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Compax3 Fluid T40
Parker Compax3 Fluid T40 User Manual
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Com
pax
3
Electromechanical Automation
Technische Änderu
ngen vorbehal
ten.
18.06.08 14:42
192-121102 N
04 June 2008
Daten entsprechen dem techni
schen Stand zum Zeitpunkt der Druc
klegung.
Operating instructions Compax3 Fluid T40: Cam
Hydraulics controller
192-121102 N04
June 2008
Release R08-0
Autoryzowany dystrybutor Parker:
53
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Table of Contents
Table of Contents
3
1 Introduction
12
Device Assignment Compax3 Fluid
12
Type Specification Plate Compax3 Fluid
13
Safety Instructions
14
General Hazards
14
Safety-Conscious Working
14
Special Safety Instructions
15
Warranty Conditions
15
Conditions of Utilization for CE-Conform Operation
15
2 Positioning with IEC61131-3
17
3. Compax3F Device Description
21
In this Chapter You Can Read About: Meaning of the Front Panel Leds (Via X10)
21
Plug and Connector Assignment
22
Plug and Connector Assignment Complete
23
Analog Input (Plug X1)
25
Wiring of the Analog Inputs
25
Analog Output (Plug X2)
26
Wiring of Analog Outputs
26
Voltage Supply (Plug X3)
27
RS232 / RS485 Interface (Plug X10)
27
Analog / Encoder (Plug X11)
28
Connections of the Encoder Interface
29
Digital Inputs/Outputs (Plug X12)
29
Connection of the Digital Outputs/Inputs
30
Feedback (Connector X13)
30
Connections of the Encoder Interface
31
Profibus Connector X23 with Interface I20
32
Adjusting the Bus Address
32
Function of the Bus Leds
32
Canopen Connector X23 Interface I21
33
Adjusting the Bus Address
33
Function of the Bus Leds
34
Devicenet Connector X23
35
Adjusting the Bus Address
35
Function of the Bus Leds
36
Ethernet Powerlink (Option I30) / Ethercat (Option I31) X23, X24
36
Meaning of the Bus Leds (Ethernet Powerlink)
37
Set Ethernet Powerlink (Option I30) Bus Address
37
Meaning of the Bus Leds (Ethercat)
38
Mounting and Dimensions
40
In this Chapter You Can Read about
21
3 Compax3F Device Description
21
State of Delivery
21
Plug and Connector Assignment Compax3 Fluid
21
Meaning of the Front Panel Leds (Via X10)
21
Parker Eme 4. Setting up Compax3
41
4 Setting up Compax3
41
Configuration
41
C3Hydraulicsmanager
44
Function Description
44
Structure of the Databases
44
Compax3F Structure Image
45
Drive Configuration
46
Configuring Drive1
47
Position Feedback System Drive1
47
Cylinder / Motor Selection
48
Load Configuration Drive1
48
Configuring Drive2
49
Pressure Sensors
49
Sensors
49
Force Sensor Drive 1
50
Pressure and Force Sensor Drive 2
51
Valve Configuration
51
Selection and Configuration of the Valves
52
Defining the Reference System
53
Position Transducer
53
4.1.8.2 Machine Zero
54
In this Chapter You Can Read About: Positioning after Homing Run
54
Machine Zero
54
Machine Zero Speed and Acceleration
55
Machine Zero Modes Overview
56
Homing Modes with Home Switch (on X12/14)
58
Machine Zero Modes Without Home Switch
65
Adjusting the Machine Zero Proximity Switch
69
Travel Limit Settings
70
Change Assignment Direction Reversal / Limit Switches
74
Change Initiator Logic
74
Debouncing: Limit Switch, Machine Zero and Input 0
74
Ramp Upon Error and Switch to Currentless
74
Limit and Monitoring Settings of Force
75
Force Window - Force Achieved
75
Hydraulic Corner Power Limitation
76
Maximum Control Deviation of Force Controller
76
Maximum Force
76
Positioning Window - Position Reached
77
Following Error Limit
78
Maximum Permissible Speed
78
Encoder Simulation
79
Recipe Table
80
Error Response
80
Configuration Name / Comments
81
Configuring the Signal Source
82
Physical Source
82
Encoder A/B 5V, Step/Direction or SSI Feedback as Signal Source
82
10V Master Speed
85
Internal Virtual Master
85
HEDA Master Signal Source
85
Optimization
87
Optimization Window
88
Scope
89
Monitor Information
89
4.3.2.2 User Interface
90
User Interface
90
N04 June
91
Oscilloscope Operating Mode Switch
