encoder Status of encoder input 0 (24V) Object 680.11...

  • Page 90: Iec61131-3

    Status values IEC61131-3 Status of cycle time of the control program Object 50.3 Available in technology function: T10, T11, T30, T40 Unit of User level standard measurement D/A monitor output D/A monitor: not possible measurement unit of the reference value Remark: Current cycle time [unit: 1=500 µs] of the control program Status of maximum cycle time...

  • Page 91: Transmitter

    Parker EME Status values Transmitter Status of sine in signal processing Object 692.1 Available in technology function: T10, T11, T30, T40 Unit of User level advanced measurement D/A monitor output D/A monitor: not possible measurement unit of the reference value Remark: Sinus trace resolver, für F10 devices...

  • Page 92: Error

    Error 7. Error All errors lead to error status. Reaction 2: downramp with “deenergize ramp” then apply brake (see on page 76) and deenergize. Reaction 5: De-energize immediately (with no ramp), close brake. Caution! A Z-axis may drop down due to the brake delay times Most pending errors can be acknowledged with Quit! The following errors must be acknowledged with Power on: 0x7381, 0x7382, 0x7391, 0x7392, 0x73A0...
  • Page 93 Parker EME Error 0x3222 Error code (hex): 0x3222 Error: Voltage in DC bus too low (< 70V) Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Note: Measurement via PAP 0x4210 Error code (hex): 0x4210 Error: Temperature of power output stage / device Error reaction: Reaction 2: downramp / apply brake / deenergize.
  • Page 94 Error Note: Diagnostic lines from power stage interface 0x5481 Error code (hex): 0x5481 Error: Open Circuit - Motor Brake Error reaction: None Measure: Note: Diagnostic lines from power stage interface 0x5491 Error code (hex): 0x5491 Error: Disable power output stage Error reaction: Reaction 5: deenergize immediately (without ramps), apply brake.
  • Page 95 Parker EME Error Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Reduce the number of or the nesting depth of function module instances Note: Stack overflow in the IEC runtime caused by too many function module entities. Execution is aborted at this point and the cycle is restarted after the selected cycle time.
  • Page 96 Error Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Check feedback cable (shield, abort, short-circuit) or feedback Note: The feedback power supply voltage is deactivated for F11! Note: SinCos feedback/encoder: Level of Sine/Cosine or A/B trace too low, can only be reset by powering on the device again.
  • Page 97 Parker EME Error Measure: Increase automatic commutation starting current, eliminate motor block, check parameters for motor current (too small, device extremely under- dimensioned), current controller unstable. Note: It was not possible to successfully complete automatic commutation within 30 s. 0x73AC...
  • Page 98 Error 0xFF03 Error code (hex): 0xFF03 Error: Object is "read only" Error reaction: None Measure: Note: No write access 0xFF04 Error code (hex): 0xFF04 Error: Object cannot be read Error reaction: None Measure: Note: No read access 0xFF05 Error code (hex): 0xFF05 Error: Version conflict;...
  • Page 99 Parker EME Error Note: Utype error 0xFF15 Error code (hex): 0xFF15 Error: Parity error Error reaction: None Measure: Note: Utype error 0xFF16 Error code (hex): 0xFF16 Error: Frame error Error reaction: None Measure: Note: Utype error 0xFF20 Error code (hex):...
  • Page 100 Error Error reaction: None Measure: Load application data into device (IEC61131 program). Turn device off and back on again. Note: Application data error; no IEC61131 program available LED red flashing 0xFF45 Error code (hex): 0xFF45 Error: No FBI Error reaction: None Measure: De-energize motor, then perform function...
  • Page 101 Parker EME Error Measure: Change feedback Note: Feedback reports error 0xFFA4 Error code (hex): 0xFFA4 Error: SinCos analog limits not available Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Change feedback Note: Feedback reports error 0xFFA5 Error code (hex):...
  • Page 102 Error Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Change feedback Note: Feedback reports error 0xFFAF Error code (hex): 0xFFAF Error: SinCos invalid access code Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Change feedback Note: Feedback reports error 0xFFB0...
  • Page 103 Parker EME Error Error: SinCos position error Multiturn Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: Change feedback Note: Feedback reports error 0xFFC3 Error code (hex): 0xFFC3 Error: SinCos position error Multiturn Error reaction: Reaction 2: downramp / apply brake / deenergize.
  • Page 104 Error 0xFFE1 Error code (hex): 0xFFE1 Error: CamOut not possible during coupling process Error reaction: Reaction 2: downramp / apply brake / deenergize. Measure: PLCopen function module CamOut cannot be called during coupling process. Note: Error in the IEC61131-3 program sequence. PLCopen function module CamOut was called even though the axis was not yet coupled.

