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Parker EME

Setting up Compax3

I11 T11 192-120101 N6 - March 2004

55

4.1.9. Positioning

Positioning takes place with 31 positioning data records (15 when operating with
machine zero) which are defined via address, mode (POSA,POSR), target position,
speed, acceleration, deceleration (delay) and number of repetitions.

The desired positioning data record is selected via the inputs (I3-I7) and started via
a START edge.
The positioning data record address is thereby read in with the START edge.

Minimum pulse duration: 1ms

Maximum 1.4ms (0.4 - 1.4ms)

 

4.1.9.1 Operating 

modes

Operating mode: absolute mode or endless mode

A fixed measuring system is associated with the travel range: A fixed defined zero
point exists. All positions are referred to this zero point.

-100

-200

-300

0

+100

+200

+300

Function

Condition START

edge

Reaction time

Absolute mode

Summary of Contents for Compax3 Series

Page 1: ...al changes 10 03 04 09 06 I11 T11 192 120101 N6 March 2004 The data correspond to the technical state at the time of printing Operating instructions Compax3 I11 T11 Positioning via digital I Os I11 T1...

Page 2: ...lectromechanical Automation 21 Balena Close Poole Dorset England BH17 DX UK Tel 44 0 1202 69 9000 Fax 44 0 1202 69 5750 E mail sales digiplan parker com mailto sales digiplan parker com Internet www p...

Page 3: ...11 1 3 2 5 CamEditor cam creation for C3 T40 11 1 3 3 Complements corrections in manual and online help 11 1 4 Safety Instructions 12 1 4 1 General hazards 12 1 4 2 Safety conscious working 12 1 4 3 S...

Page 4: ...esistor 39 4 1 4 General drive 40 4 1 5 Defining the reference system 40 4 1 5 1 Measure reference 41 4 1 5 2 Machine reference modes MN Ms 44 4 1 5 3 Adjusting the machine zero proximity switch 48 4...

Page 5: ...otors 108 8 3 1 Direct drives 108 8 3 1 1 Transmitter systems for direct drives 108 8 3 1 2 Linear motors 109 8 3 1 3 Torque motors 109 8 3 2 Rotary servo motors 110 8 3 2 1 Motor data table for stand...

Page 6: ...r output choke MDR01 02 126 8 5 2 4 Wiring of the motor output filter 126 8 6 External ballast resistors 127 8 6 1 BRM8 01 ballast resistors 128 8 6 2 BRM5 01 ballast resistor 128 8 6 3 Ballast resist...

Page 7: ...conditions 13 Conditions of utilization 14 1 1 Device assignment This manual applies to the following devices Compax3 S025 V2 supplement Compax3 S063 V2 supplement Compax3 S038 V4 supplement Compax3...

Page 8: ...ain in 100mA 025 2 5A V2 230VAC single phase V4 400VAC three phase 3 Unique number of the particular device 4 Nominal power supply voltage of the device 5 Designation of the feedback system F10 Resolv...

Page 9: ...dule F12 supports the following feedback systems Distance coding with 1VSS Interface Distance coding with RS422 Interface Encoder 1 3 1 2 Switching frequency of the power output stage can be set The s...

Page 10: ...tools In this chapter you can read about C3 ServoManager configuring Compax3 setup and optimization 10 C3 MotorManager configuration of almost any motors 11 C3 IEC61131 3 Debugger 11 CoDeSys IEC61131...

Page 11: ...from 10kgmm2 to 1kgmm2 Configuration of rotatory motors with analog hall sensors was completed 1 3 2 3 C3 IEC61131 3 Debugger Forcing of the inputs for T30 and T40 is possible 1 3 2 4 CoDeSys IEC6113...

Page 12: ...e 1 4 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 their tra...

Page 13: ...linear drives present are mounted securely Check that all live terminals are secured against contact Fatal voltage levels of to 750V occur 1 5 Warranty conditions The device must not be opened Do not...

Page 14: ...ing mains filters are available for independent utilization Device Compax3 Order No Condition S0xx V2 NFI01 01 Only for motor lines longer than 10m S038 S075 S150 V4 NFI01 02 Only for motor lines long...

