Parker Compax3 I10T10 Operating Instructions Manual Download Page 134

Page: 134 / 230

Setting

up Compax3

C3I10T10

134

192-120100 N16 C3I10T10 - December 2010

PI - current controller

eas

ing of

tual

2010.5 Rising of current

2011.5 Filter current
setpoint value

2011.6 Filter
Rising of current

Current

setpoint

value

Current-
Limiting

2220.26 Filter current actual value

688.19 Actual
current effective

688.8 Control

deviationof

current effective

688.18 Setpoint
current effective

688.11
Voltage

control
signal

2100.8 Bandwidth
current controller
2100.9 Damping
current controller

2010.4 Current
feed-forward

Synchronous
Motor

Asynchronous
Motor

±10V analog current setpoint

685.3

170.3

170.2

170.4

X11/9 +

X11/11-

Actual

value

monitoring

Analog 0

Precise

interpolation

config

Controller settings

Unit: %

2100.8: Current regulator bandwidth

Range: 10 ... 200

Standard value: 50%

Unit:

2100.9: Current loop - Damping

Range: 0 ... 500

Standard value: 100%

Unit: %

2100.7: D-component of speed controller

Range: 0 ... 4 000 000

Standard value: 0

Summary of Contents for Compax3 I10T10

Page 1: ...echnical changes 27 12 10 16 29 192 120100 N16 C3I10T10 December 2010 The data correspond to the current status at the time of printing Operating instructions Compax3 I10T10 Step Direction and Analog...

Page 2: ...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 3: ...ax3M 21 1 7 4 Conditions of utilization for UL certification Compax3H 22 1 7 5 Current on the mains PE leakage current 23 1 7 6 Supply networks 23 2 Compax3 with analogue and step direction input 24 3...

Page 4: ...3H 57 3 6 8 1 Connect braking resistor C3H 57 3 6 8 2 Power supply voltage DC C3H 57 3 6 8 3 Connection of the power voltage of 2 C3H 3AC devices 58 3 7 Communication interfaces 59 3 7 1 RS232 RS485 i...

Page 5: ...teristics STO Compax3S 86 3 10 3 STO safe torque off with Compax3m Option S1 87 3 10 3 1 Safety switching circuits 87 3 10 3 2 Safety notes for the STO function in the Compax3M 88 3 10 3 3 Conditions...

Page 6: ...ips 128 4 4 4 Control Loop Dynamics 129 4 4 4 1 Velocity loop stiffness 130 4 4 4 2 Velocity loop damping 131 4 4 4 3 Filter Actual velocity 131 4 4 4 4 Advanced control parameters 131 4 4 5 Input sim...

Page 7: ...70 9 1 1 1 Transmitter systems for direct drives 171 9 1 1 2 Linear motors 172 9 1 1 3 Torque motors 172 9 1 2 Rotary servo motors 172 9 2 EMC measures 173 9 2 1 Mains filter 173 9 2 1 1 Mains filter...

Page 8: ...with C3S300V4 194 9 4 1 12 Permissible braking pulse power BRM04 02 with C3S150V2 195 9 4 1 13 Permissible braking pulse power BRM04 02 with C3S300V4 195 9 4 1 14 Permissible braking pulse power BRM0...

Page 9: ...ompax3S025V2 supplement Compax3S063V2 supplement Compax3S100V2 supplement Compax3S150V2 supplement Compax3S015V4 supplement Compax3S038V4 supplement Compax3S075V4 supplement Compax3S150V4 supplement C...

Page 10: ...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 11: ...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 12: ...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 13: ...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 14: ...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 15: ...g time must be awaited After switching off the supply voltage it may take up to 10 minutes to discharge the capacitors Danger of electric shock in case of non respect Before you can work on the device...

Page 16: ...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 17: ...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 18: ...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 19: ...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 20: ...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 21: ...conductors shall be at least 60 C Use copper lines only Please use the cables described in the accessories chapter see on page 165 see on page 166 they feature a temperature rating of at least 60 C M...

Page 22: ...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 23: ...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 24: ...d openness for various sender systems are fundamental requirements for a fast and high quality automation of movement The structure and size of the device are of considerable importance High quality e...

Page 25: ...t value feedback 10V predefined current setpoint with encoder emulation for actual position value feedback and configurable holding functions Step direction command Input With step direction signals a...

Page 26: ...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 27: ...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 28: ...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 29: ...pator can reach very high temperatures 70 C Compax3 device Line cross sections of the line connections X1 X2 X3 Cross section Minimum Maximum mm2 S025V2 S063V2 0 25 2 5 AWG 24 12 S100V2 S150V2 S015V4...

