Parker Compax3 C3I20T11 Operating Instructions Manual Download Page 344

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Communication

C3I20T11 / C3I32T11

344

192-120103 N13 C3I20T11 / C3I32T11 December 2010

No.

Object name

Object

PNU

Bus
format

Valid
beginn
ing

688.1

Status of setpoint current RMS (torque
forming)

StatusCurrent_Reference

E2_6

688.18

Target current r.m.s.

StatusCurrent_ReferenceDINT

I32

681.6

Status control deviation of speed

StatusSpeed_Error

101

C4_3

681.11

Status speed feed forward

StatusSpeed_FeedForwardSpeed

C4_3

681.20

Speed of the load feedback (unfiltered)

StatusSpeed_LoadControl

C4_3

681.21

Speed of the load feedback (filtered)

StatusSpeed_LoadControlFiltered

C4_3

2210.17

Replacement time constant for the velocity
control

SpeedController_ActualBandwidth

I32

2210.5

Weighting "I" term

SpeedController_I_Part_Gain

U16

2210.4

P term quantifier

SpeedController_P_Part_Gain

U16

2120.7

Switch to enable disturbance compensation

SpeedObserver_DisturbanceAdditionEn
able

I16

2120.5

Time constant disturbance filter

SpeedObserver_DisturbanceFilter

U32

2120.1

Rapidity of the speed monitor

SpeedObserver_TimeConstant

U32

682.5

Status of actual acceleration unfiltered

StatusAccel_Actual

I32

682.6

Status of filtered actual acceleration

StatusAccel_ActualFilter

I32

682.4

Status demand acceleration

StatusAccel_DemandValue

325

I32

682.7

Status acceleration feed forward

StatusAccel_FeedForwardAccel

C4_3

690.5

Current increase steps automatic
commutation

StatusAutocommutation_Itterations

U16

688.2

Status of actual current RMS (torque
producing)

StatusCurrent_Actual

E2_6

688.19

Actual current r.m.s.

StatusCurrent_ActualDINT

I32

688.8

Status of control deviation of current control
RMS

StatusCurrent_ControlDeviationIq

C4_3

688.31

Signal decoupling of direct current controller

StatusCurrent_DecouplingVoltageUd

C4_3

688.32

Signal EMC feedforward

StatusCurrent_FeedForwardbackEMF

C4_3

688.14

Status of current & jerk feedforward

StatusCurrent_FeedForwordCurrentJer
k

C4_3

688.13

Status of demand jerk setpoint generator

StatusCurrent_ReferenceJerk

I32

688.11

Status of current control control signal

StatusCurrent_ReferenceVoltageUq

C4_3

688.22

Provided voltage pointer

StatusCurrent_ReferenceVoltageVector

C4_3

688.30

Provided voltage of direct current controller

StatusCurrent_VoltageUd

C4_3

688.29

Provided voltage of quadrature current
controller

StatusCurrent_VoltageUq

C4_3

683.1

Status of actual current value

StatusDevice_ActualCurrent

112

E2_6

683.2

Status of device load

StatusDevice_ActualDeviceLoad

334

E2_6

683.3

Status of long-term motor load

StatusDevice_ActualMotorLoad

335

E2_6

683.5

Status of observed disturbance

StatusDevice_ObservedDisturbance

C4_3

692.4

Status of analog input cosine

StatusFeedback_EncoderCosine

I32

692.3

Status of analog input sine

StatusFeedback_EncoderSine

I32

692.2

Status of cosine in signal processing

StatusFeedback_FeedbackCosineDSP

I32

692.1

Status of sine in signal processing

StatusFeedback_FeedbackSineDSP

I32

692.5

Status of feedback level

StatusFeedback_FeedbackVoltage[Vpp
]

C4_3

680.5

Status actual position

StatusPosition_Actual

C4_3

680.12

Status demand position without absolute
reference

StatusPosition_DemandController

C4_3

680.4

Status demand position

StatusPosition_DemandValue

323

C4_3

680.6

Status of tracking error

StatusPosition_FollowingError

100

C4_3

680.23

Actual position of the load

StatusPosition_LoadControlActual

C4_3

680.20

Position difference load-motor (unfiltered)

StatusPosition_LoadControlDeviation

C4_3

680.22

Position difference load-motor (filtered)

StatusPosition_LoadControlDeviationFil
tered

C4_3

680.21

Maximum position difference load-motor

StatusPosition_LoadControlDeviationM
ax

C4_3

681.5

Status actual speed unfiltered

StatusSpeed_Actual

C4_3

681.9

Status actual speed filtered

StatusSpeed_ActualFiltered

C4_3

681.7

Status of the actual filtered speed speed in
the Y2 format

StatusSpeed_ActualFiltered_Y2

Summary of Contents for Compax3 C3I20T11

Page 1: ...anges 27 12 10 13 45 192 120103 N13 C3I20T11 C3I32T11 December 2010 The data correspond to the current status at the time of printing Operating instructions Compax3 I20T11 I32T11 Positioning via Profi...

Page 2: ...mail sales automation parker com mailto sales automation parker com Parker Hannifin GmbH registered office Bielefeld HRB 35489 Gesch ftsf hrung Dr Gerd Scheffel G nter Schrank Christian Stein Kees Ver...

Page 3: ...ax3M 23 1 7 4 Conditions of utilization for UL certification Compax3H 24 1 7 5 Current on the mains PE leakage current 25 1 7 6 Supply networks 25 2 Compax3 T11 Positioning via Profibus I20 or Profine...

Page 4: ...tage C3H 59 3 6 8 1 Connect braking resistor C3H 59 3 6 8 2 Power supply voltage DC C3H 59 3 6 8 3 Connection of the power voltage of 2 C3H 3AC devices 60 3 7 Communication interfaces 61 3 7 1 RS232 R...

Page 5: ...fety function 84 3 10 2 3 Notes on the STO function 84 3 10 2 4 STO application example safe torque off 86 3 10 2 5 Technical Characteristics STO Compax3S 92 3 10 3 STO safe torque off with Compax3m O...

Page 6: ...response 149 4 1 17 Configuration name comments 150 4 1 18 Dynamic positioning 150 4 2 Configuring the signal Source 151 4 2 1 Signal source of the load feedback system 151 4 2 2 Select signal source...

Page 7: ...f frequency spectra 251 4 4 9 6 Measurement of frequency responses 254 4 4 9 7 Overview of the user interface 261 4 4 9 8 Basics of frequency response measurement 276 4 4 9 9 Examples are available as...

Page 8: ...chine Position PROFIDrive 314 5 4 3 Cyclic process data channel 315 5 4 3 1 Control word 1 overview 315 5 4 3 2 Status word 1 overview 316 5 4 3 3 Speed control operating mode 317 5 4 3 4 Operating mo...

Page 9: ...ing pulse power BRM10 01 with C3S150V4 380 9 4 1 6 Permissible braking pulse power BRM10 02 with C3S150V4 381 9 4 1 7 Permissible braking pulse power BRM05 01 with C3S063V2 381 9 4 1 8 Permissible bra...

Page 10: ...interface X12 X22 396 9 8 4 Ref X11 396 9 8 5 Encoder coupling of 2 Compax3 axes 397 9 8 6 Modem cable SSK31 398 9 9 Options M1x 399 9 9 1 Input output option M12 399 9 9 1 1 Assignment of the X22 co...

Page 11: ...Compax3S025V2 supplement Compax3S063V2 supplement Compax3S100V2 supplement Compax3S150V2 supplement Compax3S015V4 supplement Compax3S038V4 supplement Compax3S075V4 supplement Compax3S150V4 supplement...

Page 12: ...roidal core ferrite for one cable of the motor holding brake Lacing cord Device accessories for Compax3M Cable clamps in different sizes for large area shielding of the motor cable the screw for the c...

Page 13: ...tage Power Input Input supply data Power Output Output data 5 Designation of the feedback system F10 Resolver F11 SinCos Single or Multiturn F12 Feedback module for direct drives 6 Device interface I1...

Page 14: ...s product contains materials that fall under the special disposal regulation from 1996 which corresponds to the EC directory 91 689 EEC for dangerous disposal material We recommend to dispose of the r...

Page 15: ...d PSUP mains module If the device was stored longer than one year the intermediate capacitors must be re formed Forming sequence Remove all electric connections Supply the device with 230VAC single ph...

Page 16: ...ted for this purpose 1 5 2 Safety conscious working This device may be operated only by qualified personnel Qualified personnel in the sense of these operating instructions consists of Persons who by...

Page 17: ...s are equipped with high voltage DC condensers Before removing the protective cover the discharging time must be awaited After switching off the supply voltage it may take up to 10 minutes to discharg...

Page 18: ...e device except for those described in the manual Make connections to the inputs outputs and interfaces only in the manner described in the manual Fix the devices according to the mounting instruction...

Page 19: ...nt on the device connections even if they are not wired Please respect the specifications of the manual especially the technical characteristics mains connection circuit breakers output data ambient c...

Page 20: ...3 A rated motor current MDR01 01 max 16 A rated motor current MDR01 02 max 30 A rated motor current A motor output filter is required for motor cables 50m Please contact us 80m per axis the cable mus...

Page 21: ...re that the contact area is adequate and that the connection has low resistance and low inductance Never mount the filter housing and the device on paint coated surfaces For CE and UL conform operatio...

Page 22: ...a temperature rating of at least 60 C Maximum Surrounding Air Temperature 45 C Suitable for use on a circuit capable of delivering not more than 5000 rms symmetrical amperes and 480 volts maximum ATT...

Page 23: ...alled conductors shall be at least 60 C Use copper lines only Please use the cables described in the accessories chapter see on page 354 see on page 355 they feature a temperature rating of at least 6...

Page 24: ...sive Multiwire C3H090V4 16 50mm2 25 50mm2 C3H1xxV4 25 95mm2 35 95mm2 The standard connection clamps of Compax3H090V4 and Compax3H1xxV4 are not suitable for flat line bars Temperature rating of field i...

Page 25: ...oduced The figure of the leakage current depends on the following factors Length and properties of the motor cable Switching frequency Operation with or without external mains filter Motor cable with...

Page 26: ...ion to the requirements of specific applications High performance control technology and openness for various sender systems are fundamental requirements for a fast and high quality automation of move...

Page 27: ...vice master file PAR_C320 GSD can be found on the Compax3 DVD Communication Simatic Compax3 Simatic S7 300 400 modules for Compax3 I20 and a corresponding help file can be found on the Compax3 CD in t...

Page 28: ...the booting sequence alternately flashing No configuration present SinCos feedback not detected Compax3 IEC61131 3 program not compatible with Compax3 Firmware no Compax3 IEC61131 3 program For F12 Ha...

Page 29: ...es quickly Phase failure mains power supply undervoltage on flashes slowly Address assignment CPU active flashes quickly Address assignment CPU completed flashes slowly PSUPxx Ready State on off Incor...

Page 30: ...X21 X22 X24 X23 S24 X12 X13 X11 X3 X2 X1 LED3 LED2 LED1 X1 AC Supply X20 HEDA in Option X2 Ballast DC power voltage X21 HEDA out Option X3 Motor Brake X22 Inputs Outputs Option M10 12 X4 24VDC Enable...

Page 31: ...dissipator can reach very high temperatures 70 C Line cross sections of the line connections X1 X2 X3 Compax3 device Cross section Minimum Maximum mm2 S025V2 S063V2 0 25 2 5 AWG 24 12 S100V2 S150V2 S0...

Page 32: ...res X23 5 SHIELD X1 4 L2 X1 2 L3 X1 3 PE X1 1 L1 X1 X1 1 L X1 2 N X1 3 PE X1 Compax3 1AC Power supply Compax3 3AC Power supply X10 2 X10 3 X10 4 X10 5 X10 6 X10 7 X10 8 X10 9 X10 1 RxD TxD res GND re...

Page 33: ...dware enable input X4 3 24VDC This input is used as safety interrupt for the power output stage Tolerance range 18 0V 33 6V 720 Safe torque off X4 3 0V For implementation of the safety torque off safe...

