Parker Compax3 Fluid T40 Operating Instructions Manual Download | Manualshive

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background image

Setting

up Compax3

C3I12T11

212

192-120113 N08 C3I12T11 - December 2010

Advanced

In this chapter you can read about:

Extended cascade (structure variant 1) .......................................................................... 212
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 214
Optimization parameter Advanced ................................................................................. 216
EMC feedforward ........................................................................................................... 216
Motor parameters .......................................................................................................... 216
Filter "External Command Interface" .............................................................................. 216
Voltage decoupling ........................................................................................................ 217
Load control ................................................................................................................... 217
Luenberg observer ........................................................................................................ 217
Commutation settings of the automatic commutation ..................................................... 219
Notch filter ..................................................................................................................... 223
Saturation behavior ....................................................................................................... 225
Control measures for drives involving friction ................................................................. 226

Extended cascade (structure variant 1)

K

Px

K

Pv

T

T

f

f

B

d

K

p

,T

N

T

T

f

f

B

d

1 i

mR

*

Synchronous

Motor

Asynchronous

Motor

K

I

682.7

2010.2

2010

.20

688.19

682.6

688.14

681.6

680.6

681.9

681.10

680.4

681.11

681.4

682.4

688.18

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

2100.21

682.5

2120.1>125 µs
2120.1<125 µs

2120.1<125 µs

2120.1>125 µs

681.5

Beobachter

Observer

Ist

w

er

te

rf

assu

ng

A

ct

ual

Va

lu

e M

on

ito

rin

g

K

Pv

2100.7

t

t

t

a‘

t

a

v

p

Demand acceleration

Demand jerk

Demand Velocity

Demand position

Velocity
feedforward

Demand
velocity

Following error

actual velocity
filtered

Control deviation
of velocity

Acceleration feedforward

Feedforwaed
current & jerk

demand
current r.m.s.

Voltage control
signal

Actual acceleration
filtered

Manual or external
demant 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)

Actual velocity
unfiltered

Actual acceleration
unfiltered

The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.

Please note that the corresponding controller components must be deactivated for
the coupling:

When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)

When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)

O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2

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213
214
215
216
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Summary of Contents for Compax3 Fluid T40

Page 1: ...WNA Jana Dlugosza 2 6 Street 51 162 Wroc aw Poland biuro rgbelektronika pl 48 71 325 15 05 www rgbautomatyka pl www rgbelektronika pl DATASHEET www rgbautomatyka pl www rgbelektronika pl OTHER SYMBOLS...

Page 2: ...d with a wide variety of tools and having several testing stands at their disposal are a guarantee of the highest quality service OUR SERVICES ENCODERS SERVO DRIVERS LINEAR ENCODERS SERVO AMPLIFIERS C...

Page 3: ...technical changes 27 12 10 15 01 192 120113 N08 C3I12T11 December 2010 The data correspond to the current status at the time of printing Operating instructions Compax3 I12T11 Positioning via digital I...

Page 4: ...s 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 Veraart Aufs...

Page 5: ...cation Compax3M 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 C3I12T11 Function overview 26 3 Compax3...

Page 6: ...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 RS485 interface plug X10 61 3...

Page 7: ...in the Compax3M 89 3 10 3 3 Conditions of utilization for the STO function with Compax3M 89 3 10 3 4 STO delay times 90 3 10 3 5 Compax3M STO application description 91 3 10 3 6 STO function test 94...

Page 8: ...4 2 2 2 Encoder A B 5V step direction or SSI feedback as signal source 154 4 2 2 3 10V analog speed setpoint value as signal source 156 4 3 Load control 158 4 3 1 Configuration of load control 160 4...

Page 9: ...he optimization of the motion profile 285 4 4 10 1 Mode 1 Time and maximum values are deduced from Compax3 input values 285 4 4 10 2 Mode 2 Compax3 input values are deduced from times and maximum valu...

Page 10: ...Error list 322 9 Order code 323 9 1 Order code device Compax3 323 9 2 Order code for mains module PSUP 324 9 3 Order code for accessories 324 10 Compax3 Accessories 328 10 1 Parker servo motors 328 10...

Page 11: ...issible braking pulse power BRM05 02 with C3S075V4 351 10 4 1 10Permissible braking pulse power BRM04 01 with C3S150V2 352 10 4 1 11Permissible braking pulse power BRM04 01 with C3S300V4 352 10 4 1 12...

Page 12: ...2T11 December 2010 10 9 Options M1x 368 10 9 1 Input output option M12 368 10 9 1 1 Assignment of the X22 connector 368 10 9 2 HEDA motion bus Option M11 369 10 9 3 Option M10 HEDA M11 I Os M12 371 11...

Page 13: ...Compax3S025V2 supplement Compax3S063V2 supplement Compax3S100V2 supplement Compax3S150V2 supplement Compax3S015V4 supplement Compax3S038V4 supplement Compax3S075V4 supplement Compax3S150V4 supplement...

Page 14: ...re 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 cable clam...

Page 15: ...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 I10 An...

Page 16: ...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 respective...

Page 17: ...UP 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 phase...

Page 18: ...his 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 virtue to...

Page 19: ...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 discharge the...

Page 20: ...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 instructions see on...

Page 21: ...n 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 condi...

Page 22: ...d 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 must not be...

Page 23: ...at 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 operation of...

Page 24: ...ature 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 ATTENTION Da...

Page 25: ...conductors shall be at least 60 C Use copper lines only Please use the cables described in the accessories chapter see on page 323 see on page 324 they feature a temperature rating of at least 60 C M...

Page 26: ...iwire 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 installed...

Page 27: ...ed 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 or w...

Page 28: ...d The status information is sent out via the digital Compax3 outputs standard and optional outputs Access via RS232 RS485 The functions are triggered via a control word and also in part by hardware vi...

