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Parker Compax3 Series User Manual
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Communication
C3I22T11
298
192-120114 N5 C3I
22T11 June 2
008
5.1.7.
C3 settings for RS485 two wire operation
C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode°!
Communication settings C3S/C3M:
Object
Function
Value
810.1 Protocol
16
(t
wo
wire)
810.2 Baud
rate
11520
0
810.3 NodeAddress
1..254
810.4 Multicast
Addr
ess
297
299
Table of Contents
Table of Contents
3
In this Chapter You Can Read About: Device Assignment
10
Type Specification Plate
11
Packaging, Transport, Storage
12
Safety Instructions
13
General Hazards
13
Safety-Conscious Working
13
Special Safety Instructions
14
Warranty Conditions
15
Conditions of Utilization
16
Conditions of Utilization for CE-Conform Operation
16
Conditions of Utilization for UL Certification Compax3S
19
Conditions of Utilization for UL Certification Compax3M
21
Current on the Mains PE (Leakage Current)
22
Supply Networks
23
1 Introduction
10
Device Assignment
10
2 Compax3 XXXX I22T11 Introduction
24
3. Compax3 Device Description
26
3.6 Connections of Compax3H
50
3.9 Installation and Dimensions Compax3
69
Parker EME
69
3.9.1. Mounting and Dimensions Compax3S
71
3 Compax3 Device Description
26
In this Chapter You Can Read About: Meaning of the Status Leds - Compax3 Axis Controller
26
Meaning of the Status Leds - Compax3 Axis Controller
26
Meaning of the Status Leds - Compax3Mp (Mains Module)
27
Compax3S Connectors
28
Connections of Compax3S
28
Connector and Pin Assignment C3S
29
Control Voltage 24VDC / Enable Connector X4 C3S
31
Motor / Motor Brake (C3S Connector X3)
32
C3Sxxx V2
33
Main Voltage Supply C3S Connector X1
33
Braking Resistor / High Voltage DC C3S Connector X2
34
C3Sxxx V4
36
Power Supply Connector X1 for 3AC 400VAC/480VAC-C3S Devices
36
Braking Resistor / High Voltage Supply Connector X2 for 3AC 400VAC/480VAC_C3S Devices
37
Connection of the Power Voltage of 2 C3S 3AC Devices
38
Installation Instructions Compax3M
38
Compax3Mp/Compax3M Connections
40
Front Connector
40
Connections on the Device Bottom
41
Connections of the Axis Combination
42
Connector and Pin Assignment
43
Control Voltage 24VDC Compax3Mp (Mains Module)
45
Braking Resistor / Temperature Switch Compax3Mp (Mains Module)
47
Temperature Switch Compax3Mp (Mains Module)
48
Measurement of the Motor Temperature of Compax3M (Axis Controller)
49
Connections of Compax3H
50
In this Chapter You Can Read About: Compax3H Plugs/Connections
50
Terminal Clamps - Max. Line Cross Section C3H
52
Plug and Pin Assignment C3H
53
Motor / Motor Brake C3H
55
Control Voltage 24 VDC C3H
56
Braking Resistor / Supply Voltage C3H
57
Mains Connection Compax3H
57
Connect Braking Resistor C3H
58
Connection of the Power Voltage of 2 C3H 3AC Devices
59
Communication Interfaces
60
Communikation Compax3M
61
Adjusting the Basic Address
62
Devicenet Connector X23
63
Function of the Bus Leds
64
Signal Interfaces
65
Analog / Encoder (Plug X11)
66
Digital Inputs/Outputs (Plug X12)
67
Connection of the Digital Outputs/Inputs
68
In this Chapter You Can Read About: Mounting and Dimensions Compax3S0Xxv2
69
Installation and Dimensions Compax3
69
Mounting and Dimensions Compax3S
69
Monting and Dimensions Compax3S100V2 and S0Xxv4
70
Monting and Dimensions Compax3S150V2 and S150V4
71
Mounting and Dimensions Compax3S300V4
72
Mounting and Dimensions C3MP/C3M
73
Installation and Dimensions Compax3Mp20/M300
74
Mounting and Dimensions C3H
75
Mounting Distances, Air Currents Compax3H050V4
76
Mounting Distances, Air Currents Compax3H1Xxv4
77
Safe Standstill with Compax3 Principle
78
Safety Function - Safety Torque off - Compax3S
78
Devices with the "Safe Standstill" Safety Function
79
3.10.3. Safety Instructions for the "Safety Torque Off" Function
80
N5 C3I22T11 June
80