Page 34: ...Use the cable clamps shield connecting terminals furnished with the device The shield of the cable must also be connected with the motor housing The fixing via plug or screw in the terminal box depen...

Page 35: ...g X1 for 1 AC 230VAC 240VAC devices PIN Designation 1 L 2 N 3 PE Mains connection Compax3S0xxV2 1AC Controller type S025V2 S063V2 Supply voltage Single phase 230VAC 240VAC 80 253VAC 50 60Hz Input curr...

Page 36: ...10 min after switching off the power supply 3 3 5 2 Braking resistor high voltage DC C3S connector X2 The energy generated during braking operation is absorbed by the Compax3 storage capacity If this...

Page 37: ...Braking resistor 3 PE 4 DC high voltage supply 5 DC high voltage supply Braking operation Compax3S1xxV2 3AC Controller type S100V2 S150V2 Capacitance storable energy 780 F 21Ws 1170 F 31Ws Minimum br...

Page 38: ...least 2 minutes after switching off before you switch the device on again PIN Designation 1 L1 2 L2 3 L3 4 PE Mains connection Compax3SxxxV4 3AC Controller type S015V4 S038V4 S075V4 S150V4 S300V4 Sup...

Page 39: ...ge of 2 C3S 3AC devices 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...

Page 40: ...he device type with high utilization at the right of this the same device type with a lower utilization Max 15 Compax3M axis controllers per PSUP mains module are permitted please respect the total ca...

Page 41: ...the other against to the left and tighten screws Proceed accordingly for all adjacent axis controllers in the combination Max tightening torque 1 5Nm Close all protective covers The protective covers...

Page 42: ...3 X15 X13 X12 X11 S10 LED2 X9 X3 S1 LED1 S24 LED4 X24 X23 X14 1 P M P Mains module PSUP LED1 Status LEDs Mains module S1 Basic address X3 Configuration interface USB X9 Supply voltage 24VDC M Axis con...

Page 43: ...gh temperatures 70 C P Mains module PSUP X40 Ballast resistor X41 Mains supply VAC PE 1 Central ground connection for the axis system with 10mm2 to the ground screw on the housing 4 Fan M Axis control...

Page 44: ...charge time Caution Risk of Electric Shock Always switch devices off before wiring them Dangerous voltages are still present until 10 min after switching off the power supply Caution When the control...

Page 45: ...The user is responsible for protective covers and or additional safety measures in order to prevent damages to persons and electric accidents 3 5 4 Control voltage 24VDC PSUP mains module Connector X9...

Page 46: ...ssipation 60W 60W 60W Maximum fuse rating per device short circuit rating Measure for line and device protection MCB miniature circuit breaker K characteristic 25A in accordance with UL category DIVQ...

Page 47: ...ne are required Cable protection measure MCB K characteristic with a rating of 63A 4xxVAC depending on the input voltage Recommendation ABB S203U K63 440VAC Device protection measure Circuit breakers...

Page 48: ...92 120103 N13 C3I20T11 C3I32T11 December 2010 Dimensional drawing LCG 0055 0 45 mH UL Caution Risk of Electric Shock Always switch devices off before wiring them Dangerous voltages are still present u...

Page 49: ...r 1s 22 kW 40 kW 60 kW Maximum permissible continuous current 13 A 15 A 15 A Maximum capacity in the axis system PSUP10 2400 F PSUP20 PSUP30 5000 F Reference value for the required capacity in an axis...

Page 50: ...e lead designation BR Motor holding brake BK 5 Br2 BR Motor holding brake WH 4 Br1 PE PE motor YE GN YE GN YE GN W W motor W L3 D L 3 U3 V V motor V L2 2 U2 U U motor U L1 C L 1 U1 depending on the ca...

Page 51: ...63 1MHz di 5 1mm in order to ensure error free switching on and off of the motor holding brake 3 5 7 1 Measurement of the motor temperature of Compax3M axis controller Connector X15 The acquisition of...

Page 52: ...ompax3 3 5 4 1 2 1 Dummy cover with display of the external device status LEDs 2 lower clamp cover fixed by 2 screws at the device bottom 3 RS232 programming interface Connection to the PC via adapter...

Page 53: ...C3H1xxV4 external supply AC for device ventilator L N All shields must be connected via a cable joint to the cable feed through plate Braking resistor and cable must be shielded if they are not instal...

Page 54: ...4Nm 35lb in 4 5Nm 40lb in C3H090V4 6 8Nm 53 70lb in 6 8Nm 53 70lb in 6 8Nm 53 70lb in C3H1xxV4 15 20Nm 132 177lb in 0 7Nm 6 1lb in 42Nm 375lb in Cable joints Use metallic cable joints permitting a 360...

Page 55: ...us Option Connector type depends on the bus system X12 Inputs Outputs S24 Bus settings X13 Motor position feedback LED1 Device status LEDs LED2 HEDA LEDs LED3 Bus LEDs The internal device status LEDs...

Page 56: ...L2 L2 L3 L3 PE L1 L1 Compax3 3AC Power supply X10 2 X10 3 X10 4 X10 5 X10 6 X10 7 X10 8 X10 9 X10 1 RxD TxD res GND res TxD RxD 5V RS485 5V X10 RS485 vierdraht X10 2 X10 3 X10 4 X10 5 X10 6 X10 7 X10...

Page 57: ...he fixing via plug or screw in the terminal box depends on the motor type Attention Please wire the motor holding brake Connect the brake only on motors which have a holding brake Otherwise make no br...

Page 58: ...ction is not overloaded Therefore wait at least 1 minute before switching on the device again Connection of mains voltage figure see on page 53 Mains connection Compax3HxxxV4 3 400VAC Device type Comp...

Page 59: ...DBR Braking resistor DBR Braking resistor Braking operation of Compax3HxxxV4 Controller type H050V4 H090V4 H125V4 H155V4 Capacitance storable energy 400V 480V 2600 F 602 419 Ws 3150 F 729 507 Ws 5000...

Page 60: ...permitted to connect the power voltage in order to use one brake circuit for two servo axes as this function cannot be ensured reliably Note the following Caution In case of non compliance with the fo...

Page 61: ...5 PIN X10 RS232 Sub D 1 Enable RS232 0V 2 RxD 3 TxD 4 DTR 5 GND 6 DSR 7 RTS 8 CTS 9 5V RS485 2 wire PIN X10 RS485 2 wire Sub D Pin 1 and 9 externally jumpered 1 Enable RS485 5V 2 res 3 TxD_RxD 4 res 5...

Page 62: ...ains module via an USB cable SSK33 03 3 7 2 2 Communication in the axis combination connector X30 X31 The communication in the axis combination is implemented via a SSK28 cable and double RJ45 sleeves...

Page 63: ...e upon ON 1 16 2 32 3 64 Settings left OFF right ON Settable value range 0 16 32 48 64 80 96 112 Address of the 1st axis basic address 1 The addresses of the axis controllers are newly assigned after...

Page 64: ...1 Adjusting the bus address Profibus I20 Address setting Values 1 20 2 21 3 22 7 26 8 reserved Settings left OFF right ON The address is set to 0 in the illustration to the left Range of values 1 127...

Page 65: ...ion C3 xxx LED flashes green With the aid of the address switch it is possible to allocate a non ambiguous name to each Compax3 in a network without using a configuration tool Address setting Settings...

Page 66: ...at the same time as X15 on Compaxx3M Resolver cables see on page 371 can be found in the accessories chapter of the device description SinCos cables see on page 372 can be found in the accessories cha...

Page 67: ...el A Input simulation Clock 8 Input direction RS422 5V level B Input simulation 9 Ain0 analog input 14Bits max 10V 10 Ain1 analog input 14Bits max 10V 11 Ain0 analog input 14Bits max 10V 12 Input dire...

Page 68: ...utputs Pins 2 to 5 12 I5 Limit switch 1 13 I6 Limit switch 2 14 I7 Machine zero initiator 15 O GND24V All inputs and outputs have 24V level Maximum capacitive loading of the outputs 30nF max 2 Compax3...

Page 69: ...upply off and on again 3 8 3 2 Logic proximity switch types Type 1 2 3 4 Transistor switch PNP PNP NPN NPN Logic N O active high N C active low N O active low N C active high Description of logic Comp...

Page 70: ...Mounting and dimensions Compax3S 70 Mounting and dimensions PSUP C3M 74 Mounting and dimensions C3H 76 3 9 1 Mounting and dimensions Compax3S 3 9 1 1 Mounting and dimensions Compax3S0xxV2 Mounting 3 s...

Page 71: ...I32T11 December 2010 71 3 9 1 2 Mounting and dimensions Compax3S100V2 and S0xxV4 Mounting 3 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure sufficient...

Page 72: ...0T11 C3I32T11 December 2010 3 9 1 3 Mounting and dimensions Compax3S150V2 and S150V4 Mounting 4 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure suffici...

Page 73: ...unting and dimensions Compax3S300V4 Mounting 4 socket head screws M5 Stated in mm Please respect an appropriate mounting gap in order to ensure sufficient convection At the side 15mm At the top and be...

Page 74: ...mounting plate is not exhibited to other temperature influences than that of the devices mounted on this very plate The devices must be mounted vertically on a level surface Make sure that all devices...

Page 75: ...2 Mounting and dimensions PSUP20 PSUP30 C3M300D6 Information on PSUP20 PSUP30 C3M300D6 Mounting 4 socket head screws M5 100mm 360mm 263mm 96mm 400mm 90 50 5mm 50 5mm 101mm Tolerances DIN ISO 2768 f 3...

Page 76: ...H1xxV4 720mm 700mm 355mm 257mm 150mm Mounting 4 screws M6 During operation the device radiates heat power loss Please provide for a sufficient mounting distance below and above the device in order to...

Page 77: ...03 N13 C3I20T11 C3I32T11 December 2010 77 3 9 3 1 Mounting distances air currents Compax3H050V4 J I K M L in mm I J K L M C3H050V4 15 5 25 70 70 3 9 3 2 Mounting distances air currents Compax3H090V4 J...

Page 78: ...Compax3 device description C3I20T11 C3I32T11 78 192 120103 N13 C3I20T11 C3I32T11 December 2010 3 9 3 3 Mounting distances air currents Compax3H1xxV4 J I K M L in mm I J K L M C3H1xxV4 0 0 25 70 70...

Page 79: ...ve is not to be able to produce a torque and thus dangerous movements see EN 1037 paragraph 5 3 1 3 The standstill position must not be monitored If an external force effect e g a drop of hanging load...

Page 80: ...ISO 13849 1 Requirements performance feature Use of the safe torque off function Conventional solution Use of external switching elements Reduced switching overhead Simple wiring certified applicatio...

Page 81: ...tion I10T10 I11T11 I12T11 I11T30 I20T30 I21T30 I22T30 I30T30 I31T30 I32T30 I11T40 I20T40 I21T40 I22T40 I30T40 I31T40 I32T40 I20T11 I21T11 I22T11 I30T11 I31T11 I32T11 C10T11 C10T30 C10T40 C13T11 C13T30...

Page 82: ...by means of a digital input or with a fieldbus interface depending on the Compax3 device type deactivation of the energize input Channel 2 The power supply for optocouplers and drivers of power outpu...

Page 83: ...dback Channel 2 The deceleration time t_deceleration depends on the configuration of the Compax3 It must be configured so that oscillation free bringing to standstill is possible depending on the mech...

Page 84: ...p controlled by the Compax3 with maximum load and maximum speed If the setting range for the specified Emergency power off module is not sufficient the Emergency power off module must be replaced by a...

Page 85: ...32T11 December 2010 85 Note on error switch off If the safe torque off function of Compax3 is required or used for a machine or system the two errors Motor_Stalled Motor stalled and Tracking following...

Page 86: ...rake and a coasting down of the motor may result in hazards If this is the case the STO function in stop category 0 is not permitted Circuit layout overview 2 Compax3 devices the circuit example is al...