Page 29: ...lloscope function wizards and online help simplifies making and modifying settings via the PC The optional Operator control module BDM01 01 see on page 360 for Compax3S F makes it possible to exchange...

Page 30: ...ng 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 Hall signal...

Page 31: ...uickly 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 Incorrect...

Page 32: ...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 X23 X24...

Page 33: ...pator 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 S015V4...

Page 34: ...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 res TxD RxD...

Page 35: ...e 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 safety f...

Page 36: ...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 depends on the...

Page 37: ...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 current 6...

Page 38: ...fter 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 capacity...

Page 39: ...king 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 brakin...

Page 40: ...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 Supply volta...

Page 41: ...f 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 may...

Page 42: ...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 capacity of...

Page 43: ...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 mus...

Page 44: ...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 controller L...

Page 45: ...emperatures 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 controller...

Page 46: ...me 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 voltage i...

Page 47: ...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 Pin...

Page 48: ...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 Recommend...

Page 49: ...e 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 125A...

Page 50: ...ing them Dangerous voltages are still present until 10 min after switching off the power supply 3 5 6 Braking resistor temperature switch PSUP mains module The energy generated during braking operatio...

Page 51: ...Reference value for the required capacity in an axis system 100 F per kW of the temporal medium value of the total power transmissions power dissipation in the axis system Example PSUP20 1175 F with o...

Page 52: ...signation 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 cable type...

Page 53: ...Hz 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 the...

Page 54: ...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 cable SS...

Page 55: ...DC link voltage 1 DBR und DBR Connection of external braking resistor 2 AUX1 AUX2 only with C3H1xxV4 external supply AC for device ventilator L N All shields must be connected via a cable joint to the...

Page 56: ...tightening torques High voltage supply Ballast resistor Grounding C3H050V4 4Nm 35lb in 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...

Page 57: ...tion 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 are o...

Page 58: ...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 8 X10 9...

Page 59: ...ixing 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 brake...

Page 60: ...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 Compax3 H050V...

Page 61: ...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 F 11...

Page 62: ...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 following i...

Page 63: ...D 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 GND 6 res 7 TxD_RxD 8 res 9 5V RS485 4 wire PIN X...

Page 64: ...le 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 on the d...

Page 65: ...on 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 Powe...

Page 66: ...me time as X15 on Compaxx3M Resolver cables see on page 340 can be found in the accessories chapter of the device description SinCos cables see on page 341 can be found in the accessories chapter of t...

Page 67: ...ax 10V 10 Ain1 analog input 14Bits max 10V 11 Ain0 analog input 14Bits max 10V 12 Input direction RS422 5V level B input simulation 13 factory use N input simulation DATA 14 factory use N input simula...

Page 68: ...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 inputs can be con...

Page 69: ...y 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 Compax3...

Page 70: ...and dimensions Compax3S 68 Mounting and dimensions PSUP C3M 72 Mounting and dimensions C3H 74 3 9 1 Mounting and dimensions Compax3S 3 9 1 1 Mounting and dimensions Compax3S0xxV2 Mounting 3 socket hea...

Page 71: ...11 December 2010 69 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 conv...

Page 72: ...2T11 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 sufficient conve...

Page 73: ...g 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 below a...

Page 74: ...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 are suff...

Page 75: ...nting 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 9 2 3...

Page 76: ...0mm 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 ensure fr...

Page 77: ...120113 N08 C3I12T11 December 2010 75 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 I K...

Page 78: ...Compax3 device description C3I12T11 76 192 120113 N08 C3I12T11 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: ...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 loads is...

Page 80: ...9 1 Requirements performance feature Use of the safe torque off function Conventional solution Use of external switching elements Reduced switching overhead Simple wiring certified application example...

Page 81: ...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 C13...

Page 82: ...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 output stage s...

Page 83: ...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 mechanica...

Page 84: ...led 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 another eq...

Page 85: ...Motor stalled and Tracking following error are not to be switched off see on page 133 see on page 151 Note on RS485 implementation The Energize function channel 1 can be implemented via the RS485 bus...

Page 86: ...f 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 also valid for one or multip...

Page 87: ...res 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 switching off c...

Page 88: ...safety switching device Before the Compax3 can be placed into operation the safety switching device must be activated by a pulse to Input S2 Prerequisite S2 closed Safety door closed K1 and K2 energi...

Page 89: ...tandstill the safety door may be opened and the hazardous area may be accessed If the safety door is opened during operation and the emergency power off switch was not triggered before the Compax3 dri...

Page 90: ...onnector 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 device...

Page 91: ...ntenance 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 94 The saf...

Page 92: ...tion C3I12T11 90 192 120113 N08 C3I12T11 December 2010 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 STO1...

Page 93: ...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 input Th...

Page 94: ...ll 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 Txx o...

Page 95: ...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 both serv...

Page 96: ...e 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 message 0...

Page 97: ...s 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 successfully test...

Page 98: ...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 Number of i...

Page 99: ...ng jerk ramps 128 Limit and monitoring settings 131 Operating mode I O assignment 134 Encoder simulation 139 Absolute continuous mode 139 Position mode in reset operation 140 Defining the STOP functio...

Page 100: ...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 Onboard gr...

Page 101: ...pply 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 into Moto...

Page 102: ...e 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 too hig...

Page 103: ...ching 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 52Arms 3...

Page 104: ...s 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 dependin...

Page 105: ...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 controller The mo...

Page 106: ...y for position 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 t...

Page 107: ...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 distance p...

Page 108: ...le as numerator and denominator see on page 104 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 300 mm...

Page 109: ...e 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 using t...

Page 110: ...int 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 The po...

Page 111: ...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 EnDat Single...

Page 112: ...y motor reference MN M 33 34 see on page 120 MN M 130 131 see on page 120 With limit switch as machine zero MN M 1 2 see on page 122 MN M 132 133 see on page 122 Definition of terms explanations Motor...