91
Setting the Time Basis XDIV
91
Settings for Channels 1
92
Special Functions
93
Example: Setting the Oscilloscope
95
Control Loop Dynamics
97
Trigger Settings
93
4.3.3.1 Preparatory Settings for the Controller Alignment
98
Checking the Feedback Direction and the Valve Output Polarity
98
In this Chapter You Can Read About: Configuring the Device
98
Preparatory Settings for the Controller Alignment
98
Compensation of Non-Linearities of the Distance
99
Checking the Open Loop Gain
101
Filter Alignment
101
Signal Filtering with External Command Value
102
Controller Optimization
102
Controller Structure of Main Axis
105
Controller Strucutre Auxiliary Axis
106
Feedforward Main Axis (Status Controller)
107
Feedforward Auxiliary Axis (Status Controller)
108
4.3.3.7 Position Controller Main Axis (Status Controller)
109
In this Chapter You Can Read About: Object 2200.24: Filter - Following Error
109
Object 2200.11: Filter - Following Error
109
Position Controller Main Axis (Status Controller)
109
Object 2200.30: Internal Window I-Term
110
Object 2200.31: External Window I-Term
110
Object 2200.37: I-Term
110
Object 2200.38: P-Term
110
Object 2100.13: Speed Feedback
111
Object 2200.32: Positive Limit I-Term
111
Object 2200.33: Negative Limit I-Term
111
Object 2100.14: Acceleration Feedback
112
Object 2210.8: Filter Control Signal
112
Position Controller Auxiliary Axis (Status Controller)
113
Filter Main Axis
116
Filter Auxiliary Axis
117
Analog Input
118
Force-/Pressure Control Main Axis
123
Force-/Pressure Control Auxiliary Axis
127
Output Signal Conditioning 0
131
Step-By-Step Optimization
138
Parker Eme
139
In this Chapter You Can Read About: Parameters for Manual Movement/Jogging Mode and Test Movement
139
Limit Valve Set Value
140
Move Drive Controlledly
140
Check Connection Assignment of the Pressure Sensors
141
Check Input Offset or Zero of the Pressure Sensors
141
Check Sense of Direction
141
Set Valve Offset
141
Direction Dependent Gain
142
Optimization of Position Controller
142
Optimization of Pressure/Force Controller
145
Input Simulation
147
Calling up the Input Simulation
147
Functionality
148
Setup Mode
149
Motion Objects in Compax3
150
Profileviewer for the Optimization of the Motion Profile
150
Mode 1: Time and Maximum Values Are Deduced from Compax3 Input Values
151
Mode 2: Compax3 Input Values Are Deduced from Times and Maximum Values
151
5 Motion Control
152
Programming Based on IEC61131-3
152
Prerequisites
152
Codesys / Compax3 Target System (Target Package)
153
Program Development and Test
153
Function Range Supported
154
Languages Supported
154
Operators Supported
154
Recipe Management
154
Standard Functions Supported
155
Standard Function Modules Supported
156
Data Types Supported
157
Recipe Table with 9 Columns and 32 Lines
157
Retain Variables
157
Access to the Compax3 Object Directory
158
Cycle Time
158
Maximum Program Size
158
Compilation, Debugging and Down/Upload of IEC61131 Programs
159
General Rules / Timing
160
Library Constants
161
Status Diagrams
162
Status Diagram of Compax3F Main Axis
162
Status Diagram of Compax3F Auxiliary Axis
163
Status Diagram of the Virtual Master
164
Control Functions
165
Activation of the Drive (Mc_Power)
165
Stop (Mc_Stop)
166
Mc_Stop at Pressure/Force Control
167
Mc_Stop: Example 1
167
Mc_Stop: Example 2
168
C3_Setcontrolmode
169
Reading Values
170
Reading the Current Position (Mc_Readactualposition)
170
Read Access to the (C3_Readarray) Array
172
Reading the Device Status (Mc_Readstatus)
173
Determine Valve/Range Parameters (C3_Getsystemfingerprint)
174
Important Notes
176
Procedure When Working with the C3_Getsystemfingerprint
177
Positioning Functions (Standard)
178
Value Range for Positioning Parameters
178
Absolute Positioning (Mc_Moveabsolute)
179
Position Mode in Reset Operation
182
Description of Jerk
183
Relative Positioning (Mc_Moverelative)
184
Additive Positioning (Mc_Moveadditive)
186
Continuous Positioning (Mc_Movevelocity)