Page 87: ...ing features 1 normally open contact is required for switching off channel 1 as an alternative a safe semiconductor output is possible 1 off delayed normally open safety contact is required for switch...

Page 88: ...n to 0 by safety switching device output Q4 Activate safety switching device Before the Compax3 can be placed into operation the safety switching device must be activated by a pulse to Input S2 Prereq...

Page 89: ...atus all Compax3 devices without current is reported Only if the drives are all at a standstill the safety door may be opened and the hazardous area may be accessed If the safety door is opened during...

Page 90: ...x3S X3 Fieldbus X4 5 X4 4 X4 3 Energize Feedback Feedback Enable Controller Feedback Compax3S X3 Fieldbus GND24V A2 A1 S3 S2 EN S1 I4 I3 I2 I1 X1 X2 S2 Q3 Q4 24V S6 S6 motor motor Safety door closed S...

Page 91: ...egory 3 Switches and buttons 1 N C S4 S5 per device Guide Device to a currentless state S6 closed when the safety door is closed S2 Activate safety switching device Module UET410 MU3T5 modulates regul...

Page 92: ...ithout current is reported Only if the drives are all at a standstill the safety door may be opened and the hazardous area may be accessed If the safety door is opened during operation and the emergen...

Page 93: ...STO connector can be found on the front plate 2 optocouplers are controlled on two channels via the STO1 and STO2 terminals of this connector When requesting the STO via an external safety switching...

Page 94: ...ined maintenance intervals see protocol proposal 3 10 3 3 Conditions of utilization for the STO function with Compax3M The STO safety function must be tested and protocoled as described see on page 99...

Page 95: ...escription 192 120103 N13 C3I20T11 C3I32T11 December 2010 95 3 10 3 4 STO delay times Input Energize Speed t_deceleration Configurable in Drive t_delay_time Configurable in UE410 t_delay_STO 3ms Input...

Page 96: ...8 9 X14 4 X14 3 X14 2 Energize Compax3M X3 X14 1 X14 4 X14 3 X14 2 Energize Compax3M X3 X14 1 STO GND STO2 STO GND STO1 STO GND STO2 STO GND STO1 Recommendation Energize I0 X12 6 debounceable digital...

Page 97: ...tor will not brake and a coasting down of the motor may result in hazards If this is the case the STO function in stop category 0 is not permitted Depending on the interface Ixx or technology function...

Page 98: ...Outside this protected area the line guiding to the external switches must be separated channelwise or must be especially protected blinded It is also permitted to use one acknowledgement switch for b...

Page 99: ...oltage No error must be present 3 Configuring the device No error must be present 4 Testing active STO on terminal X14 1 and X14 3 Remove 24V DC on terminal X14 1 and X14 3 at the same time Error mess...

Page 100: ...Servo axis Name of the tester STO function test Test specification according to the Compax3 release STO function test steps 1 6 o successfully tested Acknowledgement safety switching device o successf...

Page 101: ...ignal inputs for connector X14 Nominal voltage of the inputs 24V Required isolation of the 24V control voltage Grounded protective extra low voltage PELV Protection of the STO control voltage 1A Numbe...

Page 102: ...ference system 109 Defining jerk ramps 133 Limit and monitoring settings 135 Encoder simulation 138 I O Assignment 139 Position mode in reset operation 140 Reg related positioning defining ignore zone...

Page 103: ...rmance may have a strong influence on the communication performance or even render normal use impossible Operation under virtual machines such as Vware Workstation 6 MS Virtual PC is not possible Onbo...

Page 104: ...f the supply voltage used Please select the mains voltage for the operation of Compax3 This influences the choice of motors available 4 1 3 Motor selection The selection of motors can be broken down i...

Page 105: ...lso be reduced The possible settings or limits result from the respective motor characteristics Caution Wrong reference values too high can cause the motor to switch off during operation because of to...

Page 106: ...VAC Switching frequency S015V4 S038V4 S075V4 S150V4 S300V4 8kHz Inom 15Arms 30Arms Ipeak 5s 30Arms 60Arms 16kHz Inom 1 5Arms 3 8Arms 7 5Arms 10 0Arms 26Arms Ipeak 5s 4 5Arms 9 0Arms 15 0Arms 20 0Arms...

Page 107: ...48Arms Ipeak 5s 24Arms 60Arms 60Arms 72Arms The values marked with grey are the pre set values standard values corresponds to the frequency of the motor current Resulting nominal and peak currents de...

Page 108: ...rom the servo drive can no longer be dissipated in the braking resistor 4 1 6 General drive External moment of inertia load The external moment of inertia is required for adjusting the servo controlle...

Page 109: ...on values Speed acceleration and jerk are specified in this case in revolutions s revolutions s2 and revolutions s3 resp pitch s pitch s2 pitch s3 for linear motors The measure reference to the motor...

Page 110: ...mm this number cannot be expressed exactly Instead of this number you have the option of entering it exactly as a numerator and denominator Travel distance per motor revolution 480 7 mm For travel di...

Page 111: ...ifiable as numerator and denominator see on page 109 the position values in Compax3 are reset to 0 Conveyor belt from the Conveyor belt example with reset path 7 4 10mm 300 mm M 7 4 A reset path of 30...

Page 112: ...modes are adapted to the CANopen profile for Motion Control CiADS402 Essentially you can select between operation with or without machine reference The reference point for positioning is determined by...

Page 113: ...MN point after MN run Example Homing MN mode 20 Home on homing MN switch with T40 by homing offset 0 With positioning after homing run The motor stands then on 0 Without positioning after homing run...

Page 114: ...without machine zero run Operation with MultiTurn emulation You can simulate the function of a Multiturn over the entire travel distance by the aid of a Multiturn emulation A resolver or a SinCos EnDa...

Page 115: ...24 Only motor reference MN M 33 34 see on page 125 MN M 130 131 see on page 126 With limit switch as machine zero MN M 1 2 see on page 126 MN M 132 133 see on page 127 Definition of terms explanations...

Page 116: ...end switch on the positive end of the travel range without inversion of the initiator logic 8 Signal of the direction reversal resp end switch on the negative end of the travel range without inversion...

Page 117: ...y 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...

Page 118: ...eversal switches see on page 132 can be changed Function Reversal via Stromschwelle If no direction reversal switches are available the reversal of direction can also be performed during the machine z...

Page 119: ...on reversal switches 23 24 25 26 24 26 23 26 25 25 23 24 1 2 1 Logic state of the home switch 2 Logic state of the direction reversal switch MN M 27 30 Direction reversal switches on the negative side...

Page 120: ...l 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 W...

Page 121: ...e changed Function Reversal via Stromschwelle If no direction reversal switches are available the reversal of direction can also be performed during the machine zero run via the function direction rev...

Page 122: ...t 2 Logic state of the home switch 3 Logic state of the direction reversal switch MN M 11 14 With direction reversal switches on the negative side Machine zero modes with a home switch which is activa...

Page 123: ...wing error is deactivated The machine zero offset must be set so that the zero point reference point for positioning lies within the travel range MN M 128 Travel in the positive direction to the end o...

Page 124: ...of movement 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...

Page 125: ...only from motor reference MN M 33 34 MN at motor zero point The motor reference point is now evaluated no MN initiator MN M 33 For a MN run starting from the current position the next motor zero poin...

Page 126: ...n reversal via Stromschwelle The drive drives against the mechanical end stop When the adjustable Stromschwelle is reached the drive is decelerated and changes the direction of movement Caution Wrong...

Page 127: ...position via distance coding with direction reversal switches Only for motor feedback with distance coding the absolute position can be determined via the distance value Compax3 determines the absolu...

Page 128: ...ion to this problem is to move the MN initiator by means of software This is done using the value initiator adjustment Initiator adjustment Unit Motor angle in degrees Range 180 180 Standard value 0 M...

Page 129: ...imits The travel range is defined via the negative and positive end limits 0 1 2 1 negative end limit 2 positive end limit Software end limit in absolute operating mode The positioning is restricted t...

Page 130: ...ative software end limit Activating deactivating the end limit error In the C3 ServoManager under configuration End limits the error can be de activated For IEC programmable devices with the C3_ErrorM...

Page 131: ...he error reaction when reaching the hardware end limits can be set Possible settings for the error reaction are No response Downramp stop Downramp stromlos schalten standard settings Hardware end limi...

Page 132: ...as well checkbox below 4 1 7 4 Change assignment direction reversal limit switches If this function is not activated the direction reversal end switches are assigned as follows Direction reversal limi...

Page 133: ...accepted as deceleration 4 1 8 4 Jerk limit for positioning Standard jerk for all positionings and motion functions The value can be changed during operation via the bus or via the motion sets In the...

Page 134: ...lack points You can reduce these problems to a minimum by specifying the maximum jerk Jerk Unit Unit s3 Range 0 10 000 000 Standard value 1 000 000 STOP delay After a STOP signal the drive applies the...

Page 135: ...l Jog 1 ON CW 8 1 or I2 X12 8 Jog 2 ON CW 9 1 or I3 X12 9 4 1 8 6 Jerk for STOP MANUAL and error The jerk set here applies for the STOP ramp Manual motion The ramp for the machine reference run Descri...

Page 136: ...on reached 1 Position reached is immediately reset to 0 Position monitoring is active even if the position leaves the position window because of measures taken externally 3 1 Position Window 2 In Posi...

Page 137: ...lowing errors lead to problems due to the dynamic position differences and a large following error can lead to positioning overshoot If the following error exceeds the specified following error limit...

Page 138: ...Output Resolution Unit Increments per revolution pitch Range 4 16384 Standard value 1024 Any resolution can be set Limit frequency 620kHz track A or B i e with Increments per revolution max Velocity 1...

Page 139: ...are available if Fixed assignment was selected for the I O assignment in the configuration wizard 3 O1 Position speed gear synchronization attained max 100 mA 4 O2 Power stage without current max 100...

Page 140: ...ead about Examples in the help file 141 In reset operation activated by the configured reset distance additional positioning functions are possible for absolute positionings can be set under configura...

Page 141: ...position values This reg window is valid for all reg position sets Allow higher deceleration for RegMove If the deceleration set in the RegMove motion set is too high the target position is not reach...

Page 142: ...g Gearing see on page 148 electronic gearbox RegSearch see on page 144 Registration mark related positioning uses 2 motion sets RegSearch and RegMove Velocity see on page 149 Velocity control Stop Sto...

Page 143: ...4 1 15 1 MoveAbs and MoveRel A motion set defines a complete motion with all settable parameters t t t t 1 2 3 5 4 1 Target position 2 Travel speed 3 Maximum Acceleration 4 Maximum deceleration 5 Maxi...

Page 144: ...nfigured offset Accuracy of the reg detection 1 s The reg restriction window is the same for all reg motion sets Example 1 Reg comes after the reg restriction window v t Reg RegSearch RegMove Regf Sta...

Page 145: ...gnore zone StopIgnore Reg ignore window End of the ignore zone Reg Reg signal I4 on X12 10 Regf Signal Reg detected Status word 1 Bit 15 POS Signal Position reached Output O1 X12 3 or status word 1 Bi...

Page 146: ...position from the RegSearch motion set Example 4 Reg comes before the reg restriction window v t Reg RegSearch StartIgnore StopIgnore Start 1 2 active RegMove active Regf POS Start Start signal for r...

Page 147: ...nore window see on page 141 Beginning of the ignore zone StopIgnore Reg ignore window End of the ignore zone Reg Reg signal I4 on X12 10 Regf Signal Reg detected Status word 1 Bit 15 POS Signal Positi...

Page 148: ...6 7 8 12 the encoder input X11 6 7 8 12 or HEDA if Compax3 is used as master drive The master signal detection is configured under synchronization Settings of the Gearing motion function Transmission...

Page 149: ...is reached speed reached Output O1 X12 3 or status word 1 Bit 10 as well as the defined status bits PSBs are activated Position control is active i e the following error caused by limitations will be...