Page 15: ...n has low resistance and low inductance Never mount the filter housing and the device on paint coated surfaces Signal lines and power lines should be installed as far apart as possible Signal leads sh...

Page 16: ...ng of at least 60 C Maximum ambient temperature 45 C Suitable for use on a circuit capable of delivering not more than 500 rms symmetrical amperes 400 volts maximum ATTENTION Danger of electric shock...

Page 17: ...l requirements for a fast and high quality automation of movement The structure and size of the device are of considerable importance Powerful electronics is an important feature which made it possibl...

Page 18: ...elect between two operating modes Absolute mode or Endless mode Furthermore you can activate the functions Manual and Manual via a set up mode Configuration Configuration is made on a PC using the Com...

Page 19: ...E Compax3 device description I11 T11 192 120101 N6 March 2004 19 In this chapter you can read about Plug and connector assignment Compax3 20 Installation and dimensions Compax3 31 3 Compax3 device des...

Page 20: ...00VAC devices 23 Motor Motor brake plug X3 24 Control voltage 24 VDC enable plug X4 25 RS 232 RS485 interface plug X10 26 Analog Encoder Plug X11 27 Digital inputs outputs plug X12 28 Resolver Feedbac...

Page 21: ...s invalid flashing off Axis without current excitation off Flashes slowly Power supplied to axis commutation calibration running off Flashes quickly Axis with current excitation off on Axis in fault s...

Page 22: ...f Maximum fuse rating per device 10A automatic circuit breaker K 16 A automatic circuit breaker K 25A automatic circuit breaker K Always switch devices off before wiring them Dangerous voltages are st...

Page 23: ...not be connected 3 1 5 Ballast resistor high voltage supply plug X2 for 400VAC devices PIN Description 1 Ballast resistor 2 Ballast resistor 3 PE 4 DC high voltage supply 5 DC high voltage supply Cau...

Page 24: ...ollowing instructions the device may be destroyed You can only connect two similar devices same power supply same rated currents Connected devices must always be fed separately via the AC power supply...

Page 25: ...n for example from Pin 1 Safe standstill X4 3 0V For implementation of the Safe standstill safety feature in accordance with the protection against unexpected start up described in EN1037 Please refer...

Page 26: ...RS485 RS232 PIN X10 RS232 Sub D 1 Enable RS232 0V 2 RxD 3 TxD 4 DTR 5 GND 6 DSR 7 RTS 8 CTS 9 5V RS485 2 wire PIN X10 RS485 two wire Sub D Pin 1 and 9 jumpered externally 1 Enable RS485 5V 2 res 3 Tx...

Page 27: ...lution 4 D A monitor channel 0 10V 8 bit resolution 5 5V output for encoder max 150mA 6 A Encoder simulation 7 A Encoder simulation 8 B Encoder simulation 9 Reserved 10 Reserved 11 Reserved 12 B Encod...

Page 28: ...setpoint 0 max 100mA 6 I0 No stop 7 I1 Start edge I2 1 Quit positive edge Energize the motor The address of the current positioning data record is newly read in 8 I2 0 Motor deenergized with delay 9 I...

Page 29: ...F1 Delayed action fuse F2 Quick action electronic fuse can be reset by switching the 24VDC supply off and on again 3 1 11 Resolver Feedback connector X13 PIN X13 Feedback X13 High Density Sub D depend...

Page 30: ...2004 Note on F12 5V Pin 4 is measured and controlled directly at the end of the line via Sense and Sense Maximum length of cable 100m Caution Pin 4 and Pin 5 must under no circumstances be connected R...

Page 31: ...n read about Installation and dimensions Compax3 S0xx V2 31 Installation and dimensions Compax3 S038 and S075 V4 32 Installation and dimensions Compax3 S150 V4 33 Installation and dimensions Compax3 S...

Page 32: ...T11 192 120101 N6 March 2004 3 2 2 Installation and dimensions of Compax3 S038 and S075 V4 Mounting 3 socket head screws M5 Mounting spacing Device separation 15 mm 248 80 259 267 279 65 Compax3 S038...

Page 33: ...mpax3 device description I11 T11 192 120101 N6 March 2004 33 3 2 3 Installation and dimensions of Compax3 S150 V4 Mounting 4 socket head screws M5 Mounting spacing Device separation 15 mm 248 259 158...