3.10.4. Application Example for "Safe Standstill
81
Safe Standstill with Bus Option
81
3.11.1. General Description
87
Compax3M with Safety Option S1: Safe Torque off
87
Important Terms and Explanations
87
Intended Use
88
Advantages of Using the "Safe Torque Off" Safety Function
89
3.11.2. STO Function on the Compax3M
90
Safety Switching Circuits
90
Safety Notes and Limitations of the STO Function in the Compax3M
91
Technical Details of the Compax3M S1 Option
92
3.11.3. Compax3M STO Application Description
93
STO Function Description
93
STO Function with Safety Control Device Via Compax3M Inputs
93
STO Function with Safety Switching Device for Applications with Fieldbusses
95
Emergency Power-Off and Protective Door Monitoring Without Safety Switching Devices
97
3.11.4. STO Function Test
98
STO Test Protocol Specimen
99
4. Setting up Compax3
100
4 Setting up Compax3
100
Configuration
100
Motor Selection
102
Selection of the Supply Voltage Used
102
Test Commissioning of a Compax3 Axis
102
In this Chapter You Can Read About: Test Commissioning of a Compax3 Axis
102
Optimize Motor Reference Point and Switching Frequency of the Motor Current
103
Braking Resistor
106
Defining the Reference System
107
General Drive
107
Measure Reference
108
Machine Zero
111
Homing Modes with Home Switch (on X12/14)
116
Without Direction Reversal Switches
116
In this Chapter You Can Read About: Without Motor Reference Point
116
In this Chapter You Can Read About: MN-M 19.20: MN-Initiator = 1 on the Positive Side
116
MN-M 21.22: MN Initiator = 1 on the Negative Side
117
With Direction Reversal Switches
118
With Motor Reference Point
120
In this Chapter You Can Read about
120
MN-M 3.4: MN-Initiator = 1 on the Positive Side
120
Without Direction Reversal Switches
120
MN-M 5.6: MN Initiator = 1 on the Negative Side
121
Travel Limit Settings
129
Change Assignment Direction Reversal / Limit Switches
132
Change Initiator Logic
132
Acceleration / Deceleration for Positioning
133
Acceleration for Positioning and Velocity Control
133
Defining Jerk / Ramps
133
Jerk Limit for Positioning
133
Speed for Positioning
133
Jerk for STOP, JOG and Error
135
Ramp Upon Error and De-Energize
135
Current (Torque) Limit
136
Limit and Monitoring Settings
136
Positioning Window - Position Reached
136
Following Error Limit
137
Maximum Operating Speed
138
4.1.10. Encoder Simulation
139
Encoder Bypass with Feedback Module F12 (for Direct Drives)
139
4.1.11. I/O Assignment
140
4.1.12. Position Mode in Reset Operation
141
Examples in the Help File
142
4.1.13. Reg-Related Positioning / Defining Ignore Zone
143
4.1.14. Write into Set Table
144
Programmable Status Bits (Psbs)
144
4.1.15. Motion Functions
145
Moveabs and Moverel
145
Reg-Related Positioning (Regsearch, Regmove)
146
Electronic Gearbox (Gearing)
151
4.1.16. Error Response
152
Speed Specification (Velocity)
152
Stop Command (Stop)
152
4.1.17. Configuration Name / Comments
153
4.1.18. Dynamic Positioning
154
Configuring the Signal Source
155
Select Signal Source for Gearing
155
Encoder A/B 5V, Step/Direction or SSI Feedback as Signal Source
156
Signal Source HEDA
156
+/-10V Analog Speed Setpoint Value as Signal Source
158
Optimization
159
Optimization Window
160
Monitor Information
161
Scope
161
4.3.2.2 User Interface
162
User Interface
162
Oscilloscope Operating Mode Switch
163
Setting the Time Basis XDIV
163
Settings for Channels 1
164
Special Functions
165
Example: Setting the Oscilloscope
167
Controller Optimization
169
Introduction
170
Trigger Settings
165
Parker Eme 4.3.3.2 Configuration
173
Configuration
173
Control Path
173
Mass Inertia
174
Motor Parameters Relevant for the Control
174
Nominal Point Data
174
Quality of Different Feedback Systems
176
Saturation Values
176
Typical Problems of a Non Optimized Control
177
Feedback Error Compensation
178
Commutation Settings
180
I²T - Monitoring of the Motor