  • Page 105: Compax3 Accessories

    Compax3 Accessories 8. Compax3 Accessories In this chapter you can read about: Order code Compax3 ........................105 Order code accessories........................106 Parker servo motors ........................108 Connections to the motor......................119 EMC measures..........................123 External ballast resistors.......................127 BDM Operating module ........................130 EAM06: Terminal block for inputs and outputs................131 ZBH plug set..........................134...

  • Page 106: Accessories Order Code

    Compax3 Accessories Accessories order code Accessories order code Motor cable ( for SMH / MH56 / MH70 / MH105 ( ; < < < < 13.8A); M O K ..(1.5mm for SMH / MH56 / MH70 / MH105 ( 2 (cable chain compatible) ;...
  • Page 107 Parker EME Compax3 Accessories Length code 1 Length [m] 10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0 Code Example: SSK01/09: Length 25 m Colors according to DESINA With motor connector With cable eye for motor terminal box Length code 2 for SSK28 Length [m] 0.25...

  • Page 108: Parker Servo Motors

    Compax3 Accessories Parker servo motors In this chapter you can read about: Direct drives ..........................108 Rotary servo motors ........................110 8.3.1. Direct drives In this chapter you can read about: Transmitter systems for direct drives ....................108 Linear motors ..........................109 Torque motors ..........................109 8.3.1.1...

  • Page 109: Linear Motors

    Linear motor module BLMA: 605N / 1,720N Up to 6m 8.3.1.3 Torque motors Parker offers you an extensive range of torque motors that can be adapted to your application. Please contact us for information. I11 T11 192-120101 N6 - March 2004...

  • Page 110: Rotary Servo Motors

    Dimensions of the MH(A)145 and MH(A)205 motors ..............117 Order code for SMH/MH motors ....................118 Modern electric drive technology requires synchronous servomotors meeting the requirements of individual applications. Parker servo motors were designed to meet the requirements for variable speed drives. SMH synchronous servo motors An outstanding characteristic of SMH synchronous servomotors is their low rotor moment of inertia.
  • Page 111 Parker EME Compax3 Accessories SMH60: SMH82: SMH100: MH105: I11 T11 192-120101 N6 - March 2004...
  • Page 112 Compax3 Accessories MH145: MH205: I11 T11 192-120101 N6 - March 2004...

  • Page 113: Motor Data Table For Standard Motors

    Parker EME Compax3 Accessories 8.3.2.1 Motor data table for standard motors Motor type Standstill Nominal Resistan Inductan Torque Moment of Mains Nominal Nominal Nominal Nominal torque current constant inertial* voltage speed torque current output Ω Ω Ω Ω Type Nm/A...

  • Page 114: Holding Brake

    Compax3 Accessories 8.3.2.2 Holding brake On request the motors can be equipped with a holding brake. The brake is mounted in the motor housing on the B-side. The mechanical dimensions of the motor are changed. See the dimensions table. The power supply infeed is through the motor cable.

  • Page 115: Dimensions Of The Smh(A)-Motors

    Parker EME Compax3 Accessories 8.3.2.4 Dimensions of the SMH(A)-motors V x Z Flange - Motor D x L WxHxI V x Z C x S type Ø40 9x20 3x3x16 10,2 ----- SMH 60 129,5 / 161,0 / 153,0* / ---,-* h6x2.5...

  • Page 116: Dimensions Of The Mh(A)105-Motors

    Compax3 Accessories 8.3.2.5 Dimensions of the MH(A)105-motors V x Z Flange - Motor D x L WxHxI V x Z C x S type 186 / 250 / 206 / 260 MH 105 229 / 293 / 250 / 304 flange Ø95 h6x3.5...

  • Page 117: Dimensions Of The Mh(A)145 And Mh(A)205 Motors

    Parker EME Compax3 Accessories 8.3.2.6 Dimensions of the MH(A)145 and MH(A)205 motors V x Z Flange - Motor D x L WxHxI V x Z C x S type 200 / 274 / 220 / 294 231 / 305 / 251 / 325 11.5...

  • Page 118: Order Code For Smh/Mh Motors

    Compax3 Accessories 8.3.2.7 Order code for SMH/MH motors SMH / MH motors Motor type MH: MH motor (resolver) SMH: SMH motor (resolver) A: with brake Cooling available on MH105/145/205) V: passive cooling SV: active cooling Size of motor SMH: 60/82/100 MH: 56/70/105/145/205 Speed in 100’s of rpms at 400 V...

  • Page 119: Connections To The Motor

    Parker EME Compax3 Accessories Connections to the motor In this chapter you can read about: Resolver cable..........................119 SinCos cable ..........................120 Motor cable overview........................120 Motor cable with plug........................121 Motor cable for terminal box ......................122 Under the designation "REK.." (resolver cables) and "MOK.." (motor cables) we can deliver motor connecting cables in various lengths to order.