Page 150: ...Mechanical limit values Observe the limit values of the mechanical components Ignoring the limit values can lead to destruction of the mechanical components 4 1 18 Dynamic positioning You can change o...

Page 151: ...for the motion function Gearing electronic gearbox Available are Gearing input signal source The HEDA real time bus M10 or M11 option directly from a Compax3 master axis an encoder signal A B 5V a ste...

Page 152: ...equired the direction of rotation of the master axis read in can be changed 4 2 2 2 Encoder A B 5V step direction or SSI feedback as signal source The encoder simulation is not possible at the same ti...

Page 153: ...numerator 40 Travel path per revolution of the master axis denominator 1 Increments per revolution of the master axis 1024 Reference system of Slave axis Unit of measure mm Travel path per revolution...

Page 154: ...10V analog speed setpoint value as signal source Via Analogkanal 0 X11 9 und X11 11 the speed of the master is read in From this value a position is internally derived from which then the motion of t...

Page 155: ...lowing filter interpolation can help to avoid steps caused by discrete signals If the external signal is analog there is no need to enter a value here Value 0 For discrete signals e g from a PLC the s...

Page 156: ...control movements An increase of the dynamic precision faster transient response can in general not be reached with the load control structure variant Notes on the SSI sensor With Multiturn Number of...

Page 157: ...ruplication Position difference which corresponds to a cycle duration of the feedback signal Direction reversal Attention With wrong sense of direction and active load control you will get a positive...

Page 158: ...high The unfiltered position difference between motor feedback and load feedback has exceeded the maximum difference to motor position value O410 6 The load position in the position controller is deac...

Page 159: ...ationMax Maximum position difference load motor C4_3 no 681 20 C3 StatusSpeed_LoadControl Speed of the load feedback unfiltered C4_3 no 681 21 C3 StatusSpeed_LoadControlFiltered Speed of the load feed...

Page 160: ...ding brake on and off 284 Select the entry Optimization in the tree Open the optimization window by clicking on the Optimization Tool button 4 4 1 Optimization window Layout and functions of the optim...

Page 161: ...ose the ServoManager after the activation of the measurement and disconnect the PC from Compax3 and upload the measurement into the ServoManager later 4 4 2 1 Monitor information 1 Display of the trig...

Page 162: ...nt values of the active channel as well as the Y difference to marker 2 are displayed Set Marker 2 Delete and hide marker Move offset of the active channel The yellow symbol indicates that the scrolli...

Page 163: ...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 interrupte...

Page 164: ...25ms 80 800 5s 1s 11 12 50s 80 800 10s 2s 12 25 00ms 80 800 20s 5s 13 62 50ms 80 800 50s 10s 14 125 00ms 80 800 100s For the operating ROLL the following XDIV time settings are possible XDIV Mode Sca...

Page 165: ...us value window right at the bottom into this area Multiple oscilloscope in Compax3M select device in addition to the object 4 Set Channel offset to 0 5 Select channel display GND DC AC DIG DC Display...

Page 166: ...n INI file and is presented in the appendix Open OSCI settings from file Loading a memorized set of settings The file ending is OSC Memorizing OSCI settings in the project Up to four sets of OSCI sett...

Page 167: ...IT 2 value 4 I2 etc Trigger to input I0 I1 I2 I3 I4 I5 I6 I7 Trigger mask in hex 1 2 4 8 10 20 40 80 The masks can also be combined so that the trigger is only active if several inputs are active Exam...

Page 168: ...Setting up Compax3 C3I20T11 C3I32T11 168 192 120103 N13 C3I20T11 C3I32T11 December 2010 Example Only b0 and b1 are to be displayed Set display mask to 03...

Page 169: ...enerated by the internal Compax3 setpoint generator The setpoint position as well as the other status values of the feedforward control are made available to the position controller in order to keep t...

Page 170: ...will describe in the first step the individual correlations and physical values that are required for the configuration and the prespecification of the control loops In the following the manual will t...

Page 171: ...ters 180 Asynchronous motors 184 Control path For the motors the knowledge of the mathematical model is a prerequisite Mathematically idealized model of the control path T L R R 1 T K n UEMK U I ML MA...

Page 172: ...MotorManager Electromotoric countercheck EMC A non energized synchronous motor induces an induction voltage the so called EMC voltage during an armature movement The EMC constant motor EMC states the...

Page 173: ...ty SMH 60 30 1 4 2ID 4 3000rpm at 400VAC 0 500 1000 1500 2000 2500 3000 0 0 5 1 1 5 2 2 5 3 3 5 S1 65 C DT S3 50 65 C DT S3 20 65 C DT S1 105 C DT Nm 1 min 1 2 2 Motorkennlinie emf jpg 1 Nominal point...

Page 174: ...ack systems In this chapter you can read about Interface 174 Resolution 175 Noise 175 The controller quality depends to a great extent on the signal quality of the position feedback and its signal acq...

Page 175: ...still of two different feedbacks is displayed Resolver 1 period revolution SinCos 1024periods revolution Typical problems of a non optimized control In this chapter you can read about Too high oversho...

Page 176: ...ion Without compensation With compensation top Actual current value bottom Actual speed value Scale Current 50mA Div Speed 0 2mm s Div Time 3 8ms Div Type of motor Parker LMDT 1200 1 ironless linear m...

Page 177: ...an be made You will be guided through the individual wizard pages and the MotorManager will issue a prompt to define the positive direction of the drive The wizard pages supporting the user depend on...

Page 178: ...n the velocity and is acquired online from the linearization of the motor characteristic line Linearized motor characteristic lien for different operating points Nominal point 0 500 1000 1500 2000 250...

Page 179: ...rbidden range For monitoring the continuous usage the linearized characteristic line between I0 and I1 n1 is used as a threshold Motor pulse usage This monitoring watches over the duration of the defi...

Page 180: ...error message 0x5F48 The period of time until the error occurs depends on the thermal time constant of the motor defined in the motor parameters The electronic temperature monitoring simulates approx...

Page 181: ...current control noise Furthermore thermal losses caused by current ripple are reduced at higher switching frequencies Following Error Position Error Too high following error position error during a m...

Page 182: ...the first configuration page Other motor When using a motor from a different manufacturer you will have to enter the relevant data This process is supported by the MotorManager software tool which ca...

Page 183: ...r reference point wizard A reference point differing from the nominal data may also be entered on the wizard page displayed above Please activate activate changing the reference point then you may ent...

Page 184: ...cification plate data 184 Replacement switching diagram data for a phase 184 Slip Frequency 185 Saturation behavior 186 Cut off frequency for the field weakening range 186 Rotor time constant 187 Dete...

Page 185: ...0Hz mains frequency L2 Rotor leak inductance R2 Referenced carriage resistance ImR Magnetization Current Slip Frequency The slip frequency is stated in Hz electrical or in and can be determined as fol...

Page 186: ...Beginning of Saturation Send End of Saturation Cut off frequency for the field weakening range The statement of the cut off speed defines the beginning of the field weakening operation From the cut of...

Page 187: ...ically Asynchronous motors Extension of the controller structure Structure of the magnetization current controller and determination of the slip frequency Kp TN 2 3 j e Kp TN Kp TN TR imR iq id n imR...

Page 188: ...Process Z X W X Regler Control Parameter The basic task of a control is the generation and maintaining of a desired state or sequence in spite of interfering disturbances It is essential that the eff...

Page 189: ...e attenuation and the transient time velocity Step response of a stable controller and of a controller approaching the stability limit Rugged Well attenuated Rugged Poorly attenuated Stability limit n...

Page 190: ...e constant for filters of a P TE component At this point in time the value of the step response is approx 63 of the final value In practice the step response corresponds for instance to the voltage ch...

Page 191: ...The velocity of a dynamic system can also be described in the frequency range In the frequency range the system behavior is analyzed to sinusoidal inputs signals of different frequencies frequency res...

Page 192: ...of the P TE component value and phase The cut off frequency Hz T f E 0795 0 2 1 0 is the frequency where the input signal is attenuated by 3dB 3dB attenuation The phase shift between the output and th...

Page 193: ...that the disturbance variable Z 0 The disturbance behavior describes the behavior of the control loop for disturbance variable Z In this case we assume in analogy to the setpoint behavior that the set...

Page 194: ...control variable reaches one of the 5 tolerance limits for the first time TS Settling time Time elapsing until the control variable ultimately enters the 5 range Vm maximum overshoot width 1 Tolerance...

Page 195: ...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 You should therefore make sure th...

Page 196: ...ness we distinguish static and dynamic stiffness Static stiffness The static stiffness of a direct drive is comparable with the spring rate D of a mechanical spring and indicates the excursion of the...

Page 197: ...ce torque at the velocity controller output Electronic simulation of a disturbance torque jerk with the disturbance current jerk Current Controller Stromregelung Motor Speed Controller Drehzahlregelun...

Page 198: ...ion loop 199 The controller design takes place after the configuration immediately before the configuration download into the device The controller coefficients are preassigned according to the design...

Page 199: ...lue stiffness 100 4 Actual value stiffness 50 5 Actual value attenuation 500 6 Actual value attenuation 100 7 Actual value attenuation 50 D term The D term parameter of the velocity loop activates exi...

Page 200: ...ed velocity loop St Rigidity Velocity Loop P Term 20 14 0 30 100 100 100 Dp f K EMK Tm K St K Dp EMK T Tm T St K LIN PV PV PV N EGD PV TEGD The replacement time constant of the closed velocity loop TN...

Page 201: ...dow 222 Proceeding during controller optimization 224 For the setup and optimization of the control loops the optimization window is available The Compax3 control functionality is divided into 2 secti...

Page 202: ...ion filtered Manual or external demant Velocity Manual or external demant current Demand velocity actual velocity Velocity controller Stiffness Damping Inertia Current Controller Bandwidth Attenuation...

Page 203: ...rtical stroke Standard optimization parameters The above figure shows the parameters for the standard group With the aid of these parameters you can optimize the standard cascade structure Control sig...

Page 204: ...he device peak current the pulse current of the motor and the set value in the configuration in of the nominal current The smaller of the three values is used for the current limitation Example Device...

Page 205: ...current The Compax3 servo drive disposes of four feedforward measures see in the standard cascade structure Velocity Feed Forward Acceleration feed forward Current feed forward Jerk feed forward The a...

Page 206: ...11 C3I32T11 December 2010 Motion cycle without feedforward control Motion cycle with feedforward measures Velocity feedforward Velocity and acceleration feedforward Velocity acceleration and current f...

Page 207: ...2100 20 O2210 17 s 3 1333 s for 4000 s O2210 17 10 000 s O2210 20 0 for O2210 17 4000 s O2210 17 Object replacement time constant of the velocity loop in s O2100 20 Object control signal filter veloci...

Page 208: ...Velocity Manual or external demant current Demand velocity actual velocity Velocity controller Stiffness Damping Inertia Current Controller Bandwidth Attenuation Actual current r m s torque producing...

Page 209: ...688 11 688 13 2010 5 2010 4 2100 2 2100 10 2100 20 2100 10 2100 3 2100 4 2100 8 2150 1 6 2100 9 2010 1 2100 20 NotchFilter 2220 4 2220 1 2220 3 2210 19 2210 14 2220 2 2210 1 2210 2 T T 2100 11 2100 2...

Page 210: ...00 2 may cause the control to be deactivated Protect dangerous areas External command value During external setpoint specification please respect the structure images for electronic cams or gearboxes...

Page 211: ...nsates the electromagnetically generated back e m f of the motor UEMC This signal is proportional to velocity and is deduced from the setpoint velocity of the setpoint generator Motor parameters Furth...

Page 212: ...al is inversely proportional to the sampling time TAR Hence the demands for the lowest possible sampling time and the minimum quantization noise oppose each other in the determination of speed by nume...

Page 213: ...ment is connected for interference compensation to correct external disturbance forces in the observer Therefore the speed and the acceleration observed are statically precise The same applies to the...