Page 34: ...N6 March 2004 3 2 4 Installation and dimensions of Compax3 S300 V4 Mounting 4 socket head screws M5 Mounting spacing Device separation 15 mm 380 400 412 391 175 80 6 Compax3 S300 V4 is force ventilat...

Page 35: ...stem 40 Defining jerks and ramps 50 Limit and monitoring settings 52 Encoder simulation 54 Positioning 55 RS485 setting values 62 Designation of configuration comments 63 Caution De energize the motor...

Page 36: ...per VGA Monitor with a resolution of at least 800 x 600 setting small fonts you do not need administrator authorization for an update version Your PC is connected with the Compax3 via an RS232 cable S...

Page 37: ...ional motors and Under User defined motors you can select motors set up with the C3 MotorManager For motors with holding brake SMHA or MHA you can enter brake deceleration times See also brake delay t...

Page 38: ...s 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 high temperature or even cause da...

Page 39: ...4 Inominal 13 9Aeff 30Aeff 4kHz pre set Ipeak 5s 30Aeff 60Aeff Inominal 3 8Aeff 6 5Aeff 8 0Aeff 21 5Aeff 8kHz Ipeak 2 5s 7 5Aeff 15 0Aeff 16 0Aeff 43Aeff Inominal 2 0Aeff 2 7Aeff 3 5Aeff 10Aeff 16kHz...

Page 40: ...is the settle down time of the control loop It is important to specify the minimum and maximum moment of inertia for best possible behavior under varying load Minimum moment of inertia minimum load Ma...

Page 41: ...ss operation mode or in reset mode if the value cannot be specified as a rational number This makes it possible to avoid long term drifts Rotary table control M 70 4 144 7 Unit degrees gear transmissi...

Page 42: ...ndard value Increments 10 1 000 000 1024 mm 0 010 000 0 2000 000 000 0 1 000 000 0 Degrees 0 010 000 0 720 000 000 0 360 000 000 0 Denominator Unit Range 1 1 000 000 Standard value 1 Integer value The...

Page 43: ...on only in normal mode It is not appropriate to use the reset function in continuous mode Reset travel distance Counter Unit unit of measure Range depends on the unit selected Standard value depends o...

Page 44: ...moves to the position value 0 immediately after finding the machine zero proximity switch The position value 0 is defined via the machine zero offset Using a SinCos Multiturn absolute value encoder M...

Page 45: ...eactivated MN initiator left of the MN initiator and one range with activated MN initiator right of the MN initiator When the MN initiator is inactive signal 0 the search for the machine reference is...

Page 46: ...t motor reference point is used as MN with MN initiator 0 MN M 6 The first motor reference point is used as MN with MN initiator 1 6 5 5 6 1 2 1 motor reference point 2 Initiator signal level of the h...

Page 47: ...fset must be set so that the zero point reference point for positioning lies witihn the travel range MN M 128 Travel in the positive direction to the end of the travel region MN M 129 Travel in the ne...

Page 48: ...ch A solution to this problem is to move the MN initiator by means of software This is done using the value initiator adjustment Initiator adjustment Unit Motor angle in degrees Range 360 360 Standard...

Page 49: ...ce is the position reference point that was defined with the machine reference and the machine reference offset End limit in endless operating mode Each single positioning is limited to the end limits...

Page 50: ...has been set in such a manner as to come 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 fro...

Page 51: ...ramp of the current position data record is used 4 1 6 1 Ramp upon error deenergize Ramp delay upon error and De energize 3 3 QUIT 3 Deceleration on de energize and on error QUIT I2 Quit with positiv...

Page 52: ...icates that the target position is located within the position window In addition to the position window a position window time is supported If the actual position goes inside the position window the...

Page 53: ...he actual position during a positioning process is referred to as the tracking error not to be confused with the static difference which is always 0 The destination position is always approached exact...

Page 54: ...eters see on page 71 forward feed of rotation speed acceleration current and jerk 1 tracking error limit 2 tracking error time NO ERROR O0 no error QUIT I2 Quit with positive edge 4 1 8 Encoder simula...