Page 30: ...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 31: ...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 32: ...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 33: ...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 34: ...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 35: ...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 36: ...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 37: ...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 38: ...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 39: ...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 40: ...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 41: ...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 42: ...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 43: ...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 44: ...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 45: ...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 46: ...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 47: ...100 F per kW of the temporal medium value of the total power transmissions power dissipation in the axis system Reference value for the required capacity in an axis system Example PSUP20 1175 F with o...

Page 48: ...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 49: ...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 50: ...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 51: ...xV4 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 installed i...

Page 52: ...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 shieldin...

Page 53: ...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 54: ...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 55: ...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 56: ...not overloaded Therefore wait at least 1 minute before switching on the device again Connection of mains voltage figure see on page 51 Mains connection Compax3HxxxV4 3 400VAC Device type Compax3 H050V...

Page 57: ...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 58: ...to connect the power voltage in order to use one brake circuit for two servo axes as this function cannot be ensured reliably Caution In case of non compliance with the following instructions the dev...

Page 59: ...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 60: ...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 61: ...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 62: ...me time as X15 on Compaxx3M Resolver cables see on page 182 can be found in the accessories chapter of the device description SinCos cables see on page 183 can be found in the accessories chapter of t...

Page 63: ...ut 14Bit 10V 10 factory use 11 Ain0 analog setpoint input 14Bit 10V 12 Input direction RS422 5V level B Encoder input simulation 13 factory use N Encoder simulation 14 factory use N Encoder simulation...

Page 64: ...velocity speed setpoint see on page 103 mode 11 I 24V input for the digital outputs Pins 2 to 5 12 n c Zero pulse 13 I Step input 24V level A 24V level 14 I Direction input 24V level B 24V level 15 Ou...

Page 65: ...ND24V of the Compax3 is lost it can not be guaranteed that the Compax3 detects a logical 0 2 The INSOR NPN types INHE5212 and INHE5213 manufactured by Sch nbuch Electronic do correspond to this specif...

Page 66: ...12 7 0V Set motor to command value 0 With a rotating motor this will be decelerated to a speed of 0 via a settable deceleration ramp X12 7 24 V DC Current setpoint value active The motor will be accel...

Page 67: ...apter you can read about 67 Mounting and dimensions PSUP C3M 71 Mounting and dimensions C3H 73 3 9 1 Mounting and dimensions Compax3S 3 9 1 1 Mounting and dimensions Compax3S0xxV2 Mounting 3 socket he...

Page 68: ...0T10 December 2010 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 conve...

Page 69: ...10 December 2010 69 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 conv...

Page 70: ...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 at...

Page 71: ...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 suf...

Page 72: ...ting and dimensions PSUP20 PSUP30 C3M300D6 Information on PSUP20 PSUP30 C3M300D6 4 socket head screws M5 Mounting 100mm 360mm 263mm 96mm 400mm 90 50 5mm 50 5mm 101mm Tolerances DIN ISO 2768 f 3 9 2 3...

Page 73: ...20mm 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 f...

Page 74: ...2 120100 N16 C3I10T10 December 2010 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 M...

Page 75: ...Parker EME Compax3 device description 192 120100 N16 C3I10T10 December 2010 75 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 76: ...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 p...

Page 77: ...49 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 exampl...

Page 78: ...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 C13T...

Page 79: ...s 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...

Page 80: ...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 mechanical...

Page 81: ...lled 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 e...

Page 82: ...6 C3I10T10 December 2010 Note on error switch off Motor_Stalled Motor stalled and If the safe torque off function of Compax3 is required or used for a machine or system the two errors Tracking followi...

Page 83: ...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 also valid for one or multi...

Page 84: ...atures 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 of...

Page 85: ...e 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 energ...

Page 86: ...andstill 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 driv...

Page 87: ...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 devic...

Page 88: ...tenance 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 93 The safe...

Page 89: ...ce description 192 120100 N16 C3I10T10 December 2010 89 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 90: ...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 The...

Page 91: ...ill 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...

Page 92: ...his 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 servo...

Page 93: ...ge 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...

Page 94: ...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 teste...

Page 95: ...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...

Page 96: ...e point and switching frequency of the motor current 99 Ballast resistor 102 General drive 102 Command interface 103 Setpoint control 107 Limit and monitoring settings 108 Configuration name comments...

Page 97: ...e 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 g...

Page 98: ...ply 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 Motor...

Page 99: ...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 100: ...hing 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 32...

Page 101: ...ms 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 dependi...

Page 102: ...ervo 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 mor...