Page 214: ...here is inevitably the possibility of a positive feedback between position and velocity loop running away of the motor or of bad motor efficiency reduced force constant Digital hall sensors are the mo...

Page 215: ...DC voltage for instance the motor develops a sinusoidal torque depending on the rotor position which can be used for example by evaluating the resulting movement in order to determine the correct mot...

Page 216: ...direction of the field of rotation must be identical automatic commutation performed in the MotorManager Course of the automatic commutation function If automatic commutation with movement is selected...

Page 217: ...where the angular error is either 180 or 0 Current rise in the second phase O2190 1 Rising time of latching current 1 Maximum current from controller or motor 2 Monitoring on 5 electrical movement 3...

Page 218: ...must be awaited output of the MC_Power block must deliver True The automatic commutation is only started if the drive is at standstill After the occurring and acknowledgement of a feedback error or a...

Page 219: ...ization by 3 objects In this chapter you can read about Frequency filter 1 O2150 1 frequency filter 2 O2150 4 219 Bandwidth filter 1 O2150 2 bandwidth filter 2 O2150 5 220 Depth filter 1 O2150 3 depth...

Page 220: ...B and zero for no attenuation 6 x or 3 x 10 1 2150 20 dB D x O D dB The desired attenuation at the center frequency in dB Saturation behavior In this chapter you can read about Current jerk response 2...

Page 221: ...and the drive moves too far This procedure is repeated in the opposite direction and a control oscillation occurs so called limit cycle In order to eliminate this control oscillation the following con...

Page 222: ...about Load identification 222 Setpoint generation 222 Commissioning window With the aid of the setup window the drive can be set up in a simple way Load identification If you do not know the mass mom...

Page 223: ...the motor FL Load force of a linear motor Jtotal entire mass moment of inertia mtotal Total mass of a linear motor a possible acceleration The generation of the setpoint profile is jerk controlled and...

Page 224: ...e aid of the enter setup test movement parameters or by selecting the parameter tab Via the setup settings menu you access the settings for the desired test movement The desired motion profile can be...

Page 225: ...ctuator used Energize see chapter stability attenuation Smooth stable behavior no yes yes Optimizing the stiffness 1 Standstill Increase stiffness until drive hums then reduce by 20 2 Move slowly over...

Page 226: ...26 192 120103 N13 C3I20T11 C3I32T11 December 2010 Controller optimization disturbance and setpoint behavior standard In this chapter you can read about Controller optimization standard 227 Controller...

Page 227: ...event of loud noise yes no Main diagram Controller optimization standard Please note that a stronger filtering may destabilize the control loop Please try to find a compromise between the signal quali...

Page 228: ...eed controller caused by the disturbed D component Please note The filtering delays the signal and may destabilize the control loop Smooth stable behavior The following measures can be helpful Further...

Page 229: ...mber 2010 229 Controller optimization disturbance and setpoint behavior advanced In this chapter you can read about Controller optimization Advanced 230 Flow chart controller optimization of a direct...

Page 230: ...with the aid of Decrease stiffness Obj 2100 2 or also reduce observer time constant Obj 2120 1 or also reduce control signal filter Obj 2120 1 or also modify attenuation Obj 2100 3 Vary filter of obs...

Page 231: ...ze of the jerk and define jerk Respect the setpoint speed and the actual speed Smooth stable behavior 1 Observer time constant Obj 2120 1 and Vary filter of observed disturbance Obj 2120 5 increase st...

Page 232: ...rent r m s torque producing Obj 688 18 4 Following error Obj 680 6 Control result OK Following error Current threshold Reduce acceleration deceleration or increase current threshold Optimization with...

Page 233: ...EtherCat Inter polator 3921 1 3921 7 x Virtual Master 680 12 TRF SG1 2110 1 RS D E 3925 1 Structure of Gearing 2000 2 5 8 1141 7 x 1141 8 v 1141 4 2 v a 3 x v a 3 x v a 3 x v a if v a exist x a v tru...

Page 234: ...G1 2110 1 RS D E 3925 1 Structure of Cam 2000 2 3021 2 3021 1 0 2 1 5 680 25 SSI B 685 3 B Structure image of the signal processing D E Structure of Cam Control structure see on page 202 see on page 2...

Page 235: ...l inputs and the physical inputs are logically or linked This necessitates very careful action as the required function is above all with low active signals no longer available The pre setting of an a...

Page 236: ...t side 3 Row If the button deactivating physical inputs is pressed all physical digital inputs are deactivated only the input simulation is active If both sources physical and simulated inputs are act...

Page 237: ...ways are nevertheless possible e g Profibus PKW channel Caution The safety functions are not always guaranteed during the setup mode This will for instance lead to the fact that the axis may trundle...

Page 238: ...11 devices both jerk values are identical read Set up working with the commissioning window With the accept entry button The current project gets a motion set Download by activating the motion When op...

Page 239: ...caused by friction 4 4 7 2 Boundary conditions If the control is instable before the beginning of the measurement please reduce the stiffness in the optimization window at the left bottom The followi...

Page 240: ...the excitation signal in of the motor reference current Only an amplitude value causing a distinct disturbance can give a usable result permissible following error In order to avoid a following error...

Page 241: ...tion Increase amplitude of the excitation signal increase maximum speed and adapt travel range 6 Speed too low and amplitude of the excitation signal too small with continuous operation Increase ampli...

Page 242: ...ion 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 of...

Page 243: ...10 243 4 4 8 3 Signal processing of the analog inputs 171 3 171 2 171 4 X11 10 X11 2 Actual value monitoring Analog 1 685 4 685 3 170 3 170 2 170 4 X11 9 X11 11 Actual value monitoring Analog 0 B Prec...

Page 244: ...nse measurement 276 Examples are available as a movie in the help file 281 4 4 9 1 ServoSignalAnalyzer function range The function range of the ServoSignalAnalyzer is divided into 2 units Analysis in...

Page 245: ...Signal y t Signal Generator Controller and Signal Processing Steuerung Signalverarbeitung Display of the measurement Anzeige der Messung Superimposed berlagertes System open closed Loop C3 Software Os...

Page 246: ...rmware is too old update with the aid of the firmware from the CD Activation In order to being able to use the analysis functions in the frequency range for example frequency response measurement a so...

Page 247: ...file was found 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...

Page 248: ...1 248 192 120103 N13 C3I20T11 C3I32T11 December 2010 4 4 9 4 Analyses in the time range Selection and parameterization of the desired analysis function Exemplary step function step Value Step Size The...

Page 249: ...orque force step response For analysis of the disturbance value behavior of the control The step of an external disturbance force is simulated and the reaction of the controller is registered Shaker f...

Page 250: ...an error When measuring the velocity setpoint jerk the maximum permitted velocity is set to twice the step height Setting and automatic start of the oscilloscope After pressing accept entries the par...

Page 251: ...nalysis System S2 Signal u t Controller Signal Pocessing Steuerung Signal Verarbeitung Amplitude spectrum Amplitudenspektrum V f C3 Software Oscilloscope Upload System S1 During the spectral analysis...

Page 252: ...r transformation Complete oscillation period in the scanning period Envelope without leak effect Non complete oscillation period in the scanning period Envelope with leak effect Sine at 200Hz without...

Page 253: ...played even though these frequencies are not contained in the real signal The height of the peak of the sine frequency is reduced it seems as if the signal energy is leaking out and distributing over...

Page 254: ...on In addition natural mechanical frequencies may cause an increased excitation of individual components The measurement of the frequency response can only be made in the setup mode with energized con...

Page 255: ...sed controls are switched of open Loop or attenuated The excitation signal is injected in front of the system to be measured with the aid of the signal generator Wait until the system settled Executio...

Page 256: ...reasons of safety or feasibility Caution Many systems are not stable without control Position as well as speed control are switched off during measurement no measurement on z axes If you want to anal...

Page 257: ...tance low influence of disturbances on the measurement For this an excitation signal is injected in front of the system to be measured The power amplitude of the excitation signal can be set Start wit...

Page 258: ...high non linearity in the signal range Due to the non linear transmission behavior of the system many new frequencies were generated in the output signal In the frequency response only one change of...

Page 259: ...measurement show the dynamic behavior at the working point Example rubbing caused by friction In systems subject to a distinct transition between rubbing caused by friction and sliding friction the r...

Page 260: ...if the tooth edges will turn from one side to the other during measurement The reason for this is a change of the sign of the force transmitted by the gearbox In order to avoid this you can try to tr...

Page 261: ...Other settings see on page 269 4 Operating and status field see on page 271 5 Display of the measurement result see on page 274 6 Display of the measurement point at the cursor position see on page 2...

Page 262: ...ntroller Geschwindigkeitsregler actual velocity Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f disturbance torque St r...

Page 263: ...rent to position Shows the dynamic behavior between current actual value and position actual value current controlled system position controlled system actual current actual velocity actual position a...

Page 264: ...system Lageregelstrecke Frequency response measurement Frequenzgangmessung Application For the design of superposed controllers or systems For the verification of the obtained controller speed during...

Page 265: ...r f disturbance torque Kt 2 Pi J 1 velocity controlled system Signal generator Signal Generator Position controller Lageregler actual position Lageistwert desired position Lagesollwert Velocity contro...

Page 266: ...losed velocity control Shows the dynamic behavior of the closed velocity control How a signal on the velocity demand value is transmitted to the velocity actual value current controlled system positio...

Page 267: ...locity Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f disturbance torque St rmoment velocity controlled system Geschwi...

Page 268: ...t Stromistwert current controlled system Stromregelstrecke f disturbance torque St rmoment velocity controlled system Geschwindigkeitsregelstrecke position controlled system Lageregelstrecke Frequency...

Page 269: ...r frequency responses are measured the following types of analyses are available For frequency spectra a Spectrum b Spectrum cumulated c cascade diagram For frequency responses d noise frequency respo...

Page 270: ...Setting up Compax3 C3I20T11 C3I32T11 270 192 120103 N13 C3I20T11 C3I32T11 December 2010 Comparison of two frequency spectra without and with cumulation...

Page 271: ...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...

Page 272: ...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 o...

Page 273: ...ast measurements are kept This is important for the display of the cumulated measurement and for the cascade diagram The larger the memory the older the results still used When the contents is deleted...

Page 274: ...Setting up Compax3 C3I20T11 C3I32T11 274 192 120103 N13 C3I20T11 C3I32T11 December 2010 Display of the measurement result Frequency spectra Bode diagrams Value and phase...

Page 275: ...autoscale mode and fixscale mode AutoScaleMode In this mode the scaling of the color scale is adapted automatically so that all values can be displayed FixScaleMode Here the scaling is fixed If for i...

Page 276: ...onment i e the complex reality are called a system Example electric motor This consists of a multitude of different components but the function and the behavior of a motor can be described as a whole...

Page 277: ...ot the case in the event of influence due to limitations friction and backlash those are called non linear systems which can not be analyzed with the methods described here or only with difficulties O...

Page 278: ...onse shows the amplification value and the phase shift phase which a signal is submitted to when passing through a system The displayed bode diagram allows the following conclusions If a sine with 60H...

Page 279: ...al to the motor force and thus also to the acceleration of the driven mass As the velocity is calculated from the integrated acceleration the measured system looks as follows f disturbance torque Kt 2...

Page 280: ...the resonance frequencies in the rotary system with a hollow shaft as elastic coupling element 2 1 Re 1 1 2 1 J J D f s 2 Re 2 1 J D f s A l r r G dr r l G D I A r r A I 2 2 4 4 3 G Shear modulus of...

Page 281: ...spez l l l D D D D l D D l D D l l l F D 1 1 2 1 2 1 1 2 max 2 2 2 1 2 004 0 2 1 2 2 Re Re 1 2 1 2 2 1 Getriebe Zahnrad s s A i J r m D f m D f D Total spring constant of the toothed belt drive Dspez...