Page 113: ...ch 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 of the...

Page 114: ...ation within the travel range The travel range is then divided into 2 contiguous ranges one range with deactivated MN initiator left of the MN initiator and one range with activated MN initiator right...

Page 115: ...switches see on page 127 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 zero run...

Page 116: ...ersal 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 Witho...

Page 117: ...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 When the...

Page 118: ...ged 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 reversal...

Page 119: ...c 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 activated in t...

Page 120: ...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 of the...

Page 121: ...ment 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 value so...

Page 122: ...he next motor zero point in the negative travel direction is taken as the MN MN M 34 For a MN run starting from the current position the next motor zero point in the positive travel direction is taken...

Page 123: ...le is reached the drive is decelerated and changes the direction of movement Caution Wrong settings can cause hazard for man and machine It is therefore essential to respect the following Choose a low...

Page 124: ...of the direction reversal switch MN M 132 133 Determine absolute position via distance coding with direction reversal switches Only for motor feedback with distance coding the absolute position can b...

Page 125: ...his 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 Move the...

Page 126: ...er aiming at a target outside the travel range is not executed V 1 2 Jog Gearing 1 negative end limit 2 positive end limit The reference is the position reference point that was defined with the machi...

Page 127: ...e The end limits are not active after switching on The end limits do not refer to the position reference point until after a machine reference run During homing run the end limits are not monitored Wi...

Page 128: ...set Possible settings for the error reaction are No response Downramp stop Downramp stromlos schalten standard settings Hardware end limits are realized with the aid of end switches These are connect...

Page 129: ...ection reversal limit switches If this function is not activated the direction reversal end switches are assigned as follows Direction reversal limit switch on I5 X12 12 negative side of the travel ra...

Page 130: ...to a complete stop at the target position To reach the set acceleration and deceleration the drive must change the acceleration from 0 to the set value or from the set value to 0 This change in speed...

Page 131: ...tion set in the last motion set NO STOP no STOP I1 M I6 CW 1 or CW 14 4 1 8 2 Ramp upon error deenergize Ramp delay upon error and De energize The same delay is used for Deenergizing and when an error...

Page 132: ...113 N08 C3I12T11 December 2010 Manual acceleration deceleration and speed control You can set the motion profile for moving with JOG or JOG here 1 Manual acceleration Deceleration 2 Manual speed contr...

Page 133: ...n window time Position reached is set If the actual position leaves the position window within the position window time the position window time is started again When the actual position leaves the po...

Page 134: ...e After Power On O1 SW Bit 9 0 After the machine zero run after position 0 is reached O1 and SW 9 goes to 1 Example START M E5 or CW 13 1 POS O1 Position reached CW Bit 9 Sequence PLC Reaction Compax3...

Page 135: ...ve controller following 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 follo...

Page 136: ...tion wizard 3 O1 Position speed gear synchronization attained max 100 mA 4 O2 Power stage without current max 100 mA 5 O3 Axis energized with a setpoint of 0 max 100 mA 6 I0 1 Quit positive edge Axis...

Page 137: ...well as configurable in groups of 4 as inputs or outputs C3 ServoManager All inputs and outputs have 24V level The input output designation M I0 helps to make the distinction between the standard I Os...

Page 138: ...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 mA 5 O3 Axis e...

Page 139: ...d Bit 1 0 Manual and Manual inputs and control word are OR linked Control word Structure of the control word object 1100 3 Bit Function Corresponds to Bit0 Quit edge energize axis I0 X12 6 Bit1 No Sto...

Page 140: ...n reached X12 3 Bit10 Axis without current excitation X12 4 Bit11 Axis stationary with current at setpoint value zero X12 5 Bit12 Machine zero home Position known Bit13 Programmable status bit 0 PSB0...

Page 141: ...4 1 11 1 Encoder bypass with Feedback module F12 for direct drives If the feedback module F12 is used the encoder signals can be placed directly Bypass to the encoder interface X11 same assignment as...

Page 142: ...n parameters In the event of positioning specifications below zero and higher than or equal to the reset distance this function is deactivated The positioning target must for instance be in the range...

Page 143: ...08 C3I12T11 December 2010 141 STOP and interruption of the current positioning procedure NO STOP no STOP START START signal on edge A new START resumes the positioning process at the position where it...

Page 144: ...eration for RegMove If the deceleration set in the RegMove motion set is too high the target position is not reached Compax3 reports error see on page 149 By allowing for a higher deceleration Compax3...

Page 145: ...rent motion parameters are available Empty empty motion set MoveAbs see on page 145 absolute positioning MoveRel see on page 145 relative Positioning Gearing see on page 150 electronic gearbox RegSear...

Page 146: ...tion download with the aid of the C3 ServoManager Homing run see on page 143 4 1 16 2 Programmable status bits PSBs The successful execution of a motion set can be queried via the PSBs PSBs with contr...

Page 147: ...Bit 10 22 4 M I3 Bit 11 23 8 M I4 Bit 12 24 16 4 1 16 4 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 Max...

Page 148: ...search for an external signal of a reg This may for example be a reg on a product The external signal interrupts the search movement and the second movement by the predefined offset follows without t...

Page 149: ...ly for positioning with set selection Example 2 Reg within the reg restriction window v t Reg RegSearch StartIgnore StopIgnore Start 1 2 Regf POS Start Start signal for reg positioning M E5 an X22 13...

Page 150: ...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 2 Bit15 Signal via PSBs with I O control POS Signal Position reach...

Page 151: ...s after the reg restriction window registration mark can however not be reached without direction reversal v t Reg RegSearch RegMove Regf StartIgnore StopIgnore Start 1 2 active POS Error active Start...

Page 152: ...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 ratio sla...