  • Page 120: Sincos Cable

    Compax3 Accessories 8.4.2. 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 DATA -485 2x0,25 +5Vfil Tmot...

  • Page 121: Motor Cable With Plug

    Parker EME Compax3 Accessories 8.4.4. Motor cable with plug MOK55/.. (max. 13.8A) Cable: 6x1.5 mm Lötseite / solder side Crimpseite / crimp side +24V Bremse/ Brake gn/ye gn/ye PE ( ) Schirm auf Schirmanbindungselement Screen at screen contact 140 mm...

  • Page 122: Motor Cable For Terminal Box

    Compax3 Accessories 8.4.5. Motor cable for terminal box MOK61/..: (max. 32.3A) cable chain compatible Cable: 4x6mm + 2x1mm gn/ye gn/ye +24V Bremse/ Brake Schirm auf Schirmanbindungselement Screen at screen contact 220 mm 190 mm 160 mm 60 mm 25 mm 165 mm 15 mm 15 mm...

  • Page 123: Emc Measures

    Parker EME Compax3 Accessories EMC measures In this chapter you can read about: Mains filter............................123 Motor output filter..........................125 8.5.1. Mains filter For radio disturbance suppression and for complying with the emission limit values for CE compliant operation ((see on page 14 ) we offer mains filters:...

  • Page 124: Mains Filter Nfi01/02

    Compax3 Accessories 8.5.1.2 Mains filter NFI01/02 Mains filter for Compax2 S038 V4, Compax3 S075 V4 and Compax3 S150 V4 Dimensional drawing: 70±0,3 Ø 4 8.5.1.3 Mains filter for NFI01/03 Mains filter for Compax3 S300 Dimensional drawing: 115 ±0,3 Ø 4 I11 T11 192-120101 N6 - March 2004...

  • Page 125: Motor Output Filter

    Parker EME Compax3 Accessories 8.5.2. Motor output filter In this chapter you can read about: Motor output filter MDR01/04......................125 Motor output fiter MDR01/01......................125 Motor ouptut filter MDR01/02......................126 Wiring of the motor output filter.....................126 We offer motor output filters for disturbance suppression when the motor connecting cables are long (>20m):...

  • Page 126: Motor Output Choke Mdr01/02

    Compax3 Accessories 8.5.2.3 Motor output filter MDR01/02 up to 30 A rated motor current Dimensional drawing: U1 V1 W1 + U2 V2 W2 + 8.5.2.4 Wiring of the motor output filter Compax3 Motor I11 T11 192-120101 N6 - March 2004...

  • Page 127: External Ballast Resistors

    Parker EME Compax3 Accessories External ballast resistors In this chapter you can read about: Ballast resistor BRM8/01 ......................128 Ballast resistor BRM5/01 ......................128 Ballast resistor BRM6/02 ......................128 Ballast resistor BRM4/0x.......................129 Hazards when handling ballast resistors! Danger! Housing temperature up to 200°C!

  • Page 128: Brm8/01 Ballast Resistors

    Compax3 Accessories 8.6.1. BRM8/01 ballast resistors Dimensional drawing: 8.6.2. BRM5/01 ballast resistor Dimensional drawing: 8.6.3. Ballast resistor BRM6/02 Dimensional drawing: 95 97 1: thermal overcurrent relay I11 T11 192-120101 N6 - March 2004...

  • Page 129: Ballast Resistor Brm4/0X

    Parker EME Compax3 Accessories 8.6.4. Ballast resistor BRM4/0x Dimensional drawing: 1: thermal overcurrent relay Dimensions: Size: BRM4/01 BRM4/02 BRM4/03 I11 T11 192-120101 N6 - March 2004...

  • Page 130: Operator Control Module Bdm

    Compax3 Accessories Operator control module BDM Flexible service and maintenance Functions: For mobile or stationary control – can remain on the device for display and diagnostic purposes or can be moved from device to device and plugged into each one. Can be plugged in while in operation Power supply via Compax3 servo control Display with 2 times 16 places.

  • Page 131: Eam06 Terminal Block For Inputs And Outputs

    Parker EME Compax3 Accessories EAM06 terminal block for inputs and outputs The terminal block EAM06/.. can be used to route the Compax3 plug connector X11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.
  • Page 132 Compax3 Accessories Width: 67.5 mm EAM6/02: terminal block with luminous indicator for X12 Width: 67.5 mm Cable plan SSK23/..: X11 on EAM 06/01 Compax3 I/O Modul Pin 1 Pin 1 Lötseite solder side Lötseite GYPK GYPK RDBU RDBU WHGN WHGN BNGN BNGN WHYE...
  • Page 133 Parker EME Compax3 Accessories Cable plan SSK24/..: X12 on 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 134: Zbh Plug Set

    Compax3 Accessories ZBH plug set The plug 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 ZBH02/01: for Compax3 Sxxx V2 ZBH02/02: for Compax3 S038 V4, Compax3 S075 V4 and Compax3 S150 V4...