Page 103: ...erface of 10V Step direction input 24V level and Encoder input 24V level 4 1 7 1 10V analogue speed setpoint commanding and encoder emulation Input 10V analogue 14Bit resolution 125 s scanning rate 10...

Page 104: ...se of rotation i e the direction of movement of the motor is reversed in the case of equal setpoint Time frame predefined setpoint value Averaging and a following filter interpolation can help to avoi...

Page 105: ...Increments Range Standard value 1024 Number of steps per motor revolution pitch Invert Motor Rotation Direction Polarity Unit Range no yes Standard value no Reverse direction inverts the sense of rota...

Page 106: ...e the direction of movement of the motor is reversed in the case of equal setpoint 4 1 7 7 10V analog current setpoint commanding and encoder emulation Input 10V analogue 14Bit resolution 62 5 s scan...

Page 107: ...y 620kHz track A or B i e with Increments per revolution max Velocity 1024 36000 rpm 4096 9000 rpm 16384 2250 rpm Invert Motor Rotation Direction Polarity Unit Range no yes Standard value no Reverse d...

Page 108: ...lue 100 The entered value specifies the number of revolutions per second rp s by which the rotation speed velocity changes in 1second Deceleration ramp energize motor Unit U s s Range 10 10000 Standar...

Page 109: ...he given value If the speed actual value exceeds the preset maximum speed by 21 switching off limit speed error 0x7310 is triggered In the operating mode 10V analogue current command value and encoder...

Page 110: ...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 111: ...ection Input RS422 112 Encoder input RS422 112 Encoder input 24V 113 For testing and understanding the function of the device the required input connections are specified below for making simple movem...

Page 112: ...the selected mode of operation 4 2 1 Analog command interface 10V with encoder simulation Required wiring Plug Pin Assignment X11 9 Analog setpoint input positive terminal X11 11 Analog setpoint inpu...

Page 113: ...Parker EME Setting up Compax3 192 120100 N16 C3I10T10 December 2010 113 4 2 4 Encoder input 24V Required wiring Plug Pin Assignment X12 12 N is not evaluated X12 13 A X12 14 B X12 15 0V...

Page 114: ...Setting up Compax3 C3I10T10 114 192 120100 N16 C3I10T10 December 2010 4 3 Device status Key I0 I1 I3 Input 24VDC I0 I1 Input 0V I2 positive edge on I2...

Page 115: ...Ackn I3 Open brake the device is brought into various device states The transitions are implemented via ramps see on page 107 and the controlled switching of motor brake see on page 143 The ramps are...

Page 116: ...ter you can read about 117 Scope 118 Load identification 126 Control Loop Dynamics 129 Input simulation 139 Setup mode 141 Alignment of the analog inputs 142 Turning the motor holding brake on and off...

Page 117: ...page 118 Window 2 Optimization Controller optimization see on page 129 D A Monitor see on page 163 Output of status values via 2 analog outputs Scope Settings Window 3 Status Display Compax3 Error Hi...

Page 118: ...e 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 in...

Page 119: ...s 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 scrolling is ac...

Page 120: ...ction 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 and...

Page 121: ...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 ti...

Page 122: ...ect 3 Set signal source with object name number and if necessary unit 4 Set Channel offset to 0 DC Display of the measurement values with constant component 5 Select channel display GND DC AC DIG AC D...

Page 123: ...tings 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 proj...

Page 124: ...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 T...

Page 125: ...Parker EME Setting up Compax3 192 120100 N16 C3I10T10 December 2010 125 Example Only b0 and b1 are to be displayed Set display mask to 03...

Page 126: ...ed by friction 4 4 3 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 127: ...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 128: ...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 129: ...e settings are made in the controller optimization window 1 Selection of the optimization tab 2 Selection of the optimization value 3 List of the optimization objects with object name and object numbe...

Page 130: ...shold value Set the stiffness with an adequate safety margin with respect to the oscillation threshold value On increasing stiffness Control action becomes slower This increases the tracking error Cur...

Page 131: ...y Can be used to improve filter the rotation speed signal The greater the value the stronger becomes the filter effect However the rotation speed delay increases with this value so that the maximum po...

Page 132: ...210 1 2210 2 T 2100 21 682 5 681 5 Istwerterfassung Actual Value Monitoring KPv 2100 7 T T 2011 5 2011 4 T T Demand acceleration External Signale Monitoring Demand Velocity Demand position Velocity fe...

Page 133: ...4 T T Demand acceleration Demand Velocity Velocity feedforward Demand velocity actual velocity filtered Control deviation of velocity Acceleration feedforward Feedforwaed current jerk demand current r...