Page 153: ...eached speed reached Output O1 X12 3 or status word 1 Bit 9 as well as the defined status bits PSBs are activated Position control is active i e the following error caused by limitations will be made...

Page 154: ...form a complete Download with IEC program and curve Caution Deactivate the drive before downloading the configuration software Please note Incorrect configuration settings entail danger when activatin...

Page 155: ...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 step di...

Page 156: ...SI feedback as signal source The encoder simulation is not possible at the same time as the encoder input ohne_SSI_t resp the step direction input The same interface is used here A direction reversal...

Page 157: ...revolution of the master axis 1024 Reference system of Slave axis Unit of measure mm Travel path per revolution numerator 1 Travel path per revolution denominator 1 Gearing numerator 2 Gearing denomi...

Page 158: ...og 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 the drive...

Page 159: ...ng 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 scann...

Page 160: ...ack Step Direction signal or SSI sensor is supported This controller structure improves the stationary precision at the load after the decay of all control movements An increase of the dynamic precisi...

Page 161: ...bit must be transmitted the first Caution Feedback systems transmitting data containing error or status bits are not supported Examples of supported SSI feedback systems IVO GA241 SSI Thalheim ATD 6S...

Page 162: ...cation 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 feedb...

Page 163: ...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 deactivated...

Page 164: ...Max 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 feedback...

Page 165: ...al filtering with external command value 238 Input simulation 240 Setup mode 242 Load identification 244 Alignment of the analog inputs 247 C3 ServoSignalAnalyzer 249 ProfileViewer for the optimizatio...

Page 166: ...see on page 165 Window 2 Optimization Controller optimization D A Monitor see on page 321 Output of status values via 2 analog outputs Scope Settings Window 3 Status Display Compax3 Error History Win...

Page 167: ...he 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 trigger i...

Page 168: ...t 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 scrollin...

Page 169: ...ection 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 interrupted an...

Page 170: ...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 Scanning tim...

Page 171: ...tiple 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 of the measurement values with constant component AC...

Page 172: ...ings 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 settings can be memorized in the current C3 ServoManager proje...

Page 173: ...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 Example...

Page 174: ...Setting up Compax3 C3I12T11 172 192 120113 N08 C3I12T11 December 2010 Example Only b0 and b1 are to be displayed Set display mask to 03...

Page 175: ...ted 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 the fo...

Page 176: ...the control behavior is necessary This manual describes the setup and optimization procedure for Compax3 In order to better understand the correlations and interactions we will describe in the first...

Page 177: ...y of the application parameters takes place directly in the ServoManager Carefully verify the entries and default values in order to detect entry errors in the run up After the configuration download...

Page 178: ...85 Asynchronous motors 189 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 T K 2...

Page 179: ...ates the value of the induced voltage subject to velocity The EMC constant corresponds to the motor torque constant KT which represents the correlation between the torque producing current and the dri...

Page 180: ...minal point 2 Forbidden range Calculation of the reference current from the characteristic line T K Nm M EMK Nm M I 5 85 or for linear motors Kf Nm M EMK Nm M I 3 2 In the MotorManager a motor can be...

Page 181: ...ems In this chapter you can read about Interface 179 Resolution 180 Noise 180 The controller quality depends to a great extent on the signal quality of the position feedback and its signal acquisition...

Page 182: ...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 overshoot on...

Page 183: ...out 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 motor Lin...

Page 184: ...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 the fe...

Page 185: ...locity 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 2500 3000 0...

Page 186: ...n 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 defined pu...

Page 187: ...essage 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 approximately...

Page 188: ...ent 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 moveme...

Page 189: ...st 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 can be cal...

Page 190: ...The switching frequency and the reference point are activated in the ServoManager Motor reference point wizard A reference point differing from the nominal data may also be entered on the wizard page...

Page 191: ...e Limit and Monitoring Settings wizard page 1 Current Torque Limit 2 Velocity limit Asynchronous motors In this chapter you can read about Type specification plate data 189 Replacement switching diagr...

Page 192: ...ield inductance X2 2 fL2 Referenced leak reactance for f 50Hz mains frequency L2 Rotor leak inductance R2 Referenced carriage resistance ImR Magnetization Current Slip Frequency The slip frequency is...

Page 193: ...g 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 off speed...

Page 194: ...y 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 2 2 R...

Page 195: ...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 effects of...

Page 196: ...nuation 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 not att...

Page 197: ...nt 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 charge cur...

Page 198: ...locity 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 response...

Page 199: ...alled the bandwidth of a control loop Setpoint and disturbance behavior of a control loop In this chapter you can read about Demand behavior 198 Disturbance behavior 198 Test functions 198 Characteris...

Page 200: ...ntrol Process Regelstrecke Z X W 0 W Setpoint value X Actual value Z Disturbance variable In order to examine the disturbance and setpoint behavior the Compax3 setup software offers 4 jerk functions T...

Page 201: ...rsteuerung PI Current Controller PI Stromregler Signal Acquistion Signalerfassung t s v t a t r t Setpoint generator Setpoint position Speed Acceleration Deceleration Acceleration jerk Deceleration je...

Page 202: ...bles can be made by the control variable limitation of the superposed controller rather easily The effects of the non linearity for the superposed controllers can be reduced by the subordinate control...

Page 203: ...higher the necessary change is load torque in order to generate a defined following error The dynamic stiffness can be acquired from the disturbance jerk response Traditional generation of a disturba...

Page 204: ...rol is always stable and well attenuated If the controller does not work in the linear range but the control variable of the controller is within the limitation the control slows down and the control...

Page 205: ...that you keep out of the control signal limitation voltage limitation The attenuation characterizes the controller s tendency to oscillate with respect to an excitation signal see below The stiffness...

Page 206: ...ty 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 The mech...

Page 207: ...227 Proceeding during controller optimization 229 For the setup and optimization of the control loops the optimization window is available The Compax3 control functionality is divided into 2 sections...