Page 55: ...red positioning data record is selected via the inputs I3 I7 and started via a START edge The positioning data record address is thereby read in with the START edge Minimum pulse duration 1ms Maximum...

Page 56: ...Subsequent STARTs execute the current positioning data record the number of times corresponding to the repetition number The next start thereafter switches to the next positioning data record After th...

Page 57: ...1 E I3 E I4 E I5 E I6 START 1 1 1 0 0 0 0 home 3 4 x x x x x x x x 4 0 1 0 1 1 2 3 4 5 1 1 1 2 1 x x x x 5 0 1 1 2 3 4 5 1 1 1 0 7 0 1 6 x x x x 7 0 1 7 6 0 7 2 8 1 1 2 Column 1 Positioning data reco...

Page 58: ...ot continue the positioning at the interruption point The positioning address is read in new and the positioning data record is executed completely Single positioning example The positioning data reco...

Page 59: ...e STOP with termination The positioning data record address is read in and the positioning data record is executed Note In continuous mode a complete positioning starting from the current position tak...

Page 60: ...speed 3 Maximum acceleration 4 Maximum deceleration 5 Maximum jerk see on page 5 the same for all positioning data records Input window A positioning data record has the following contents Address Mo...

Page 61: ...sitioning You can carry out relative positionings in absolute mode too Target position in the chosen unit Speed in length unit s Acceleration in Unit s 2 Deceleration in Unit s 2 Only relevant for seq...

Page 62: ...record address must not be 0 t t Pos 1 Pos 5 START V 1 E I3 E I6 1 5 V 5 4 1 10 RS485 setting values If Master Pop was selected only the settings compatible with the Pops Parker Operator Panels made b...

Page 63: ...Parker EME Setting up Compax3 I11 T11 192 120101 N6 March 2004 63 4 1 11 Configuration name comments Here you can name the current configuration as well as write a comment...

Page 64: ...troller Plug Pin Assignment X12 6 no STOP 24V DC jumper to X12 1 X12 8 Energize the motor 24V DC jumper to X12 1 X4 3 Enable power output stage 24V DC jumper to X4 1 X10 to PC RS232 RS485 X12 see belo...

Page 65: ...data records it is usually necessary to carry out a machine zero run after switching on if machine zero has been configured This takes place automatically with the first START after Power On For this...

Page 66: ...e inputs I0 no Stop I1 Start Motor de energized Energize motor with delay De energize motor with delay Error De energize motor with delay Deceleration ramp upon error Motor energized Positioning data...

Page 67: ...he device is brought into various device states The transitions are implemented via various ramps and the defined switching of the motor brake see on page 76 An error can occur in any device state The...

Page 68: ...carried out in 2 steps Via the standard settings stiffness damping rotation speed controller and rotation speed filter with the help of which many applications can be optimized in a simple manner With...

Page 69: ...s above a critical threshold value Set the stiffness with an adequate safety margin with respect to the oscillation threshold value On decreasing stiffness Control action becomes slower This increases...

Page 70: ...2100 3 Damping of the speed controller Unit Range 0 500 Standard value 100 The damping influences the target value overshoot magnitude and the decay time constant of control loop oscillation 4 4 1 3...

Page 71: ...ind all important status values advanced advanced status values require a better knowledge The user level can be changed in the optimization window left hand side lower part under selection TAB optimi...

Page 72: ...se Gives greater dynamic range with lower maximum current A positioning is calculated in the target value plate and specified as the target value for the position controller This provides the target v...

Page 73: ...rd control 3 4 2 1 t t 2010 1 Forward speed control Unit Range 0 500 Standard value 100 Effect of the rotation speed forward control t t 1 2 3 4 1 target speed value 2 actual speed value 3 motor curre...

Page 74: ...speed value 2 actual speed value 3 motor current 4 tracking error 2010 4 Current forwards control Unit Range 0 500 Standard value 0 Additional effect of forward current control t t 2 1 3 4 1 target sp...

Page 75: ...de available via the setup mode Setup mode can be activated in the ServoManager under the menu item Optimization The following applies in setup mode Function Input PIN Manual I5 X12 12 Manual I6 X12 1...

Page 76: ...ring the 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 Whe...