Page 282: ...maximum values 283 You will find the ProfilViewer in the Compax3 ServoManager under the Tools Menu 4 4 10 1 Mode 1 Time and maximum values are deduced from Compax3 input values The motion profile is...

Page 283: ...eleration Deceleration Acceleration Jerk and Deceleration Jerk Times for the acceleration deceleration and constant phase Maximum values for acceleration deceleration and speed Set deceleration and ac...

Page 284: ...ponse time This is adjustable The power output stage current is de energized by Error or the control word the ServoManager Thereafter the motor is braked to zero rotation speed on the set ramp When ze...

Page 285: ...ith the Compax3 ServoManager If you perform the mapping directly via the master you must go through this fieldbus wizard once the Compax3 ServoManager will perform the necessary initializations 5 1 Co...

Page 286: ...Communication C3I20T11 C3I32T11 286 192 120103 N13 C3I20T11 C3I32T11 December 2010 5 1 1 PC Compax3 RS232 PC Compax3 RS232 Connections to a device...

Page 287: ...Parker EME Communication 192 120103 N13 C3I20T11 C3I32T11 December 2010 287...

Page 288: ...Communication C3I20T11 C3I32T11 288 192 120103 N13 C3I20T11 C3I32T11 December 2010 5 1 2 PC Compax3 RS485 PC Compax3 RS485...

Page 289: ...Parker EME Communication 192 120103 N13 C3I20T11 C3I32T11 December 2010 289 5 1 3 PC C3M device combination USB PC C3M device combination...

Page 290: ...USB port of your computer and complements your workstation with a DB9 RS 422 485 serial interface For simple installation and configuration Windows drivers are already integrated The UPort 1130 can be...

Page 291: ...Parker EME Communication 192 120103 N13 C3I20T11 C3I32T11 December 2010 291 5 1 5 ETHERNET RS485 NetCOM 113 adapter Manufacturer link http www vscom de 666 htm http www vscom de 666 htm...

Page 292: ...e 810 2 Baud rate 115200 810 3 NodeAddress 1 254 810 4 Multicast Address Connection plan NetCom113 C3S Connection plan NetCom113 C3M X31 5 1 6 Modem MB Connectline MDH 500 MDH 504 With the modems MDH5...

Page 293: ...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 two...

Page 294: ...010 5 1 8 C3 settings for RS485 four wire operation C3 ServoManager RS485 wizard settings download with configuration in RS232 mode Communication settings C3S C3M Object Function Value 810 1 Protocol...

Page 295: ...0 RS232 SSK1 see on page 394 RS485 as SSK27 see on page 395 RS485 is activated by 5V on X10 1 USB SSK33 03 only for Compax3M 5 2 1 RS485 settings values If Master Pop is selected only the settings com...

Page 296: ...ormat followed by a CR without preceding command repetition and following statement of unit The length of these answer strings differs depending on the value Commands requesting an Info string e g sof...

Page 297: ...ave different meanings for the request and response telegrams The address is only necessary for RS484 Compax3 the address bit Bit 0 1 shows if the start code is followed by an address only for RS485 f...

Page 298: ...ndex1 Lo Subindex1 Index2 Hi Index2 L o Subindex2 0x 0x Reading one or several objects Answer Rsp telegram SZ L D0 Dx 1 Dx Dy 1 Dy D D D D Dn Crc Hi Crc Lo 0x05 n Value1 Value 2 Value 3 Value Value n...

Page 299: ...xcffc 0xbf1b 0xaf3a 0x9f59 0x8f78 0x9188 0x81a9 0xb1ca 0xa1eb 0xd10c 0xc12d 0xf14e 0xe16f 0x1080 0x00a1 0x30c2 0x20e3 0x5004 0x4025 0x7046 0x6067 0x83b9 0x9398 0xa3fb 0xb3da 0xc33d 0xd31c 0xe37f 0xf35...

Page 300: ...Compax3 IEC61131 3 debugger due to the limited bandwidth Requirements For modem operation a direct and stable telephone connection is required Operation via a company internal telephone system is not...

Page 301: ...company network an additional 0 may be required in order to get out of the local system into the company network before reaching the outside line with an additional 0 The timeout periods are set to re...

Page 302: ...configuration can be made Note If a configuration download is interrupted the original settings in the non volatile memory of the Compax3 are still available You have to finish the communication on th...

Page 303: ...channel 304 Operating mode Speed control 305 Operating mode Direct positioning 307 Operating mode Positioning with set selection 309 PKW parameter channel 311 Error Reaction on Bus Failure 311 Followi...

Page 304: ...erating mode The values assigned to the PZD appear in the selected order in the telegram and can be read or written at the respective address of the process image Please take into consideration how ma...

Page 305: ...ixed Abbreviation Designation Object No Assigned words Assignment CW1 Control word 1 1100 3 1 fixed A_DIGITAL Digital outputs O0 O3 140 3 1 optional Digital outputs of the M10 M12 option 133 3 1 optio...

Page 306: ...al Digital inputs of the M10 M12 option 121 2 1 optional NACT_B Rotation speed actual value B 3 decimal places 681 9 2 optional Following error 3 decimal places 680 6 2 optional XACT_A Actual position...

Page 307: ...ecimal place 1111 10 1 optional Setpoint acceleration B no decimal place 1111 3 2 optional Setpoint deceleration 1111 16 1 optional only Profinet Setpoint deceleration 1111 4 2 optional only Profinet...

Page 308: ...I0 I7 120 3 1 optional Digital inputs of the M10 M12 option 121 2 1 optional NACT_B Rotation speed actual value B 3 decimal places 681 9 2 optional Following error 3 decimal places 680 6 2 optional X...

Page 309: ...viation Designation Object No Assigned words Assignment CW1 Control word 1 1100 3 1 fixed A_DIGITAL Digital outputs O0 O3 140 3 1 optional Digital outputs of the M10 M12 option 133 3 1 optional Demand...

Page 310: ...ed actual value B 3 decimal places 681 9 2 optional Following error 3 decimal places 680 6 2 optional XACT_A Actual position value A 3 decimal places 680 5 2 optional Status word 2 1000 4 1 optional N...

Page 311: ...r access via a PKW length of 8 bytes PKW structure PWE PKE Octet2 Octet 3 PKW 0 2 4 IND Octet1 Octet6 Octet 7 Octet5 Octet 4 Octet 8 8 Additional information on the structure of the PKW see on page 32...

Page 312: ...it Ready ZSW xx1x xxxx x011 0011 STW xxxx x1xx xxxx 0111 STW xxxx x1xx xxxx x01x STW xxxx x1xx xxxx xx0x 1 0 STW xxxx x1xx xxxx x110 STW xxxx x1xx xxxx x111 STW xxxx x1xx xxxx x110 SA8 AUS 3 aktiv OFF...

Page 313: ...x111 1111 SB1 Betrieb freigegeben Operation enable ZSW xx1x x0xx x011 0111 SB5 Bremsen mit STOP Verz gerung Braking with deceleration SB2 Drehzahl ndern Change speed ZSW xx0x x0xx x011 0111 SB9 Tippen...

Page 314: ...ation enable ZSW xxxx xxxx x011 0111 SC7 Bremsen mit STOP Verz gerung Braking with deceleration SC8 Referenzieren Referencing ZSW xxxx 0xxx x011 0111 SC2 Fahrauftrag aktiv Traversing task active ZSW x...

Page 315: ...sable startup encoder Operating condition Discard motion order 5 Enable startup encoder Stop startup encoder Operating condition Intermediate stop with Velocity Gearing Stop with termination 6 enable...

Page 316: ...ing no warning 8 Target actual in tolerance range Target actual not in tolerance range No tracking error Following error 9 Guiding requested operation on site 10 Rotation speed reached Rotation speed...

Page 317: ...ates to rotation speed 0 with stop ramp 6 1 Enable Setpoint value Selected value is turned on at the input of the HLG 0 Disable setpoint Drive decelerates to rotation speed 0 with stop ramp 7 1 Acknow...

Page 318: ...is present 5 1 No OFF 3 0 OFF 3 OFF 3 command is present 6 1 Switch on disable Switch on again only with OFF 1 and then ON 0 No switch on disable 7 1 Warning Drive continues in operation warning in m...

Page 319: ...at the previous motion order has been accepted and SW1 bit 11 reference point is set 7 1 Acknowledge A positive edge results in acknowledgement error status until error has been successfully eliminate...

Page 320: ...Search movement start of the registration mark related positioning 1 1 1 reserviert 14 1 Continuous mode The Setpoint value and actual value are reset for each new motion order transition TC1 or TC2 R...

Page 321: ...hen ON 0 No switch on disable 7 1 Warning Drive continues in operation warning in maintenance parameter no acknowledge 0 No warning There is no warning present or the warning has disappeared again 8 1...

Page 322: ...n Object No Assigned words Assignment CW1 Control word 1 1100 3 1 fixed A_DIGITAL Digital outputs O0 O3 140 3 1 optional Digital outputs of the M10 M12 option 133 3 1 optional Demand movement speed C...

Page 323: ...C D change with Gearing and Velocity With the motion function Gearing applies Position setpoint value A Gearing numerator Setpoint movement speeds C D Gearing denominator With the motion function Vel...

Page 324: ...edge enables a motion order or a new setpoint toggle bit A change of edge cannot take place unless acknowledgement occurred with SW 1 bit 12 of the status word that the previous motion order has been...

Page 325: ...lfunctions 4 1 No OFF 2 0 OFF 2 OFF 2 command is present 5 1 No OFF 3 0 OFF 3 OFF 3 command is present 6 1 Switch on disable Switch on again only with OFF 1 and then ON 0 No switch on disable 7 1 Warn...

Page 326: ...er or via the acyclic channel Selecting the desired motion set via control word 2 Start the motion with control word 1 Bit 6 Layout of the PZD Layout of the telegram Profibus Master Profinet Controlle...

Page 327: ...d 2 1000 4 1 optional NACT_A Actual speed value A 1 decimal place 681 7 1 optional Last error 550 1 1 optional The values are transmitted as int16 1 word or int32 2 words With 1 decimal place Divide v...

Page 328: ...ions The columns 3 and 9 are reserved Motion Column 1 Column 2 Column 4 Column 5 Column 6 Column 7 Column 8 Type REAL Objects O1901 Type REAL Objects O1902 Type INT Objects O1904 Type INT Objects O190...

Page 329: ...ion 1st and 2nd byte see below IND subindex 3rd byte 4th byte is reserved PWE Parameter value 5th through 8th byte or 5th through 12th byte with expanded PKW PKE structure Byte 1 Octet 2 15 14 13 12 1...

Page 330: ...he master controller repeats this order at least until a response is received from Compax3 This procedure ensures the transfer of orders responses on the user level Only one order is ever being proces...

Page 331: ...6 Octet 7 Octet 8 PKE IND PWE 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex MSB LSB AK PNU 1 0 402 3 200 0 0 0 1 0 0 0 1 1 0 0 1 0 0 1 0 0x11 0x92 0x3 0x0 0x0 0x0 0x0 0xC8 If no additional object nee...

Page 332: ...jects permanently PNU 339 PLC Compax3 Octet 1 Octet 2 Octet 3 Octet 4 Octet 5 Octet 6 Octet 7 Octet 8 PKE IND PWE 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex MSB LSB AK PNU 2 0 339 0 1 0 0 1 0 0 0...

Page 333: ...cation 1st and 2nd byte see below IND object index 3rd byte high 4th byte low PWE Parameter value 5th to 8th byte Structure of modified PKE Byte 1 Octet 2 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 AK 14 o...

Page 334: ...the object with the index and subindex read in object 20 5 and in save it in a table with the following structure Index 2Byte Subindex 1Byte Contents 16Byte Read the next object Index and subindex in...

Page 335: ...certain objects are not valid read by Compax3 immediately after a change This is described in the heading Valid after These objects are converted to internal variables by Compax3 with the command Set...