Page 134: ...ive 688 18 Setpoint current effective 688 11 Voltage control signal 2100 8 Bandwidth current controller 2100 9 Damping current controller 2010 4 Current feed forward Synchronous Motor Asynchronous Mot...

Page 135: ...e the deadband A noisy feedback signal necessitates to set an unnecessarily large deadband Noisy feedback signal To avoid this the time constant of the following error filter can be increased The foll...

Page 136: ...itioning Switching this information to the controller then makes it possible to reduce tracking errors to a minimum The transient response of the controller is also improved and the drive dynamics are...

Page 137: ...setpoint control the standard value 0 otherwise 500 2010 2 Acceleration feed forward Unit Range 0 500 Standard value 100 t t 2 1 3 4 Additional effect of forward acceleration control 1 Speed setpoint...

Page 138: ...current feedforward 1 Speed setpoint value 2 Actual speed value 3 Motor current 4 Following error 2010 5 Current rise Rising of current Para Unit Range 0 500 Standard value 0 Influences the rising of...

Page 139: ...puts 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 analo...

Page 140: ...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 141: ...ertheless 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 stop if...

Page 142: ...t 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 value for 0V input voltag...

Page 143: ...pplication Error or The power output stage current is de energized by I0 X12 6 0 Thereafter the motor is braked to zero rotation speed on the set ramp When zero speed is reached the motor is de energi...

Page 144: ...ants PC Compax3 RS232 In this chapter you can read about 145 PC Compax3 RS485 147 PC C3M device combination USB 148 USB RS485 Moxa Uport 1130 adapter 149 ETHERNET RS485 NetCOM 113 adapter 150 Modem MB...

Page 145: ...Parker EME Communication 192 120100 N16 C3I10T10 December 2010 145 5 1 1 PC Compax3 RS232 PC Compax3 RS232 Connections to a device...

Page 146: ...Communication C3I10T10 146 192 120100 N16 C3I10T10 December 2010...

Page 147: ...Parker EME Communication 192 120100 N16 C3I10T10 December 2010 147 5 1 2 PC Compax3 RS485 PC Compax3 RS485...

Page 148: ...Communication C3I10T10 148 192 120100 N16 C3I10T10 December 2010 5 1 3 PC C3M device combination USB PC C3M device combination...

Page 149: ...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 used wi...

Page 150: ...Communication C3I10T10 150 192 120100 N16 C3I10T10 December 2010 5 1 5 ETHERNET RS485 NetCOM 113 adapter Manufacturer link http www vscom de 666 htm http www vscom de 666 htm...

Page 151: ...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 MDH500 and M...

Page 152: ...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 wire...

Page 153: ...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 4 wire...

Page 154: ...2 SSK1 see on page 205 RS485 as SSK27 see on page 206 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 compatibl...

Page 155: ...llowed 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 software ve...

Page 156: ...ation 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 the address bit Bit 0 1 shows if the start code is followe...

Page 157: ...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 Index2...

Page 158: ...cd 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 0xe16f 0...

Page 159: ...y 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 not av...

Page 160: ...sions 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 The Compax3 ServoManager 1 establishes a RS232 con...

Page 161: ...pport 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 wait for...

Page 162: ...the control cabinet and connect to telephone line On site Remote diagnosis required Connect modem to Compax3 X10 via SSK31 Modem is automatically initialized Local Connect modem to telephone line Esta...

Page 163: ...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 6 1 D A Monitor A p...

Page 164: ...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 165: ...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 166: ...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 167: ...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 168: ...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 169: ...m 0 17 0 25 0 5 1 0 3 0 5 0 10 0 Order code 23 20 21 01 22 03 05 Length A Pop 1 Compax3 variable the last two numbers according to the length code for cable for example SSK27 nn 01 6 Order code SSK27...

Page 170: ...resistors 187 Condenser module C4 201 Operator control module BDM 202 EAM06 Terminal block for inputs and outputs 203 Interface cable 205 9 1 Parker servo motors Direct drives In this chapter you can...

Page 171: ...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 172: ...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 the I...

Page 173: ...nd 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 Ref...

Page 174: ...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 9 2 1 2 Mains filter NFI01 02 for Compax3 S0xx V4 Compax3 S150...

Page 175: ...I02 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 Connection...

Page 176: ...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 177: ...Parker EME Compax3 Accessories 192 120100 N16 C3I10T10 December 2010 177 9 2 1 6 Mains filter NFI03 02 for PSUP10D6 Dimensional drawing...

Page 178: ...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 179: ...ber 2010 179 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 output fi...