180
Relevant Appication Parameters
183
Parker Eme
187
Asynchronous Motors
187
In this Chapter You Can Read About: Type Specification Plate Data
187
Replacement Switching Diagram - Data for a Phase
188
Slip Frequency
188
Cut-Off Frequency for the Field Weakening Range
189
Saturation Behavior
189
Asynchronous Motors: Extension of the Controller Structure
190
Determination of the Commutation Settings
190
Rotor Time Constant
190
Parker Eme 4.3.3.3 Automatic Controller Design
191
Automatic Controller Design
191
Dynamics of a Control
191
In this Chapter You Can Read about
191
Oscillating Plant
191
Stability, Attenuation
192
Velocity, Bandwidth
193
Setpoint and Disturbance Behavior of a Control Loop
195
Response
197
Cascade Control
198
Limitation Behavior
198
Stiffness
199
Automated Controller Design
201
Controller Coefficients
202
4.3.3.4 Setup and Optimization of the Control
204
In this Chapter You Can Read about
204
Setup and Optimization of the Control
204
Standard
204
Standard Cascade Structure
205
Control Signal Limitations
206
Standard Optimization Parameters
206
Feedforward Channels
208
Control Signal Filter / Filter of Actual Acceleration Value
210
Parker Eme Advanced
211
Advanced
211
Extended Cascade (Structure Variant 1)
212
Extended Cascade Structure (Structure Variant 2 with Disturbance Variable Observer)
214
Optimization Parameter Advanced
215
EMC Feedforward
216
Filter "External Command Interface
216
Load Control
216
Luenberg Observer
216
Motor Parameters
216
Voltage Decoupling
216
Commutation Settings of the Automatic Commutation
218
Notch Filter
222
Saturation Behavior
224
Control Measures for Drives Iinvolving Friction
225
Commissioning Window
226
Proceeding During Controller Optimization
228
Signal Filtering with External Command Value
237
Gearbox
237
Signal Filtering for External Setpoint Specification and Electronic
237
Cam
238
Input Simulation
240
Calling up the Input Simulation
240
Functionality
241
Setup Mode
242
Motion Objects in Compax3
243
Load Identification
244
Boundary Conditions
244
Principle
244
Process of the Automatic Determination of the Load Characteristic Value (Load Identification)
245
Tips
246
Alignment of the Analog Inputs
246
Gain Alignment
247
Offset Alignment
247
Signal Processing of the Analog Inputs
247
4.3.9. C3 Servosignalanalyzer
248
C3 Servosignalanalyzer
248
Servosignalanalyzer - Function Range
248
Signal Analysis Overview
249
Installation Enable of the Servosignalanalyzer
250
N5 C3I22T11 June
251
Analyses in the Time Range
252
Measurement of Frequency Spectra
255
Measurement of Frequency Responses
258
4.3.9.7 Overview of the User Interface
265
In this Chapter You Can Read About: Selection of the Signal or System to be Measured
265
Mechanical System
267
Position Control
268
Frequency Settings
270
Velocity Control
271
Other Settings
273
Operating and Status Field
275
Display of the Measurement Result
277
Dispaly of the Measurement Point at the Cursor Position
278
Basics of Frequency Response Measurement
279
In this Chapter You Can Read about
282
Examples Are Available as a Movie in the Help File
284
4.3.10. Profileviewer for the Optimization of the Motion Profile
285
Input Values
285
Mode 1: Time and Maximum Values Are Deduced from Compax3
285
Mode 2: Compax3 Input Values Are Deduced from Times and Maximum Values
286
4.3.11. Turning the Motor Holding Brake on and off
287
5 Communication
288
Compa3 Communication Variants
288
PC <-> Compax3 (RS232)
289
PC <-> Compax3 (RS485)
290
PC <-> C3M Device Combination (USB)
291
USB-RS485 Moxa Uport 1130 Adapter
292
ETHERNET-RS485 Netcom 113 Adapter
293
Modem Westermo TD-36 485
295
C3 Settings for RS485 Two Wire Operation
298
C3 Settings for RS485 Four Wire Operation
299
COM Port Protocol
300
RS485 Setting Values
300
ASCII - Record
301
Binary Record
302
Remote Diagnosis Via Modem
305
Structure
305