Page 336: ...l_FilterAccel_us U16 VP 2011 4 Filter time constant ext Speed FeedForwardExternal_FilterSpeed_us U16 VP 410 6 Position difference load motor error threshold LimitPosition_LoadControlMaxPosDiff C4_3 VP...

Page 337: ...ence StatusPosition_DemandController C4_3 680 23 Actual position of the load StatusPosition_LoadControlActual C4_3 680 20 Position difference load motor unfiltered StatusPosition_LoadControlDeviation...

Page 338: ...32 immed iately 1252 20 Status RegMove PG2RegMove_ParametersModified I16 immed iately 1111 13 Manipulation of the motion direction in reset mode POSITION_direction I32 immed iately 2200 20 Deadband of...

Page 339: ...positioning in U16 Format POSITION_accel_U16 113 U16 immed iately 1111 3 Acceleration for positioning POSITION_accel 114 U32 immed iately 550 1 Current error n ErrorHistory_LastError 115 947 0 U16 68...

Page 340: ...ve speed Limit_SpeedPositive 317 I16 VP 402 2 Maximum permissible negative speed Limit_SpeedNegative 318 I16 VP 402 3 Maximum permissible positive current Limit_CurrentPositive 319 I16 VP 402 4 Maximu...

Page 341: ...Object of the setpoint PZD Profibus FBI_RxPD_Mapping_Object_1 915 0 U16 immed iately 950 2 2 object of the Setpoint value PZD FBI_RxPD_Mapping_Object_2 915 1 U16 immed iately 950 3 3 object of the Se...

Page 342: ...y_MasterDelay I16 immed iately 84 4 Current RS485 address of the C3M DeviceSupervision_DeviceAdr U16 84 3 Number of devices in the C3M combination DeviceSupervision_DeviceCounter U16 84 5 Hours of ope...

Page 343: ...ative 318 I16 VP 402 1 Maximum permissible positive speed Limit_SpeedPositive 317 I16 VP 410 6 Position difference load motor error threshold LimitPosition_LoadControlMaxPosDiff C4_3 VP 410 3 negative...

Page 344: ...of current jerk feedforward StatusCurrent_FeedForwordCurrentJer k C4_3 688 13 Status of demand jerk setpoint generator StatusCurrent_ReferenceJerk I32 688 11 Status of current control control signal...

Page 345: ...ately 1905 1 variable Column 5 Row 1 Col05_Row01 150 345 1 I16 immed iately 1906 1 variable Column 6 Row 1 Col06_Row01 155 346 1 I32 immed iately 1907 1 variable Column 7 Row 1 Col07_Row01 160 347 1 I...

Page 346: ...ernalSignal_Speed_Munits C4_3 1116 1 Deceleration for FSTOP1 FSTOP1_decel 307 U32 immed iately 1116 2 Jerk for FSTOP1 FSTOP1_jerk 308 U32 immed iately 1118 1 Deceleration for FSTOP3 FSTOP3_decel 309 U...

Page 347: ...following error filter of position controller PositionController_TrackingErrorFilter_ us U16 VP 830 3 Node address Profibus_NodeAddress 918 U16 830 6 List of Profidrive standard signals Profibus_Stan...

Page 348: ...11 C3I32T11 December 2010 No Object name Object PNU Bus format Valid beginn ing 2110 1 Time constant tracking filter setpoint encoder TrackingfilterSG1_TRFSpeed I16 VP Detailed object list A detailed...

Page 349: ...r 32 MSB VZ 230 229 228 227 226 225 224 Length 2 Words 223 222 221 220 219 218 217 216 215 214 213 212 211 210 29 28 LSB 27 26 25 24 23 22 21 20 Unsigned Formats Type Bit 8 7 6 5 4 3 2 1 Unsigned 8 Le...

Page 350: ...on factor for Y4 Object 201 1 201 5 There are different normalization factors for individual values 1 Y2 normalization factors Object 200 1 NormFactorY2_Speed Normalization factor for Y2 speeds Object...

Page 351: ...37 00101 2 5 0 03125 38 00110 2 6 0 015625 39 00111 2 7 0 0078125 40 01000 2 8 0 00390625 41 01001 2 9 0 001953125 42 01010 2 10 0 0009765625 43 01011 2 11 0 00048828125 44 01100 2 12 0 000244140625 4...

Page 352: ...anced status values require a better knowledge The user level can be changed in the optimization window left hand side lower part under selection TAB optimization with the following button 6 1 D A Mon...

Page 353: ...ply 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 0x7...

Page 354: ...100 D6 15A 30A 400VAC three phase M 150 D6 60A 30A 400VAC three phase M 300 D6 Feedback Resolver F10 SinCos Hiperface F11 Encoder Sine cosine with without hall F12 Interface Step direction analogue in...

Page 355: ...r 2 for MH SMH motors REK 4 2 1 for resolver 2 for MH SMH motors cable chain compatible REK 4 1 1 for SinCos feedback 2 for MH SMH motors cable chain compatible GBK 2 4 1 for EnDat 2 1 2 for MH SMH mo...

Page 356: ...ax3S for C3S025V2 or S063V2 NFI 0 1 0 1 for C3S0xxV4 S150V4 or S1xxV2 NFI 0 1 0 2 for C3S300V4 NFI 0 1 0 3 Order code mains filter Compax3H for C3H050V4 NFI 0 2 0 1 for C3H090V4 NFI 0 2 0 2 for C3H1xx...

Page 357: ...and Compax3F BDM 0 1 0 1 Order Code terminal block for I Os without luminous indicator for X11 X12 X22 EAM 0 6 0 1 for I Os with luminous indicator for X12 X22 EAM 0 6 0 2 Order Code decentralized inp...

Page 358: ...8 Length m 0 17 0 25 0 5 1 0 3 0 5 0 10 0 Order code 23 20 21 01 22 03 05 6 Order code SSK27 nn Length A Pop 1 Compax3 variable the last two numbers according to the length code for cable for example...

Page 359: ...ndenser module C4 390 Operator control module BDM 391 EAM06 Terminal block for inputs and outputs 392 Interface cable 394 Options M1x 399 Profibus plug BUS08 01 403 9 1 Parker servo motors In this cha...

Page 360: ...ce Distance coding with RS422 Interface Encoder Max differential input between SIN X13 7 and SIN X13 8 The motor performs automatic commutation after Power on A configuration download or An IEC progra...

Page 361: ...0N up to 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...

Page 362: ...e g ground of control cabinet Order code mains filter Compax3S for C3S025V2 or S063V2 NFI 0 1 0 1 for C3S0xxV4 S150V4 or S1xxV2 NFI 0 1 0 2 for C3S300V4 NFI 0 1 0 3 Order Code mains filter PSUP for PS...

Page 363: ...er NFI01 01 for Compax3 S025 V2 and Compax3 S063 V2 Dimensional drawing 50 8 0 3 85 4 116 139 79 5 101 88 9 0 4 55 5 4 5 2 x 4 L I N E L O A D 9 2 1 2 Mains filter NFI01 02 for Compax3 S0xx V4 Compax3...

Page 364: ...ilter NFI02 0x Filter for mounting below theCompax3 Hxxx V4 housing Dimensional drawing B1 B M6 T1 T BFU H2 H1 H1 Stated in mm Filter type Dimensions Hole distances Distances Weight Grounding clamp Co...

Page 365: ...nsional drawing I I PE PE A B Label G D L1 L2 L3 L1 L2 L3 F C E H Front view Coined Earthing Symbol on both sides Load Terminals Line Terminals Top view Side view Bottom view Filter type Weight GND I...

Page 366: ...Compax3 Accessories C3I20T11 C3I32T11 366 192 120103 N13 C3I20T11 C3I32T11 December 2010 9 2 1 6 Mains filter NFI03 02 for PSUP10D6 Dimensional drawing...

Page 367: ...nnecting cables are long 20m Order code for motor output filter for Compax3S Compx3M 20m motor cable up to 6 3 A rated motor current MDR 0 1 0 4 Up to 16 A rated motor current MDR 0 1 0 1 Up to 30A A...

Page 368: ...I32T11 December 2010 9 2 2 3 Motor output filter MDR01 02 up to 30A nominal motor current 1 1mH Dimensional drawing 180 76 110 6 136 57 195 U1 V1 W1 U2 V2 W2 Weight 5 8kg 9 2 2 4 Wiring of the motor o...

Page 369: ...or reducing the low frequency interferences on the mains side 9 2 3 1 Mains filter for PSUP30 Required mains filter for the PSUP30 0 45 mH 55 A We offer the following mains filters LCG 0055 0 45 mH Wx...

Page 370: ...up to 18 9A cable chain compatible MOK 5 7 1 for MH145 MH205 4 1 5mm2 up to 13 8A MOK 6 0 1 for MH145 MH205 4 1 5mm2 up to 13 8A cable chain compatible MOK 6 3 1 for MH145 MH205 4 2 5mm2 up to 18 9A M...

Page 371: ...olver GY PK GN RD BU WH BN YE GY PK GN RD BU WH BN YE Compax3 X13 27mm L tseite solder side Crimpseite crimp side Codiernut S 20 9 8 7 6 5 4 3 2 1 12 11 10 15 14 13 12 11 6 9 8 7 10 5 4 3 2 1 L tseite...

Page 372: ...os Compax3 X13 27mm 2x0 25 2x0 25 2x0 25 0 5 8 4 6 5 7 3 2 1 9 16 11 10 12 13 15 14 17 7 10 13 14 NC NC NC 5 NC 6 4 15 NC 16 NC 17 NC V GND 13 4 15 GND 5Vfil GY PK VT RD BU WH BN BN BK GN GY PK VT RD...

Page 373: ...Sense 2 1 14 13 7 15 GND VCC 15 14 13 12 11 6 9 8 7 10 5 4 3 2 1 L tseite solder side 5 6 15 16 A A B 0 14 0 14 BU BK RD BK YE BK 17 14 Data Data 0 5 0 14 SIN SIN CLK 6 VCCTemp 8 CLK 9 4 YE VT GY RD B...

Page 374: ...er 2010 9 3 4 1 Connection of terminal box MH145 MH205 A B C G E F Terminal Assignment A Phase U B Phase V C Phase W E Protective earth terminal F Brake red for MH205 G Brake blue for MH205 Additional...

Page 375: ...7 3 6 8 15 NC 1 NC Encoder Compax3 X11 2x0 14 2x0 5 2x0 14 D E G H K M NC NC NC NC NC C F J L N P R S T NC U NC V NC W NC X NC Y NC Z GY PK GN BN WH BU RD YE 4 14 13 A B C D E F G H J K L M N P R S T...

Page 376: ...washer for the BRM13 and BRM14 Observe the instructions on the resistors warning plate Please note that the length of the supply cable must not exceed 2m Ballast resistors for Compax3 Ballast resisto...

Page 377: ...3V2 381 Permissible braking pulse power BRM05 01 with C3S075V4 382 Permissible braking pulse power BRM05 02 with C3S075V4 382 Permissible braking pulse power BRM04 01 with C3S150V2 383 Permissible bra...

Page 378: ...found in the range between characteristic F 0 5 and F 1 In order to achieve operating safety please select the higher factor this means that the required cooling time is 1s F Braking time cooling time...

Page 379: ...se power BRM08 01 with C3S015V4 C3S038V4 BRM08 01 480V 10 100 1000 10000 0 0 5 1 1 5 2 2 5 3 Braking time s PBdyn W 9 4 1 3 Permissible braking pulse power BRM08 01 with C3S025V2 BRM08 01 230V 100 100...

Page 380: ...power BRM09 01 with C3S100V2 BRM09 01 230V_3AC 100 1000 10000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 5 Permissible braking pulse power BRM10 01 with C3S150V4 BRM10 01 400 480V 100 1000...

Page 381: ...king pulse power BRM10 02 with C3S150V4 BRM10 02 400 480V 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 Braking time s PBdyn W 9 4 1 7 Permissible braking pulse power BRM05 01 with C3S063V2 BRM05 01 230V 100...