Page 180: ...ducing 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 WxDxH 1...

Page 181: ...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 1...

Page 182: ...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 solder side...

Page 183: ...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 BN BK GN 0 5 15 14 13 12 11...

Page 184: ...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 BK GN BK YE BK GN BK WH BN GN...

Page 185: ...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 designa...

Page 186: ...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 187: ...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 188: ...92 Permissible braking pulse power BRM05 01 with C3S075V4 193 Permissible braking pulse power BRM05 02 with C3S075V4 193 Permissible braking pulse power BRM04 01 with C3S150V2 194 Permissible braking...

Page 189: ...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 1s...

Page 190: ...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 9 4 1 3 Permissible braking pulse power BRM08 01 with C3S025V2 BRM08 01 230V 100 1000 100...

Page 191: ...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 9 4 1 5 Permissible braking pulse power BRM10 01 with C3S150V4 BRM10 01 400 480V 100 1000 10000 1...

Page 192: ...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 1000...

Page 193: ...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 10000 100000...

Page 194: ...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 9 4 1 11 Permissible braking pulse power BRM04 01 with C3S300V4 BRM04 01 400V 100 1000 10000 100...

Page 195: ...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 100000 0...

Page 196: ...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 9 4 1 15 Permissible braking pulse power BRM11 01 with C3H0xxV4 BRM11 01 400V 480V 1000 10000 100000 0...

Page 197: ...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 9 4 1 17 Permissible braking pulse power BRM13 01 with PSUP10D6 on request 9 4 1...

Page 198: ...istor BRM5 02 BRM9 01 BRM10 01 198 Ballast resistor BRM4 0x and BRM10 02 199 Braking resistor BRM11 01 BRM12 01 199 Ballast resistor BRM13 01 BRM14 01 200 9 4 2 1 BRM8 01braking resistors Dimensional...

Page 199: ...l 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 BRM11 0...

Page 200: ...C3I10T10 200 192 120100 N16 C3I10T10 December 2010 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 A A C...

Page 201: ...December 2010 201 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 mm Modul...

Page 202: ...e 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 Di...

Page 203: ...d 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 204: ...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 SSK23 X11 to EAM 06 01 5 2 7 3 6 9 1 I O Modul Compax3 4 8 10 11 12 13 14 15 GY PK GN R...

Page 205: ...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 206: ...ig 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 Bridge Schirm gro fl chig auf Geh use leg...

Page 207: ...4 5 11 12 13 14 15 6 7 8 9 10 SSK22 Cable for X12 X22 with flying leads You can find the length code in the Order Code Accessories see on page 166 9 8 4 Ref X11 5 Screen 2 7 3 6 9 1 Compax3 4 8 10 11...

Page 208: ...0 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 2x0 25 2x0 25 2x0 25 2x0 25 SSK29 Cable from...

Page 209: ...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 YE BN N...

Page 210: ...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 211: ...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 212: ...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 213: ...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 214: ...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 215: ...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 216: ...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 217: ...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 218: ...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 219: ...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 220: ...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 221: ...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 222: ...low 100mm Protection type IP20 Drawings Mounting see on page 67 see on page 73 Size weight PSUP Compax3M Device type Dimensions HxWxD mm Weight kg PSUP10D6 360 x 50 x 263 3 95 PSUP20D6 PSUP30D6 360 x...

Page 223: ...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 224: ...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 225: ...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 226: ...arity can be switched off even odd 2 or 4 wire USB Compax3M USB 2 0 Full Speed compatible Inputs Outputs Command interface optional 10V analog speed or current setpoint 14Bits 62 5 s sampling rate Ste...

Page 227: ...13 Circuit layout overview 83 Circuit 84 COM port protocol 154 Command interface 103 Command value release X12 7 66 Communication 144 Communication Compax3M 60 Communication in the axis combination c...

Page 228: ...nment 142 General Description 76 General drive 102 General hazards 14 I I O interface X12 X22 207 Important terms and explanations 76 Input simulation 139 Installation and dimensions Compax3 67 Instal...

Page 229: ...with C3S150V4 192 BRM11 01 with C3H0xxV4 196 BRM12 01 with C3H1xxV4 197 BRM13 01 with PSUP10D6 197 BRM14 01 with PSUP10D6 197 Permissible braking pulse powers of the braking resistors 188 Plug and pi...

Page 230: ...acteristics STO Compax3S 86 Technical details of the Compax3M S1 option 95 Temperature switch PSUP mains module 48 Test commissioning Compax3 S0xx V2 I10 111 Test commissioning of a Compax3 axis 98 Ti...

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