Configuration of Local Modem 1
306
Configuration of Remote Modem 2
307
Recommendations for Preparing the Modem Operation
308
Overview of the User Interface
265
5.4 Devicenet
309
Devicenet
309
Devicenet Configuration
309
Error Reaction to a Bus Failure
309
Devicenet Operating Modes
310
Operating Mode: Speed Control
311
Operating Mode: Direct Positioning
312
Operating Mode: Positioning with Set Selection
314
Controlword /Statusword
317
Status Machine
324
Devicenet Object Classes
326
Object Classes
327
Overview of the Devicenet Object Classes
327
Manufacturer-Specific Object Class
328
Data Formats of the Bus Objects
334
Devicenet Application Description
337
6 Status Values
338
D/A-Monitor
338
7 Error
339
Error List
339
8 Order Code
340
Order Code Device: Compax3
341
Accessories Order Code
342
Order Code for Mains Module: Compax3Mp
342
9 Compax3 Accessories
346
Direct Drives
346
Parker Servo Motors
346
Feedback Systems for Direct Drives
347
Linear Motors
348
Rotary Servo Motors
348
Torque Motors
348
EMC Measures
349
Mains Filter
349
Mains Filter NFI01/01
350
Mains Filter NFI01/02
350
Mains Filter for NFI01/03
351
Mains Filter Nfi02/0X
351
Mains Filter NFI03/01 & NFI03/03
352
Mains Filter NFI03/02
352
Motor Output Filter
353
Motor Output Filter MDR01/01
353
Motor Output Filter MDR01/04
353
Mains Filter
354
Motor Output Filter MDR01/02
354
Wiring of the Motor Output Filter
354
9.3 Connections to the Motor
355
Connections to the Motor
355
Resolver Cable
356
Sincos© Cable
357
Endat Cable
358
Overview of Motor Cables
358
Motor Cable with Plug
359
Motor Cable for Terminal Box
360
Connection of Terminal Box MH145 & MH205
361
Encoder Cable
362
Gbk 2
362
External Braking Resistors
363
9.4.1. Permissible Braking Pulse Powers of the Braking Resistors
364
Permissible Braking Pulse Powers of the Braking Resistors
364
Calculation of the BRM Cooling Time
365
Permissible Braking Pulse Power: BRM08/01 with C3S015V4 / C3S038V4
366
Permissible Braking Pulse Power: BRM08/01 with C3S025V2
366
N5 C3I22T11 June
366
Permissible Braking Pulse Power: BRM09/01 with C3S100V2
367
Permissible Braking Pulse Power: BRM10/01 with C3S150V4
367
Permissible Braking Pulse Power: BRM05/01 with C3S063V2
368
Permissible Braking Pulse Power: BRM05/01 with C3S075V4
368
Permissible Braking Pulse Power: BRM05/02 with C3S075V4
369
Permissible Braking Pulse Power: BRM04/01 with C3S150V2
369
Permissible Braking Pulse Power: BRM04/01 with C3S300V4
370
Permissible Braking Pulse Power: BRM04/02 with C3S150V2
370
Permissible Braking Pulse Power: BRM04/02 with C3S300V4
371
Permissible Braking Pulse Power: BRM04/03 with C3S300V4
371
Permissible Braking Pulse Power: BRM11/01 with C3H0Xxv4
372
Permissible Braking Pulse Power: BRM12/01 with C3H1Xxv4
372
Permissible Braking Pulse Power: BRM13/01 with C3MP10D6
373
Permissible Braking Pulse Power: BRM14/01 with C3MP10D6
373
Dimensions of the Braking Resistors
373
Brm8/01Braking Resistors
373
BRM5/01 Braking Resistor
373
Braking Resistor BRM5/02, BRM9/01 & BRM10/01
374
Braking Resistor Brm4/0X
374
Braking Resistor BRM11/01 & BRM12/01
375
Braking Resistor BRM13/01 & BRM14/01
375
Connection Set for Compax3S
376
Connection Set for Compax3Mp/Compax3M
377
Operator Control Module BDM
378
EAM06: Terminal Block for Inputs and Outputs
379
Interface Cables
382
RS232 Cable
383
RS485 Cable to Pop
384
I/O Interface X12 / X22
385
Ref X11
386
Encoder Coupling of 2 Compax3 Axes
387
Modem Cable SSK31
388
Options M1X
389
9.10.1. Input/Output Option M12
389
Assignment of the X22 Connector
389
9.10.2. HEDA (Motion Bus) - Option M11
390
Option M10 = HEDA (M11) & I/Os (M12)
392
10 Specifications
393
11 Index
410
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Parker Compax3 Series Specifications
General
Brand
Parker
Model
Compax3 Series
Category
DC Drives
Language
English
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