Page 77: ...ax3 address in the range 0 99 Address settings can be made in the C3 ServoManager under RS485 settings Command valid Compax3 command CR End sign carriage return A command consists of the representable...

Page 78: ...e command is is acknowledged with xxxxCR The 4 digit error number xxxx is given in the HEX format you will find the meaning in the appendix see on page 4 When using RS485 each answer string is precede...

Page 79: ...rent meanings for the request and response telegrams The address is only necessary for RS484 Compax3 the address bit Bit 0 1 shows if the start code is followed by an address only for RS485 for RS232...

Page 80: ...7 1 F No Hi F No Lo 0x 0x Answer from Compax3 if access to the object was denied e g function cannot be executed at that point in time or object has no reading access The error no is coded according t...

Page 81: ...58 0xbb3b 0xab1a 0x6ca6 0x7c87 0x4ce4 0x5cc5 0x2c22 0x3c03 0x0c60 0x1c41 0xedae 0xfd8f 0xcdec 0xddcd 0xad2a 0xbd0b 0x8d68 0x9d49 0x7e97 0x6eb6 0x5ed5 0x4ef4 0x3e13 0x2e32 0x1e51 0x0e70 0xff9f 0xefbe 0...

Page 82: ...display upper part of the right side by the aid of the mouse drag and drop The status values are divided into 2 groups unser levels standard here you can find all important status values advanced adva...

Page 83: ...85 1 Available in technology function T10 T11 T30 T40 Unit of measurement V User level standard D A monitor output not possible D A monitor measurement unit of the reference value Remark Control volta...

Page 84: ...al motor current resp if a motor reference point is selected with reference to the motor reference current For the monitoring the thermal time constant Tau is required 1 05 I can be set permanently Er...

Page 85: ...e value Rev s Remark Target value according to the fine interpolator Status target speed controller input Object 681 10 Available in technology function T10 T11 T30 T40 Unit of measurement Unit s User...

Page 86: ...e in technology function T10 T11 T30 T40 Unit of measurement Unit s User level advanced D A monitor output possible D A monitor measurement unit of the reference value Rev s Remark Signal is smoothed...

Page 87: ...able in technology function T10 T11 T30 T40 Unit of measurement mA User level advanced D A monitor output possible D A monitor measurement unit of the reference value O Remark Control deviation of eff...

Page 88: ...not possible D A monitor measurement unit of the reference value Remark Forward feed of effective current and jerk Stated in amperes RMS after filter 6 6 Inputs Status of analog input 0 Object 685 3 A...

Page 89: ...encoder 6 7 CAM Status of signal source of master position monitoring Object 3021 2 Available in technology function T40 Unit of measurement Revolutions User level standard D A monitor output possibl...

Page 90: ...og output 0 Object 634 4 Available in technology function T11 T30 T40 Unit of measurement n a User level advanced D A monitor output possible D A monitor measurement unit of the reference value Remark...

Page 91: ...1 corresponds to 2 5 Volts The amplitude must be 1 and 0 1 at the resolver otherwise a level error is reported Status of analog input sine Object 692 3 Available in technology function T10 T11 T30 T4...

Page 92: ...le monitoring with motor parameter thermal time constant and reference current The current value can be read with the Motor utilization status display An error message is generated for a motor load of...

Page 93: ...nergize Measure Note Measurement via PAP Error code hex 0x5116 Error Undervoltage 24V Error reaction Reaction 2 downramp apply brake deenergize Measure Note Measurement via PAP Error code hex 0x5117 E...

Page 94: ...ow 31 25us Error reaction Reaction 2 downramp apply brake deenergize Measure Note Error code hex 0x6012 Error Runtime overflow 500us Error reaction Reaction 2 downramp apply brake deenergize Measure N...

Page 95: ...0x7310 Error Rotation speed too high Error reaction Reaction 5 deenergize immediately without ramps apply brake Measure Note Rotation speed too high Error code hex 0x7320 Error Tracking error Error r...

Page 96: ...termine the values Check feedback resolution and or number of feedback or motor poles Note The motor has moved more than permitted during automatic commutation Error code hex 0x73A7 Error Automatic co...

Page 97: ...FB Timeout Error reaction None Measure Check connection and master Note Field bus communication failure Field bus error adjustable reaction none reaction2 Error code hex 0x8181 Error Invalid velocity...