Page 208: ...red Manual or external demant Velocity Manual or external demant current Demand velocity actual velocity Velocity controller Stiffness Damping Inertia Current Controller Bandwidth Attenuation Actual c...

Page 209: ...al 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 signal...

Page 210: ...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 C3 S063...

Page 211: ...nt 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 above...

Page 212: ...11 December 2010 Motion cycle without feedforward control Motion cycle with feedforward measures Velocity feedforward Velocity and acceleration feedforward Velocity acceleration and current feedforwar...

Page 213: ...is 63 8 300 000 s Depending on the replacement time constant of the closed velocity loop we can make recommendations for the setting Setting recommendation for control signal filter velocity loop O21...

Page 214: ...1 125 s 2120 1 125 s 2120 1 125 s 2120 1 125 s 681 5 Beobachter Observer Istwerterfassung Actual Value Monitoring KPv 2100 7 t t t a t a v p Demand acceleration Demand jerk Demand Velocity Demand pos...

Page 215: ...specification see on page 238 Complementary structure for load control see on page 161 Compax3 controller structures see on page 206 see on page 212 see on page 214 Symbol Description p K Proportional...

Page 216: ...elocity 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 A...

Page 217: ...multiplied with Kp T1 First order delay component P T1 term KI Integration block I block Kp TN PI block Limitation block signal limitation f f B d Notch filter band elimination filter Addition block...

Page 218: ...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 Furthermore...

Page 219: ...versely 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 numeric diff...

Page 220: ...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 outpu...

Page 221: ...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 most commo...

Page 222: ...oltage 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 motor co...

Page 223: ...n 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 as sour...

Page 224: ...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 Monito...

Page 225: ...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 configur...

Page 226: ...on by 3 objects In this chapter you can read about Frequency filter 1 O2150 1 frequency filter 2 O2150 4 224 Bandwidth filter 1 O2150 2 bandwidth filter 2 O2150 5 225 Depth filter 1 O2150 3 depth filt...

Page 227: ...ro 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 225 Curre...

Page 228: ...he 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 control...

Page 229: ...oad identification 227 Setpoint generation 227 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 moment of i...

Page 230: ...otor 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 jerk...

Page 231: ...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 set via...

Page 232: ...or 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 the...

Page 233: ...192 120113 N08 C3I12T11 December 2010 231 Controller optimization disturbance and setpoint behavior standard In this chapter you can read about Controller optimization standard 232 Controller optimiza...

Page 234: ...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 quality fi...

Page 235: ...roller 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 increas...

Page 236: ...er 2010 Controller optimization disturbance and setpoint behavior advanced In this chapter you can read about Controller optimization Advanced 235 Flow chart controller optimization of a direct drive...

Page 237: ...e 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 observed di...

Page 238: ...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 stiffne...

Page 239: ...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 the feed...

Page 240: ...Cat 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 true true...

Page 241: ...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 206 see on page 212 see o...

Page 242: ...uts 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 analog...

Page 243: ...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 active they...

Page 244: ...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 to a s...

Page 245: ...es 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 opening th...

Page 246: ...ed 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 following fa...

Page 247: ...itation 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 caused...

Page 248: ...ncrease 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 amplitude o...

Page 249: ...og 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 offset val...

Page 250: ...0 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 Precise i...

Page 251: ...urement 279 Examples are available as a movie in the help file 284 4 4 9 1 ServoSignalAnalyzer function range The function range of the ServoSignalAnalyzer is divided into 2 units Analysis in the time...

Page 252: ...l 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 Oscillo...

Page 253: ...s 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 software a...

Page 254: ...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 pleas...

Page 255: ...x3 192 120113 N08 C3I12T11 December 2010 253 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 followi...

Page 256: ...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 functi...

Page 257: ...r 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 parameters...

Page 258: ...s 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 of sca...

Page 259: ...ormation 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 windowin...

Page 260: ...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 the sp...

Page 261: ...risk increases with the extent of the excitation In addition natural mechanical frequencies may cause an increased excitation of individual components The measurement of the frequency response can on...

Page 262: ...s the control Course of the measurement Superimposed 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...

Page 263: ...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 analyze for...

Page 264: ...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 with a sm...

Page 265: ...range in the event of a non linear system is shown below Signal amplitude too high non linearity in the signal range Due to the non linear transmission behavior of the system many new frequencies were...

Page 266: ...linearity in the signal range For this the signal range is shifted so that approximately linear conditions are valid the results of the measurement show the dynamic behavior at the working point Exam...

Page 267: ...mple in gearboxes Here non linearities are caused 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...

Page 268: ...settings see on page 273 4 Operating and status field see on page 275 5 Display of the measurement result see on page 277 6 Display of the measurement point at the cursor position see on page 278 Sel...

Page 269: ...Signal generator f disturbance torque Kt 2 Pi J 1 velocity controlled system Signal generator Signal Generator Position controller Lageregler actual position Lageistwert desired position Lagesollwert...

Page 270: ...ecke Frequency response measurement Frequenzgangmessung Reflects the transmission behavior between the acceleration at the motor and the acceleration at the load to be moved Application for the analys...

Page 271: ...r Geschwindigkeitsregler actual velocity Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f disturbance torque St rmoment...

Page 272: ...orque f current controlled system position controlled system actual current actual velocity actual position actual position desired position Position controller Velocity controller Current controller...

Page 273: ...Closed 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 positi...

Page 274: ...Geschwindigkeitsistwert Current controller Stromregler actual current Stromistwert current controlled system Stromregelstrecke f disturbance torque St rmoment velocity controlled system Geschwindigke...

Page 275: ...ncy fZ The frequency response of the compliance corresponds to the disturbance step response in the time range Other settings 1 Excitation Serves to set the excitation signal of the frequency response...