188
Manual Operation (C3_Jog)
190
Homing (Mc_Home)
192
Electronic Gearbox (Mc_Gearin)
195
Superimposed Motion
198
Dynamic Positioning
198
Superimposed Positioning (Mc_Movesuperimposed)
199
Zero Point Shift Caused by Superimposed Positioning (C3_Shiftposition)
201
Adjust Force / Pressure (C3_Pressureforceabsolute)
203
Dynamic Switching: Position- on Force/Pressure - Adjustment
204
Switching: from Force to Position Mode (C3_Pq)
205
Parker Eme 5.10 Cam Control
207
Cam Control
207
Introduction: Electronic Cam Control
208
Function Principle
209
Overview
210
Basics
211
Cam Types
211
Cam Parameters / Terms
212
Basic Procedure
213
Generating Cams
214
Introduction to the Camdesigner (Example)
215
Cam Functions of the Compax3 Servomanager / Motion Laws
220
Cam Function Structure
224
Function Modules of the Cam
224
Signal Image
225
Parker Eme 5.10.5.3 Cam Reference Systems
229
Default Chapter
229
Cam Reference Systems
229
Relative Master Reference Without Offset
229
N04 June
230
Relative Master Reference with 180° Offset
230
Absolute Master Reference Without Offset
231
Absolute Master Reference with 180° Offset
232
Relative Slave Reference
232
Absolute Slave Reference
235
Master Signal Source
235
C3_Setmaster
236
Setting the Position of the Selected Master Source
236
Recording the Position of the Selected Master Source (C3_Mastercontrol)
237
Control of the Cam Generator (C3_Camtableselect)
240
C3_Masterconfig
243
Master Signal Phase Shift (Mc_Phasing)
244
Alignment of the Slave Axis
246
Start Cam / Coupling
246
Exiting the Active Curve with Coupling Movement (C3_Camout)
257
Step 1: C3 Servomanager
261
Step 2: Connect Motor
261
Step 3: Supply & I/O Wiring
261
Step 4: RS232 Connection & C3 Servomanager
261
Steps for Cam Generation
261
Step 5: Set Compax3 Device Type
262
Step 6: Configuration
262
Step 7: Selecting Master Signal Source
262
Step 8: Generating the Cam
262
Step 10: Starting and Monitoring Cam
263
Step 9: Create IEC Program
263
Cam Applications
264
Example 1: Single Start of a Closed Cam
264
Example 2: Change between Single Start of an Open Cam and POSA
267
Example 3: Single Start for Run through Curve 5 Times
269
Example 4: Composing Curves
271
Example 5: Cyclic Operation with Event-Triggered Change of Curve
274
Example 6: Operation with Curve Segments and Standstill Area
276
Example 7: Curve Operation with Slave Reg Synchronization
279
Example 8: Curve Operation with Master Reg Synchronization
281
Example Case of Damage
284
Application Note: Drift
286
Cam Switching Mechanism
288
Cam Switching Mechanism Function Overview
288
Example of Cam Function
289
Examples of a Cam Cycle
289
(C3_Outputselect)
291
Redirect the Fast Cams Directly to the Physical Output
291
Objects of the Cam Switching Mechanism
292
Behavior Depending on the Travel Direction
293
Behavior of the Switch-On/Switch-Off Anticipation
293
Switch-On Anticipation Is Corrected Via Reset Distance
295
Switching Behavior with Reset Operation
295
Hysteresis
296
Note: no Switching Operation with Overlapping Cams
296
Codesys-Project for the Configuration of the Cams
297
Example: Working with Fast Cams
298
Acknowledging Errors (Mc_Reset)
300
Error Handling
300
Reading Axis Errors (Mc_Readaxiserror)
301
Set Error Reaction (C3_Seterrorreaction)
302
Process Image
303
Reading Digital Inputs (C3_Input)
303
Write Digital Outputs (C3_Output)
303
C3_Ioaddition_0
304
C3_Ioaddition_1
304
Reading/Writing Optional Inputs/Outputs
304
C3_Ioaddition_2
305
Memorizing the Signals with the Trigger Event (C3_Touchprobe)
306
Initializing the Pios (Pio_Init)
309
Integration of Parker I/Os (Pios)
309
Reading the PIO Inputs 0-15 (Pio_Inputx
310
Writing the PIO Outputs 0-15 (Pio_Outputx
311
Example: Compax3 as Canopen Master with Pios
312
Interface to C3 Powerplmc
314
Interface Module "Plmc_Interface
315
Cyclic Data Channel for C3T30 and C3T40
317
Example: C3 Powerplmc Program & Compax3 Program
319
Example in CFC: Using Compax3-Specific Function Modules and Compax3 Objects