Page 98: ...ode hex 0xFF07 Error Data not valid Error reaction None Measure Note No OPM text present Error code hex 0xFF08 Error No convert function Error reaction None Measure Note Internal error Error code hex...

Page 99: ...code hex 0xFF23 Error DOWN UPLOAD activated Error reaction None Measure Note Download or upload is active Error code hex 0xFF24 Error DOWN UPLOAD not activated Error reaction None Measure Note Downloa...

Page 100: ...rmware currently in use for example with commutation wizard F12 feedback for F10 F11 device and vice versa Error code hex 0xFF91 Error Invalid combination of hall signals gross commutation Error react...

Page 101: ...y brake deenergize Measure Change feedback Note Feedback reports error Error code hex 0xFFA9 Error SinCos parity error Error reaction Reaction 2 downramp apply brake deenergize Measure Change feedback...

Page 102: ...analog signals Error reaction Reaction 2 downramp apply brake deenergize Measure Change feedback Note Feedback reports error Error code hex 0xFFBD Error SinCos transmitter current approaching limit E...

Page 103: ...s RX Parity Error reaction Reaction 2 downramp apply brake deenergize Measure Check wiring check feedback Ensure EMC immunity by the aid of correct screening Note Communication error with SinCos feedb...

Page 104: ...r transfer while calling a function module Error reaction Reaction 2 downramp apply brake deenergize Measure Call PLCopen function module with matching parameters Note Error in the IEC61131 3 program...

Page 105: ...8 V 4 Supply 7 5 A 15 0 A 400 V AC 3 phase 0 7 5 V 4 voltage 15 0A 30 0A 400VAC 3 phase 1 5 0 V 4 30 0 A 60 0 A 400 V AC 3 phase 3 0 0 V 4 Feedback Resolver F 1 0 SinCos Hiperface F 1 1 Encoder Sine c...

Page 106: ...l block on X11 ref analog S S K 2 3 1 Interface cable for I O terminal block on X12 I Os digital S S K 2 4 1 Interface cable PC POP RS232 S S K 2 5 1 Interface cable Compax3 POP RS485 S S K 2 7 6 Inte...

Page 107: ...2 for SSK28 Length m 0 25 0 5 1 0 3 0 5 0 10 0 Code 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 SSK2...

Page 108: ...offset U V Signal max 5Vss2 typical 1Vss 120 offset Encoder linear or rotatory Sine cosine max 5Vss3 typical 1Vss max 400kHz or TTL RS422 max 5MHz with the following modes of commutation automatic com...

Page 109: ...ith the exception of missing commutation information the controller motor combination is configured and ready for operation parameters correctly assigned for the linear motor drive The transmitter and...

Page 110: ...th edge lengths 60 70 82 and 100 mm and with 6 different shaft diameters are available in a output range from 1 4 to 6 Nm Over temperature 65K MH synchronous servo motors MH series servo motors stand...

Page 111: ...Parker EME Compax3 Accessories I11 T11 192 120101 N6 March 2004 111 SMH60 SMH82 SMH100 MH105...

Page 112: ...Compax3 Accessories 112 I11 T11 192 120101 N6 March 2004 MH145 MH205...

Page 113: ...9 1 65 760 822 230 1600 7 8 5 00 1 306 400 3000 6 80 4 35 2 137 MH 145 8 72 5 51 1 93 19 27 1 70 1050 1245 230 1600 8 60 5 20 1 430 30 08 5 24 3I 65 400 flange 145 shaft 24 400 3000 7 84 4 84 2 464 20...

Page 114: ...5 0 67 O Resistance at 20 C 71 48 35 8 Max static braking torque 2 2 5 11 Nm Backlash 0 0 0 Moment of Inertia 13 43 104 kgmm2 MHA motors Motor type MHA 56 MHA 70 MHA 105 MHA 145 MHA 205 Power supply...

Page 115: ...5 10 81 5 9 115 14x30 19x40 5x5x25 6x6x30 16 21 5 M5x12 5 M6x16 100 95 h6x3 5 135 SMH 100 06 191 5 238 5 211 5 258 5 10 91 5 9 115 19x40 24x50 6x6x30 8x7x40 21 5 27 M6x16 M8x19 100 95 h6x3 5 135 LM L...