Page 276: ...wever a smaller noise distance quality and an increased sensitiveness of the measurement towards unique disturbances Cumulated measurement b e An average is taken from all measurements in the result m...

Page 277: ...s kind of display is suitable for the analysis of temporal changes in the measured spectrum Operating and status field 1 Start and Stop of the measurement 2 Status display Current status of the measur...

Page 278: ...on of the drive which influence the measurement Result memory In the result memory the results of the N last measurements are kept This is important for the display of the cumulated measurement and fo...

Page 279: ...Parker EME Setting up Compax3 192 120113 N08 C3I12T11 December 2010 277 Display of the measurement result Frequency spectra Bode diagrams Value and phase...

Page 280: ...scale 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 instan...

Page 281: ...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 without...

Page 282: ...r only with difficulties One of the most important properties of linear systems is that a sine signal which is put through a linear system is still a sine signal at the output which differs from the i...

Page 283: ...signal to noise ratio increases with a rising frequency The value as well as the phase response of the displayed frequency response are disturbed at the same intensity this shows that disturbances are...

Page 284: ...requency response resonance point has its cause in a so called two mass system caused by the elastic coupling of two masses As upon closer examination each mechanic coupling shows a certain elasticity...

Page 285: ...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 the material used N m e g approx 80750N mm for steel D Torsional rigidity in m rad rA Outer radius of the hollow shaft rI Inner ra...

Page 286: ...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 Speci...

Page 287: ...values 286 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 calculat...

Page 288: ...ion Deceleration Acceleration Jerk and Deceleration Jerk Times for the acceleration deceleration and constant phase Maximum values for acceleration deceleration and speed Set deceleration and accelera...

Page 289: ...holding brake response time This is adjustable The power output stage current is de energized by Error or I2 X12 8 0V Thereafter the motor is braked to zero rotation speed on the set ramp When zero s...

Page 290: ...gram 289 I O assignment control word and status word with control via COM port 290 Examples include Control via COM port 294 Layout of the set table 297 Compa3 communication variants 298 COM port prot...

Page 291: ...city MoveAbs MoveRel RegSearch Gearing START START START START MoveAbs MoveRel RegSearch START START START START CW x1x x xxxx xxxx 0011 CW x1x x xxxx xxxx 1111 STOP with break STOP with break Homing...

Page 292: ...motion functions MoveAbs MoveRel MoveStart Velocity and Stop are possible with dynamic transition In the Continuous Motion status only a stop with termination Stop with break is possible 5 2 I O assi...

Page 293: ...have 24V level Maximum capacitive loading of the outputs 30nF max 2 Compax3 inputs can be connected Input Output extension see on page 134 The display of the digital inputs in the optimization window...

Page 294: ...1 X12 7 Bit2 JOG I2 X12 8 Bit3 JOG I3 X12 9 Bit4 O0 X12 2 only if O0 O3 is defined as freely assignable Bit5 O1 X12 3 Bit6 O2 X12 4 Bit7 O3 X12 5 Bit8 Address 0 Bit9 Address 1 Bit10 Address 2 Bit11 Ad...

Page 295: ...9 Position reached X12 3 Bit10 Axis without current excitation X12 4 Bit11 Axis stationary with current at setpoint value zero X12 5 Bit12 Machine zero home Position known Bit13 Programmable status bi...

Page 296: ...00 3 4007 0 1 0 0 0 0 0 0 0 0 0 0 0 1 1 1 Approach machine zero Command break Stop Start Addr4 Addr3 Addr2 Addr1 Addr0 O3 O2 O1 O0 Jog Jog Stop Quit motor o1100 3 4003 0 1 0 0 0 0 0 0 0 0 0 0 0 0 1 1...

Page 297: ...n be accessed via object 1000 3 Command o1000 3 The address of the set executed last can be read out via status word2 object 1000 4 o1000 4 Description of the set table The set table can be written in...

Page 298: ...7 Bit 6 Ena PSB2 Bit 5 Ena PSB1 Bit 4 Ena PSB0 Bit 3 Bit 2 PSB 2 Bit 1 PSB 1 Bit 0 PSB 0 Value 0 0 1 1 0 0 1 0 32 Command for the entry into the set table o1904 5 32 Modifications of set parameters mu...

Page 299: ...1 1908 1 Row 1 Array_Col9_ Row1 1909 1 set no 2 Set 3 Set 31 Row 31 Array_Col1 _Row31 1901 31 Row 31 Array_Col 2_Row31 1902 31 Row 31 Array_Col 3_Row31 1903 31 Row 31 Array_Col 4_Row31 1904 31 Row 31...

Page 300: ...via the respective Enable If Enable is set to 0 the respective PSB remains unchanged at the end of the motion set PSB0 X22 12 or SW 13 PSB1 X22 13 or SW 14 PSB2 X22 14 or SW 15 5 5 Compax3 communicati...

Page 301: ...Parker EME Control via RS232 RS485 USB 192 120113 N08 C3I12T11 December 2010 299 5 5 1 PC Compax3 RS232 PC Compax3 RS232 Connections to a device...

Page 302: ...Control via RS232 RS485 USB C3I12T11 300 192 120113 N08 C3I12T11 December 2010...

Page 303: ...Parker EME Control via RS232 RS485 USB 192 120113 N08 C3I12T11 December 2010 301 5 5 2 PC Compax3 RS485 PC Compax3 RS485...

Page 304: ...Control via RS232 RS485 USB C3I12T11 302 192 120113 N08 C3I12T11 December 2010 5 5 3 PC C3M device combination USB PC C3M device combination...

Page 305: ...SB 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 306: ...Control via RS232 RS485 USB C3I12T11 304 192 120113 N08 C3I12T11 December 2010 5 5 5 ETHERNET RS485 NetCOM 113 adapter Manufacturer link http www vscom de 666 htm http www vscom de 666 htm...