  • Page 135: 8.10 Interface Cable

    Parker EME Compax3 Accessories 8.10 Interface cable In this chapter you can read about: RS232 cable..........................135 RS485 cable to Pop........................136 I/O interface X12...........................137 Ref X11 ............................138 Encoder cable ..........................139 8.10.1. RS232 cable SSK1/.. X10 <--- --->PC n.c. 7 x 0,25mm + Schirm/Shield...

  • Page 136: 8.10.2. Rs485 Cable To Pop

    Compax3 Accessories 8.10.2. RS485 cable to Pop SSK27: Connection Pop - Compax3 - Compax3 - ... Länge / Length B Länge / Length A Länge / Length B Pin 1 Pin 1 Pin 1 Pin 1 CHA+ Lötseite TxD_RxD CHA- solder side TxD_RxD Schirm großflächig auf Gehäuse legen...

  • Page 137: 8.10.3. I/O Interface X12

    Parker EME Compax3 Accessories 8.10.3. I/O interface X12 SSK22/..: cable for X12 with open ends 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...

  • Page 138: 8.10.4. Ref X11

    Compax3 Accessories 8.10.4. Ref X11 SSK21/..: cable for X11 with open ends 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 on page 106) I11 T11 192-120101 N6 - March 2004...

  • Page 139: 8.10.5. Encoder Cable

    Parker EME Compax3 Accessories 8.10.5. Encoder cable GBK23/..: connection from encoder to Compax3 Pin 1 Compax3 (X11) Encoder Lötseite 2x0,14 solder side Lötseite / Crimpseite P P P P A A A A N N N N B B B B...

  • Page 140: Technical Data

    Technical Data 9. Technical Data In this chapter you can read about: Mains connection: Compax3 S0xx V2 Controller type S025 V2 S063 V2 Mains voltage Single phase 230VAC + 10% 80-230VAC+10% / 50-60Hz Rated input current 6Aeff 16Aeff Maximum fuse rating per device 10A (automatic circuit 16 A (automatic circuit breaker K)
  • Page 141 Parker EME Technical Data Power [hp] 2.5kVA 5kVA 10kVA 20kVA (at 400VAC) Switching frequency 8kHz 8kHz 4kHz 4kHz Power loss for In 80 W 120W 160W 350W Efficiency Resulting nominal and peak currents depending on the switching frequency of the power output stage...
  • Page 142 Technical Data Position resolution per pitch resp. per For option F12: Direct drives revolution (max. 24bit): the analog hall sensors: 13 bits For Sine-Cosine: 13Bit + log (Strokes / Pitch) For TTL (ES422): 2 + log (Strokes / Pitch) For rotational motors you have to use revolutions instead of pitch.
  • Page 143 Parker EME Technical Data Special encoder systems for direct Option F12 drives 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) (linear or rotatory) (max.
  • Page 144 Technical Data Capacitance / storable 235 µ F / 37Ws 470 µ F / 75Ws 690 µ F / 1100 µ F / energy 110Ws 176Ws Minimum ballast - 100 Ω 56 Ω 22 Ω 15 Ω resistance Recommended nominal 60 ...
  • Page 145 Parker EME Technical Data Insulation requirements Protection class Protection class I according to EN 50 178 (VDE 0160 part 1) Protection against human contact with According to DIN VDE 0106, part 100 dangerous voltages Overvoltage category Voltage class III according to HD 625 (VDE...
  • Page 146 Technical Data EC-EMC directive EN 61 800-3, EMC norm 89/336/EEC Product standard for variable speed drives EN 50 081-2 ... 50 082-2, EN 61 000-4-2 ...61 000-4-5 Functions Positioning up to 31 positioning data records possible with the following settings. Target position Speed Acceleration...

  • Page 147: 10. Index

    Parker EME Index 10. Index Damping of the speed controller • 74 Define positioning data records • 63 Defining jerk / ramps • 54 Accessories order code • 111 Defining the reference system • 44 Adjusting the machine zero proximity switch •...
  • Page 148 Turning the motor holding brake on and off • Overview of motor cables • 125 Type specification plate • 8 Parker servo motors • 113 Plug and connector assignment Compax3 • 21 UL certification • 9 Plug assignment Compax3S0xx V2 • 21, 22, Usage in accordance with intended purpose •...
  • Page 149 Parker EME Index Warranty conditions • 14 Wiring of analog outputs • 31 Wiring of the analog input • 30 Wiring of the motor output filter • 131 X1 • 22 X10 • 29 X11 • 30 X12 • 31 X13 •...
  • Page 150 Index I11 T11 192-120101 N6 - March 2004...

This manual is also suitable for:

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