Page 116: ...06 273 337 294 348 MH 105 flange 5 14 08 317 381 338 392 5 14 9 5 M8 115 105 95 h6x3 5 140 02 186 250 206 260 04 229 293 250 304 06 273 337 294 348 MH 105 flange 6 9 08 317 381 338 392 10 90 6 9 9 7 1...

Page 117: ...3 5 14 11 5 M10 165 24x50 28x60 8x7x40 8x7x50 27 31 M8x19 M10x22 145 130 h6x3 5 200 28 273 372 293 392 50 342 441 362 461 70 411 510 431 530 MH 205 90 480 579 500 599 18 172 132 5 14 215 38x80 42x11 0...

Page 118: ...I MH145 205 Protection class 64 IP64 65 IP65 standard SinCos type A6 Singleturn SRS50 6 A7 Multiturn SRM50 6 Increased moment of inertia M available on MH105 145 205 ML available on MH105 145 205 7 Ma...

Page 119: ...EK42 12 11 12 11 5 2 1 10 7 Ref Ref 9 8 Temp Temp COS COS SIN SIN 2x0 25 2x0 25 2x0 25 2x0 25 Pin 1 4 REFres REFres 10 5V Tmot COS COS SIN SIN 4 NC NC NC 5 3 NC 6 7 8 15 13 14 9 NC NC NC NC NC 2 3 6 N...

Page 120: ...GN GY PK VT RD BU WH BN BN BK GN 0 5 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 L tseite solder side Crimpseite crimp side Schirm auf Schirmanbindungselement Screen at s...

Page 121: ...solder side Crimpseite crimp side Schirm auf Schirmanbindungselement Screen at screen contact Bremse Brake MOK54 max 13 8 A cable chain compatible Same structure as MOK55 available in cable chain com...

Page 122: ...190 mm 25 mm 165 mm 0V 24V Schirm auf Schirmanbindungselement Screen at screen contact MOK62 max 47 3 A cable chain compatible Same structure as MOK61 but with 4 x 10mm2 2 x 1 mm2 MOK60 max 13 8A sta...

Page 123: ...emission limit values for CE compliant operation see on page 14 we offer mains filters Observe the maximum permitted length of the connection between the mains filter and the device unshielded 0 5m s...

Page 124: ...02 Mains filter for Compax2 S038 V4 Compax3 S075 V4 and Compax3 S150 V4 Dimensional drawing 65 6 6 177 151 70 0 3 140 125 111 4 L I N E L O A D 8 5 1 3 Mains filter for NFI01 03 Mains filter for Compa...

Page 125: ...MDR01 02 126 Wiring of the motor output filter 126 We offer motor output filters for disturbance suppression when the motor connecting cables are long 20m 8 5 2 1 Motor output filter MDR01 04 up to 6...

Page 126: ...N6 March 2004 8 5 2 3 Motor output filter MDR01 02 up to 30 A rated motor current Dimensional drawing 180 76 110 6 136 57 195 U1 V1 W1 U2 V2 W2 8 5 2 4 Wiring of the motor output filter M Motor MDR C...

Page 127: ...body is prevented Install the connecting leads at the bottom Observe the instructions on the resistors warning plate The ballast resistors are equipped with a 1 5m connecting lead Please note that th...

Page 128: ...BRM8 01 ballast resistors Dimensional drawing 6 7 5 40 20 240 225 8 6 2 BRM5 01 ballast resistor Dimensional drawing 222 245 101 6 5 48 73 12 8 6 3 Ballast resistor BRM6 02 Dimensional drawing 95 97 9...

Page 129: ...I11 T11 192 120101 N6 March 2004 129 8 6 4 Ballast resistor BRM4 0x Dimensional drawing 95 97 96 98 A B C 120 6 5 C 92 12 1 1 thermal overcurrent relay Dimensions Size BRM4 01 BRM4 02 BRM4 03 A 250 30...

Page 130: ...display and diagnostic purposes or can be moved from device to device and plugged into each one Can be plugged in while in operation Power supply via Compax3 servo control Display with 2 times 16 pla...

