Parker Compax3 Series User Manual

Setting up Compax3 C3I22T11
144 192-120114 N5 C3I22T11 June 2008
4.1.14. Write into set table
The motion sets are stored in a set table.
The table rows define always one motion set, in the columns the respective motion
parameters of a motion set are stored.
Motion parameters
Machine reference
run
Set 1
set no. 2
...
Set 31
exact description (see page 315).
31 motion sets are possible.
The motion set to be executed is selected via Status word 2.
For the motion sets different motion functions with different motion parameters are
available:
 Empty:
empty motion set
 MoveAbs (see
page 145):
absolute po
sitioning
 MoveRel (see
page 145):
relative Positi
oning
 Gearing (see pa-
ge 151):
electroni
c gearbox
 RegSearch (see
page 146):
Regi
stration mark-related positioning
(uses 2 motion sets: RegSearch and RegMove)
 Velocity (see pa-
ge 152):
velocity control
 Stop:
Stop movement
For each motion set you can define programmable status bits (PSBs), which will
then be put out after the termination of the motion set.
A start signal at address = 0 (motion set 0) triggers a machine zero run.
4.1.14.1 Programmable status bits (PSBs)
The successful execution of a motion set can be queried via the PSBs.
PSBs: Bit 12, 13 and 14 of status word 2.
The settings for the PSBs are made in the respective motion set
You can set 3 assignments for the respective bits:
X: No change Output / Bit is not influenced
0: Inactive Output / Bit is set to 0
1: Active Output / Bit is set to 1 resp. 24VDC
Storage of the PSBs (see page 315).
Machine re
ference
run
Definition of the
pattern:

Parker Compax3 Series Specifications

General

Enclosure Rating	IP20
Control Modes	Speed, Torque, Position
Communication Interfaces	CANopen, EtherCAT
Feedback Options	Incremental Encoder, Resolver
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature, Short Circuit
Cooling Method	Forced Air, Natural Convection
Relative Humidity	5 to 85 %, non-condensing
Operating Temperature	0 to +45 °C (derating may apply above 40°C)

Summary

1. Introduction

1.1 Device assignment

Describes the devices this manual applies to, including Compax3S, Compax3H, Compax3M, and Compax3MP models.

1.2 Type specification plate

Explains the device description on the type specification plate, detailing designations, interface, and options.

1.4 Safety Instructions

Covers general hazards, safety-conscious working practices, and special safety instructions.

1.6 Conditions of utilization

Specifies conditions for CE-conform operation, UL certification, and supply networks.

2. Compax3 Xxxx I22T11 Introduction

Configuration

Mentions PC configuration via Compax3 ServoManager and general proceedings.

3. Compax3 device description

3.1 Meaning of the status LEDs - Compax3 axis controller

Explains the function of status LEDs on the Compax3 axis controller, indicating device states.

3.3 Connections of Compax3S

Describes the connectors and pin assignments for the Compax3S series devices.

3.5 Compax3MP/Compax3M connections

Details the front connector and device bottom connections for Compax3MP and Compax3M.

3.7 Communication interfaces

Explains communication methods including RS232, RS485, and DeviceNet connectors.

3.8 Signal interfaces

Describes resolver, encoder, analog, and digital input/output signal interfaces.

3.10 Safety function – safety torque off – Compax3S

Details the safety torque off function for Compax3S, including principles and application.

3.11 Compax3M with safety option S1: Safe torque off

Explains the safe torque off option for Compax3M, including terms, description, and advantages.

4. Setting up Compax3

4.1 Configuration

Covers general configuration steps, including PC requirements and test commissioning.

4.3 Optimization

Details various optimization tools and procedures like Scope, Controller optimization, and Load identification.

5. Communication

5.1 Compa3 communication variants

Lists different communication methods including RS232, RS485, USB, and modem connections.

5.4 DeviceNet

Covers DeviceNet configuration, error reactions, operating modes, and object classes.

6. Status values

6.1 D/A-Monitor

Explains how to output status values via the D/A monitor channels and includes an example.

7. Error

7.1 Error list

Provides information on error reactions, error codes, and how to view the error history.

8. Order code

8.1 Order code device: Compax3

Details the order code structure for Compax3 devices, including model, current, and interface options.

9. Compax3 Accessories

9.1 Parker servo motors

Describes direct drive, linear, and torque motors supported by Compax3.

9.2 EMC measures

Covers EMC measures including mains filters and motor output filters.

9.3 Connections to the motor

Details resolver, SinCos, EnDat cables, and motor cable connections.

9.4 External braking resistors

Lists external braking resistors, their permissible pulse powers, and dimensions.

9.9 Interface Cables

Lists various interface cables including RS232, RS485, and USB cables.

10. Specifications

Mains connection Compax3S0xxV2 1AC

Provides mains connection specifications for Compax3S0xxV2 1AC devices.

Mains connection Compax3S1xxV2 3AC

Gives mains connection specifications for Compax3S1xxV2 3AC devices.

Mains connection Compax3SxxxV4 3AC

Details mains connection specifications for Compax3SxxxV4 3AC devices.

Mains connection Compax3MP10D6

Lists mains connection specifications for Compax3MP10D6 devices.

Output data Compax3Mxxx at 3*400VAC

Provides output specifications for Compax3Mxxx devices at 3*400VAC.

Resulting nominal and peak currents depending on the switching frequency

Details nominal and peak currents based on switching frequency for various Compax3 models.