Page 307: ...810 2 Baud rate 115200 810 3 NodeAddress 1 254 810 4 Multicast Address Connection plan NetCom113 C3S Connection plan NetCom113 C3M X31 5 5 6 Modem MB Connectline MDH 500 MDH 504 With the modems MDH50...

Page 308: ...5 5 7 C3 settings for RS485 two wire operation C3 ServoManager RS485 wizard settings download with configuration in RS232 mode Communication settings C3S C3M Object Function Value 810 1 Protocol 16 t...

Page 309: ...07 5 5 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 0...

Page 310: ...88 RS232 SSK1 see on page 363 RS485 as SSK27 see on page 364 RS485 is activated by 5V on X10 1 USB SSK33 03 only for Compax3M 5 6 1 RS485 settings values If Master Pop is selected only the settings co...

Page 311: ...rmat 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 soft...

Page 312: ...entification Bit 2 is always 1 Bits 3 1 and 0 have 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...

Page 313: ...no is coded according to the DriveCom profile resp the CiA Device Profile DSP 402 Read object RdObj telegram SZ Adr L D0 D1 D2 D3 D4 D5 Dn Crc Hi Crc Lo 0xAX n Index1 Hi Index1 Lo Subindex1 Index2 Hi...

Page 314: ...ec 0xddcd 0xad2a 0xbd0b 0x8d68 0x9d49 0x7e97 0x6eb6 0x5ed5 0x4ef4 0x3e13 0x2e32 0x1e51 0x0e70 0xff9f 0xefbe 0xdfdd 0xcffc 0xbf1b 0xaf3a 0x9f59 0x8f78 0x9188 0x81a9 0xb1ca 0xa1eb 0xd10c 0xc12d 0xf14e 0...

Page 315: ...odem may be very slow and interference prone the operation of the Compax3 ServoManager via modem connection is on your own risk The function setup mode as well as the ROLL mode of the oscilloscope are...

Page 316: ...ase versions R5 0 The proceeding for Compax3 release versions R5 0 is described in an application example modem C3_Appl_A1016_language pdf on the Compax3 CD Connection Compax3 ServoManager Compax3 The...

Page 317: ...not support standard AT commands Then you can enter special AT commands Hint When operating the local modem on a telephone system it may be necessary to make a blind dialing Here the modem does not w...

Page 318: ...cable in the control cabinet Install modem in the control cabinet and connect to telephone line Remote diagnosis required On site Connect modem to Compax3 X10 via SSK31 Modem is automatically initial...

Page 319: ...dition_Value Input word of I O option ro 133 3 C3 DigitalOutputAddition_Value Output word for I O option r w 550 2 C3 ErrorHistory_1 Error n 1 in the error history ro 87 1 C3 ErrorHistoryNumber_1 Erro...

Page 320: ...oltageUq Provided voltage of quadrature current controller ro 683 2 C3 StatusDevice_ActualDeviceLoad Status of device load ro 683 3 C3 StatusDevice_ActualMotorLoad Status of long term motor load ro 68...

Page 321: ...reHeatSink PSUP heat dissipator temperature ro 550 1 C3Plus ErrorHistory_LastError Current error n ro 2020 7 C3Plus ExternalSignal_Accel_Munits Acceleration of the external signal source ro 2020 6 C3P...

Page 322: ...ctualTorque Status of actual torque ro 110 1 C3Plus Switch_DeviceFunction Value of the function switch on C3M ro 2107 1 C3Plus TrackingfilterPhysicalSource_TRFSpeed Time constant tracking filter physi...

Page 323: ...atus 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 7 1 D A Monitor A p...

Page 324: ...rake Caution A Z axis may drop down due to the brake delay times Most pending errors can be acknowledged with Quit The following errors must be acknowledged with Power on 0x7381 0x7382 0x7391 0x7392 0...

Page 325: ...5A 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 input I10...

Page 326: ...or 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 motors...

Page 327: ...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 C3H1xxV4 NFI 0...

Page 328: ...ompax3F 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 input te...

Page 329: ...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 SSK27 nn...

Page 330: ...345 Condenser module C4 359 Operator control module BDM 360 EAM06 Terminal block for inputs and outputs 361 Interface cable 363 Options M1x 368 10 1 Parker servo motors In this chapter you can read ab...

Page 331: ...nce 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 program downlo...

Page 332: ...to 6m 10 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 the...

Page 333: ...und 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 PSUP10 Re...

Page 334: ...01 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 10 2 1 2 Mains filter NFI01 02 for Compax3 S0xx V4 Compax3 S150...

Page 335: ...FI02 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 Connectio...

Page 336: ...al 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 Conne...

Page 337: ...Parker EME Compax3 Accessories 192 120113 N08 C3I12T11 December 2010 335 10 2 1 6 Mains filter NFI03 02 for PSUP10D6 Dimensional drawing...

Page 338: ...ng 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 rated...

Page 339: ...er 2010 337 10 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 10 2 2 4 Wiring of the motor output f...

Page 340: ...ducing the low frequency interferences on the mains side 10 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 WxDxH...

Page 341: ...8 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 MOK 5 9...

Page 342: ...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 sold...

Page 343: ...x3 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 BU WH BN...

Page 344: ...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 BK BU B...

Page 345: ...10 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 design...

Page 346: ...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 V W...

Page 347: ...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 resistor see on...

Page 348: ...50 Permissible braking pulse power BRM05 01 with C3S075V4 351 Permissible braking pulse power BRM05 02 with C3S075V4 351 Permissible braking pulse power BRM04 01 with C3S150V2 352 Permissible braking...

Page 349: ...n 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 1 1s 1...

Page 350: ...wer 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 10 4 1 3 Permissible braking pulse power BRM08 01 with C3S025V2 BRM08 01 230V 100 1000 10...