322
IEC Examples
322
Example in CFC: Positioning 1
323
Example in CFC: Positioning 2
324
Example in CFC: Positioning with Set Selection
325
Example in CFC: Cycle Mode
326
Example in ST: Cycle Mode with a Move Module
327
Profibus: Emulating the Profidrive Profile (C3F_Profidrive_Statemachine)
329
6 Communication
333
Compa3 Communication Variants
333
PC <-> Compax3 (RS232)
334
PC <-> Compax3 (RS485)
335
PC <-> C3M Device Combination (USB)
336
USB-RS485 Moxa Uport 1130 Adapter
337
ETHERNET-RS485 Netcom 113 Adapter
338
Modem Westermo TD-36 485
340
C3 Settings for RS485 Two Wire Operation
343
C3 Settings for RS485 Four Wire Operation
344
COM Port Protocol
345
RS485 Setting Values
345
ASCII - Record
346
Binary Record
347
Remote Diagnosis Via Modem
350
Structure
350
Configuration of Local Modem 1
351
Configuration of Remote Modem 2
352
Recommendations for Preparing the Modem Operation
353
Profibus
354
N04 June
354
Profibus Configuration
354
Typical Application with Fieldbus and IEC61131
354
Configuration of the Process-Data Channel
355
Control and Status Word
356
Cyclic Process Data Channel
356
Error Reaction to a Bus Failure
356
PKW Parameter Channel
356
Acyclic Parameter Channel
357
Parameter Access with DPV0: Required Data Channel
357
Data Formats of the Bus Objects
363
Simatic S7 -300/400 - Modules
366
Canopen - Node Settings
367
Canopen - Configuration
367
Canopen Operating Mode
367
Baud Rate
368
Error Reaction to a Bus Failure
368
Possible PDO Assignment
369
Supporting IEC Modules
369
Transmission Cycle Time
369
C3_Canopen_State
370
C3_Canopen_Guardingstate
371
C3_Canopen_Addnode
372
C3_Canopen_Confignode
373
C3_Canopen_Nmt
374
Reading an Object in Another Node (C3_Canopen_Sdo_Read4)
375
Writing an Object in Another Node (C3_Canopen_Sdo_Write4)
376
Canopen Communication Profile
377
Communication Objects
378
Object Types
378
Acyclic Parameter Channel
382
Service Data Objects (SDO)
382
Data Formats of the Bus Objects
384
Object Up-/Download Via RS232 / RS485
384
Devicenet
385
Devicenet Configuration
385
Error Reaction to a Bus Failure
385
Devicenet Object Classes
386
Data Formats of the Bus Objects
387
Object Classes
387
Overview of the Devicenet Object Classes
387
Ethernet Powerlink
388
CN Controlled Node (Slave)
388
Configuring Ethernet Powerlink / Ethercat
388
Error Reaction to a Bus Failure
388
Slave with Configuration Via Master
388
Possible PDO Assignment
389
HEDA Bus
390
Error Reaction to a Bus Failure
391
HEDA Standard Mode
391
HEDA-Master
392
HEDA-Slave
392
HEDA Expansion (HEDA Advanced)
393
The Possibilities of the HEDA Expansion
393
Technical Data of the HEDA Interface / Overview
394
Calling up the HEDA Wizard in the C3 Servomanager
395
Configuration of the HEDA Communication
395
Definitions
395
Coupling Objects
412
7 Compax3 - Objects
414
Objects for the Process Data Channel
415
Object Overview Sorted by Object Name (T40)
417
Detailed Object List
426
8 Status Values
427
D/A-Monitor
427
9 Error
428
10 Order Code
429
Order Code Device: Compax3 Fluid
429
Accessories Order Code
429
11 Compax3 Accessories
432
ZBH Plug Set
432
Cable for Path Measurement Systems
432
Encoder Cable
433
Feedback Cable (Balluff)
434
Feedback Cable Endat2.1
435
Operator Control Module BDM
436
EAM06: Terminal Block for Inputs and Outputs
437
Interface Cables
440
RS232 Cable
441
RS485 Cable to Pop
442
I/O Interface X12 / X22
443
Ref X11
444
Encoder Coupling of 2 Compax3 Axes
445
Modem Cable SSK31
446
Options M1X
447
Assignment of the X22 Connector
447
Input/Output Option M12
447
HEDA (Motion Bus) - Option M11
448
N04 June
448
Option M10 = HEDA (M11) & I/Os (M12)
450
Profibus Plug BUS08/01
451
CAN - Plug BUS10/01
452
PIO: Inputs/Outputs
453
12 Specifications
454
13 Index
461
4
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Parker Compax3 Fluid T40 Specifications
General
Brand
Parker
Model
Compax3 Fluid T40
Category
Controller
Language
English
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