Page 382: ...BRM05 01 with C3S075V4 BRM05 01 400 480V 100 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 Braking time s PBdyn W 9 4 1 9 Permissible braking pulse power BRM05 02 with C3S075V4 BRM05 02 400 480V 100 1000 1000...

Page 383: ...wer BRM04 01 with C3S150V2 BRM04 01 230V_3AC 100 1000 10000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 11 Permissible braking pulse power BRM04 01 with C3S300V4 BRM04 01 400V 100 1000 1000...

Page 384: ...g pulse power BRM04 02 with C3S150V2 BRM04 02 230V 1000 10000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 13 Permissible braking pulse power BRM04 02 with C3S300V4 BRM04 02 400V 1000 10000...

Page 385: ...RM04 03 with C3S300V4 BRM04 03 400V 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 15 Permissible braking pulse power BRM11 01 with C3H0xxV4 BRM11 01 400V 480V 1000 10000 100...

Page 386: ...raking pulse power BRM12 01 with C3H1xxV4 BRM12 01 400V 480V 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 17 Permissible braking pulse power BRM13 01 with PSUP10D6 on reque...

Page 387: ...g resistor BRM5 02 BRM9 01 BRM10 01 387 Ballast resistor BRM4 0x and BRM10 02 388 Braking resistor BRM11 01 BRM12 01 388 Ballast resistor BRM13 01 BRM14 01 389 9 4 2 1 BRM8 01braking resistors Dimensi...

Page 388: ...mensional drawing 95 97 96 98 A B C 120 6 5 C 92 12 1 1 thermal overcurrent relay Dimensions in mm Size BRM4 01 BRM4 02 BRM4 03 BRM10 02 A 250 300 540 B 330 380 620 C 64 64 64 9 4 2 5 Braking resistor...

Page 389: ...ories 192 120103 N13 C3I20T11 C3I32T11 December 2010 389 9 4 2 6 Ballast resistor BRM13 01 BRM14 01 Dimensional drawing 303 60 337 7 4 2 7 4 2 30 17 5 4 10 10 5 4 10 10 17 54 0 2 26 0 2 2 3 1 4 1 A A...

Page 390: ...T11 C3I32T11 December 2010 9 5 Condenser module C4 Order code condenser module for C3S300V4 1100 F Modules C4 Technical Characteristics Type Capacity Cable length Module C4 1100 F 30 cm Dimensions in...

Page 391: ...can be plugged into any unit Can be plugged in while in operation Power supply via Compax3 servo control Display with 2 times 16 places Menu driven operation using 4 keys Displays and changing of val...

Page 392: ...strip and to a Sub D plug connector Via a supporting rail Design or the terminal unit can be attached to a mounting rail in the switch cabinet EAM06 is available in 2 variants EAM06 01 Terminal block...

Page 393: ...2 13 14 15 L tseite 10 11 12 13 14 15 9 1 2 3 4 5 6 7 8 Pin 1 Pin 1 15 14 13 12 11 6 9 8 7 10 5 4 3 2 1 L tseite solder side 2 mm 6 mm 23 mm Cable plan SSK24 X12 to EAM 06 xx 5 2 7 3 6 9 1 I O Modul C...

Page 394: ...r PC C3powerPLmC Compax3 I30 Compax3 I30 or C3M multi axis communication Profinet EtherCAT Ethernet Powerlink SSK 2 8 5 Compax3 X11 Compax3 X11 encoder coupling of 2 axes SSK 2 9 1 Compax3 X10 Modem S...

Page 395: ...only on the last connector Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Br cke Bridge Br ck...

Page 396: ...Pin 1 2 mm 6 mm 23 mm L tseite solder side 1 2 3 4 5 11 12 13 14 15 6 7 8 9 10 You can find the length code in the Order Code Accessories see on page 355 9 8 4 Ref X11 SSK21 Cable for X11 with open e...

Page 397: ...eath over large area of housing NC NC NC NC 11 5 10 9 2 4 15 1 3 NC NC NC NC NC 11 5 10 9 NC NC NC NC NC 2 4 15 NC 1 NC 3 NC NC Pin 1 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 15 14 13 12 11 10 9 8 7 6 5 4...

Page 398: ...YE BN Compax3 X10 Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Pin 1 TxD GND 5 2 L tseite solder side 1 2 3 4 5 6 7 8 9 4 mm 6 mm 26 mm 5 2 3 RxD TxD GND 4 NC 1 6 7 9 3...

Page 399: ...stable 3 O1 I1 Output 1 Input 1 adjustable 4 O2 I2 Output 2 Input 2 adjustable 5 O3 I3 Output 3 Input 3 adjustable 6 O4 I4 Output 4 Input 4 adjustable 7 O5 I5 Output 5 Input 5 adjustable 8 O6 I6 Outpu...

Page 400: ...itching the 24VDC supply off and on again Output wiring of digital outputs X12 2 22K X22 15 X22 11 SPS PLC F1 24VDC Compax3 The circuit example is valid for all digital outputs The outputs are short c...

Page 401: ...lug is missing several masters are sending in the same slot at the slave several masters in the system no master active Terminal plug is missing no transmission from one or several receive slots neith...

Page 402: ...at the Master no slave sending back Wrong cabling Terminal plug is missing several masters are sending in the same slot at the slave several masters in the system no master active Terminal plug is mis...

Page 403: ...ter for Profibus wiring Profibus cable SSL02 not prefabricated color according to DESINA Profibus plug BUS8 01 with 2 cable inputs for one incoming A1 B1 and one continuing Profibus cable A2 B2 and sc...

Page 404: ...ection Compax3S1xxV2 3AC Controller type S100V2 S150V2 Supply voltage Three phase 3 230VAC 240VAC 80 253VAC 50 60Hz Input current 10Arms 13Arms Maximum fuse rating per device short circuit rating 16A...

Page 405: ...with UL category DIVQ Recommendation ABB S203UP K 25 480VAC Mains connection PSUP20D6 Device type PSUP20 230V 400V 480V Supply voltage 230VAC 10 50 60Hz 400VAC 10 50 60Hz 480VAC 10 50 60Hz Rated volta...

Page 406: ...110Arms 132Arms Maximum fuse rating per device short circuit rating Branch circuit protection according to UL 80A 100A 160A 200A JDDZ Class K5 or H JDRX Class H Control voltage 24VDC Compax3S and Comp...

Page 407: ...put current 1 5Arms 3 8Arms 7 5Arms 15Arms 30Arms Pulse current for 5s 4 5Arms 9 0Arms 15Arms 30Arms 60Arms Power 1kVA 2 5kVA 5kVA 10kVA 20kVA Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz Power los...

Page 408: ...0 400V 0 500Hz Nominal output current 5Arms 10Arms 15Arms 30Arms Pulse current for 5s 10Arms 20Arms 30Arms 60Arms Power 3 33kVA 6 66kVA 10kVA 20kVA Switching frequency 8kHz 8kHz 8kHz 8kHz Power loss...

Page 409: ...1970W during low speeds the overload time is reduced to 1s Limit 2 5 electric rev s actual revolutions s number of pole pairs resp 2 5 pitch s Output data Compax3Hxxx at 3 480VAC Controller type H050...

Page 410: ...400VAC Switching frequency S015V4 S038V4 S075V4 S150V4 S300V4 8kHz Inom 15Arms 30Arms Ipeak 5s 30Arms 60Arms 16kHz Inom 1 5Arms 3 8Arms 7 5Arms 10 0Arms 26Arms Ipeak 5s 4 5Arms 9 0Arms 15 0Arms 20 0Ar...

Page 411: ...7Arms The values marked with grey are the pre set values standard values corresponds to the frequency of the motor current Resulting nominal and peak currents depending on the switching frequency Comp...

Page 412: ...feedback system used Motors and feedback systems supported Motors Direct drives Linear motors Torque motors Sinusoidally commutated synchronous motors Maximum electrical turning frequency 1000Hz Max...

Page 413: ...tler F series with electrical ordering variant 6 Digital bidirectional interface All EnDat 2 1 or EnDat 2 2 Endat01 Endat02 feedback systems with incremental track sine cosine track linear or rotary m...

Page 414: ...V4 S075V4 S150V4 S300V4 Capacitance storable energy 400V 480V 235 F 37 21 Ws 235 F 37 21 Ws 470 F 75 42 Ws 690 F 110 61 Ws 1230 F 176 98 Ws Minimum braking resistance 100 100 56 33 15 Recommended nomi...

Page 415: ...BRM05 02 56 Compax3S075V4 570 W BRM10 01 47 Compax3S150V4 570 W BRM10 02 470 Compax3S150V4 1500 kW BRM04 01 15 Compax3S150V2 Compax3S300V4 PSUP20D6 570 W BRM04 02 15 Compax3S150V2 Compax3S300V4 PSUP2...

Page 416: ...above below 100mm Protection type IP20 Drawings Mounting see on page 70 see on page 76 Size weight PSUP Compax3M Device type Dimensions HxWxD mm Weight kg PSUP10D6 360 x 50 x 263 3 95 PSUP20D6 PSUP30...

Page 417: ...al PLC and STO cycles year 500 000 are assumed Safety technology Compax3M Safe torque off in accordance with EN ISO 13849 1 2007 Category 3 PL e Certified Test mark MFS 09029 Please respect the stated...

Page 418: ...age category Voltage category III in accordance with EN 60664 1 Degree of contamination Degree of contamination 2 in accordance with EN 60664 1 and EN 61800 5 1 Environmental conditions Compax3S and C...

Page 419: ...conditions PSUP Compax3M General ambient conditions In accordance with EN 60 721 3 1 to 3 3 Climate temperature humidity barometric pressure Class 3K3 Permissible ambient temperature Operation storage...

Page 420: ...h 7 8 bit 1 start bit 1 stop bit Parity can be switched off even odd 2 or 4 wire USB Compax3M USB 2 0 Full Speed compatible Load position control Dual Loop Option 2 Feedback system for load position c...

Page 421: ...s operation Actual position Encoder simulation Resolution 1 16384 increments revolution Signal monitor 2 channels 10 V analog Resolution 8 Bit Profibus ratings I20 Profile PROFIdrive Profile drive sys...

Page 422: ...elay times 284 Braking resistor high voltage DC C3S connector X2 36 Braking resistor high voltage supply connector X2 for 3AC 400VAC 480VAC_C3S devices 39 Braking resistor high voltage supply plug X2...

Page 423: ...of actual acceleration value 207 Control signal limitations 203 Control voltage 24 VDC 33 Control voltage 24 VDC C3H 58 Control voltage 24VDC enable connector X4 C3S 33 Control voltage 24VDC PSUP mai...

Page 424: ...ble as a movie in the help file 281 Examples in the help file 141 Excitation Signal 257 Extended cascade structure variant 1 208 Extended cascade structure structure variant 2 with disturbance variabl...

Page 425: ...365 Mains filter NFI03 02 366 Mains filters 369 Mains supply PSUP mains module X41 46 Mass inertia 172 Maximum operating speed 137 Meaning of the status LEDs Compax3 axis controller 28 Meaning of the...

Page 426: ...iew 159 Object overview I20T11 sorted by object name 342 Object overview I20T11 sorted by PNU 336 Object Upload download via Profibus Profinet 333 Objects for load control 159 Offset alignment 242 Ope...

Page 427: ...Q Quality of different feedback systems 174 R Ramp upon error and de energize 134 Recommendations for preparing the modem operation 302 Reduction of the current ripple 181 Ref X11 396 Reference point...

Page 428: ...tatus word 2 326 Step response of a delay component 190 Step response of the velocity loop depending on the optimization parameter 199 STO safe torque off with Compax3m Option S1 93 STO safe torque of...

Page 429: ...8 With direction reversal switches 118 121 126 With motor reference point 120 125 With upper mounting the housing design may be different 75 Without direction reversal switches 117 120 Without motor r...

Page 430: ...Index C3I20T11 C3I32T11 430 192 120103 N13 C3I20T11 C3I32T11 December 2010...

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