Page 351: ...M09 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 10 4 1 5 Permissible braking pulse power BRM10 01 with C3S150V4 BRM10 01 400 480V 100 1000 10000...

Page 352: ...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 10 4 1 7 Permissible braking pulse power BRM05 01 with C3S063V2 BRM05 01 230V 100 1000...

Page 353: ...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 10 4 1 9 Permissible braking pulse power BRM05 02 with C3S075V4 BRM05 02 400 480V 100 1000 10000 10000...

Page 354: ...RM04 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 10 4 1 11 Permissible braking pulse power BRM04 01 with C3S300V4 BRM04 01 400V 100 1000 10000 10...

Page 355: ...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 10 4 1 13 Permissible braking pulse power BRM04 02 with C3S300V4 BRM04 02 400V 1000 10000 100000...

Page 356: ...3 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 10 4 1 15 Permissible braking pulse power BRM11 01 with C3H0xxV4 BRM11 01 400V 480V 1000 10000 100000 0...

Page 357: ...ulse 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 10 4 1 17 Permissible braking pulse power BRM13 01 with PSUP10D6 on request 10 4...

Page 358: ...resistors 356 BRM5 01 braking resistor 356 Braking resistor BRM5 02 BRM9 01 BRM10 01 357 Ballast resistor BRM4 0x and BRM10 02 357 Braking resistor BRM11 01 BRM12 01 358 Ballast resistor BRM13 01 BRM...

Page 359: ...2 BRM9 01 BRM10 01 Dimensional drawing 95 97 96 98 250 330 64 120 6 5 64 92 12 1 10 4 2 4 Ballast resistor BRM4 0x and BRM10 02 Dimensional drawing 95 97 96 98 A B C 120 6 5 C 92 12 1 1 thermal overcu...

Page 360: ...1 01 BRM12 01 Dimensional drawing H 490 380 10 5 B2 B1 B Dimensions in mm BRM11 01 BRM12 02 B 330 B1 295 B2 270 H 260 Weight 6 0 7 0 10 4 2 6 Ballast resistor BRM13 01 BRM14 01 Dimensional drawing 303...

Page 361: ...December 2010 359 10 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 mm Modu...

Page 362: ...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 values D...

Page 363: ...nd 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 for X11...

Page 364: ...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 Compax...

Page 365: ...owerPLmC 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 SSK 3 1 C...

Page 366: ...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 cke Bri...

Page 367: ...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 324 10 8 4 Ref X11 SSK21 Cable for X11 with open ends 5 S...

Page 368: ...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 3 2 1...

Page 369: ...ompax3 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 WH GN...

Page 370: ...4 7 M I5 Start edge triggered 8 M I6 no Stop 2nd Stop input 9 M I7 Open motor holding brake 10 M O8 Machine zero home Position known 11 I 24 VDC power supply 12 M O9 programmable status bit 0 PSB0 13...

Page 371: ...he 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 circuit pr...

Page 372: ...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 neither by...

Page 373: ...ster 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 missing no t...

Page 374: ...mpax3S1xxV2 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 20A MCB m...

Page 375: ...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 voltage 3...

Page 376: ...32Arms 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 Compax3H Cont...

Page 377: ...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 loss fo...

Page 378: ...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 for In 70...

Page 379: ...W 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 H050V4 H0...

Page 380: ...itching 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 52Arms...

Page 381: ...s 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 Compax3H...

Page 382: ...system used Motors and feedback systems supported Motors Direct drives Linear motors Torque motors Sinusoidally commutated synchronous motors Maximum electrical turning frequency 1000Hz Max velocity...

Page 383: ...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 max 4...

Page 384: ...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 nominal power...

Page 385: ...5 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 PSUP20D6 7...

Page 386: ...low 100mm Protection type IP20 Drawings Mounting see on page 68 see on page 74 Size weight PSUP Compax3M Device type Dimensions HxWxD mm Weight kg PSUP10D6 360 x 50 x 263 3 95 PSUP20D6 PSUP30D6 360 x...

Page 387: ...LC 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 saf...

Page 388: ...ory 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 Compax3H G...

Page 389: ...tions 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 tran...

Page 390: ...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 control se...

Page 391: ...jerk Different machine zero modes Absolute continuous operation Actual position Encoder simulation Resolution 4 16384 Increments revolution Signal monitor 2 channels 10 V analog Resolution 8 Bit 8 di...

Page 392: ...raking resistor high voltage supply plug X2 for 3AC 230VAC 240VAC devices 37 Braking resistor supply voltage C3H 59 Braking resistor temperature switch PSUP mains module 48 Braking resistor BRM11 01 B...

Page 393: ...ller optimization disturbance and setpoint behavior advanced 234 Controller optimization disturbance and setpoint behavior standard 231 Controller optimization guiding transmission behavior 237 Contro...

Page 394: ...rection 158 External setpoint generation 229 F Feedback error compensation 181 Feedforward channels 209 Ferrite 34 Filter 216 Flow chart controller optimization of a direct drive 236 Following Error P...

Page 395: ...as machine zero 122 MN M 11 14 With direction reversal switches on the negative side 117 MN M 128 129 Stromschwelle while moving to block 118 MN M 130 131 Acquire absolute position via distance coding...

Page 396: ...r accessories 324 Order code for mains module PSUP 324 Oscillating plant 193 Oscilloscope operating mode switch 167 Other 223 Other motor 187 Other settings 273 Output wiring of digital outputs 369 Ov...

Page 397: ...n in the Compax3M 89 Safety switching circuits 88 Safety technology option for Compax3M axis controller 51 Safety conscious working 16 Saturation behavior 191 225 Saturation values 179 Scope 165 Scope...

Page 398: ...me frame signal source master 157 Time function and power density spectrum of Compax3 setpoint generator with different jerk settings 229 Tips 246 Too high overshoot on velocity 180 Toothed belt drive...

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