Page 131: ...D plug connector Via a supporting rail Design or the terminal block can be installed on a mounting rail in the control cabinet EAM06 is available in2 variants EAM06 01 terminal block for X11 X12 with...

Page 132: ...06 01 5 2 7 3 6 9 1 I O Modul Compax3 4 8 10 11 12 13 14 15 GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN...

Page 133: ...x3 4 8 10 11 12 13 14 15 GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN 5 2 7 3 6 9 1 4 8 10 11 12 13 14 15...

Page 134: ...lable as accessory comprises a shield terminal with large contact area for the motor cable shield and the mating plug connectors for the Compax3 plug connectors X1 X2 X3 and X4 ZBH02 01 for Compax3 Sx...

Page 135: ...cable 135 RS485 cable to Pop 136 I O interface X12 137 Ref X11 138 Encoder cable 139 8 10 1 RS232 cable SSK1 PC 2 3 4 6 5 7 8 RxD TxD DTR DSR GND RTS CTS 2 3 4 6 5 7 8 RxD TxD DTR DSR GND RTS CTS 9 5...

Page 136: ...15 _n _2 _1 R21 only on the last connector Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Br...

Page 137: ...2 7 3 6 9 1 Compax3 4 8 10 11 12 13 14 15 GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN Pin 1 2 mm 6 mm 23...

Page 138: ...1 Compax3 4 8 10 11 12 13 14 15 GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN GY PK GN RD BU WH BN YE BK VT GYPK RDBU WHGN BNGN WHYE YEBN WHGY GYBN Pin 1 15 14 13 12 11 6 9 8 7...

Page 139: ...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 A A A B B B B C C C C D D D D E E E E F F F F G G G G H H H H J J J J K K K K L L L L M M M M N N N N P...

Page 140: ...e 10A automatic circuit breaker K 16 A automatic circuit breaker K 25A automatic circuit breaker K Output data Compax3 S0xx V2 Controller type S025 V2 S063 V2 Output voltage at 1 230 V 3x 0 230V 3x 0...

Page 141: ...al 15Aeff 30Aeff 4kHz Ipeak 5s 30Aeff 60Aeff Inominal 3 8Aeff 7 5Aeff 10 0Aeff 26Aeff 8kHz Ipeak 2 5s 9 0Aeff 15 0Aeff 20 0Aeff 52Aeff Inominal 2 5Aeff 3 7Aeff 5 0Aeff 14Aeff 16kHz Ipeak 2 5s 5 0Aeff...

Page 142: ...device 0 8 A Total current drain 0 8 A Total load of the digital outputs current for the motor holding brake Ripple 0 5Vpp Requirement according to safe extra low voltage SELV yes Motors and feedback...

Page 143: ...d Word length 8 bits 1 start bit 1 stop bit Hardware handshake XON XOFF RS485 2 or 4 wire 9600 19200 38400 57600 or 115200 baud Word length 7 8 bit 1 start bit 1 stop bit Parity can be switched off ev...

Page 144: ...g time BRM4 02 15 Compax3 S300 V4 740W 8900W 1s 20s cooling time BRM4 03 15 Compax3 S300 V4 1500W 18kW 1s 20s cooling time Mechanical data Controller type Dimensions HxWxD mm Weight kg Compax3 S025 V2...

Page 145: ...nsport 85 Class 3K3 95 Class 2K3 95 Class 2K3 Relative humidity Elevation of operating site 1000m above sea level for 100 load ratings Please inquire for greater elevations Cooling mode Compax3 S025 V...

Page 146: ...n number Jerk specification Sequential or single positioning Different machine zero modes Absolute endless mode Normal commissioning mode Actual position Encoder simulation Resolution 4 16384 incremen...

Page 147: ...UL permission 9 17 Configuration 39 Configuration name comments 67 Connections to the motor 124 Control dynamics 72 Control voltage 24 VDC 28 Control voltage 24VDC enable plug X4 28 Current Limit 56 C...

Page 148: ...erview of motor cables 125 P Parker servo motors 113 Plug and connector assignment Compax3 21 Plug assignment Compax3S0xx V2 21 22 24 26 28 29 33 Positioning 59 Positioning window Position reached 56...

Page 149: ...192 120101 N6 March 2004 149 W Warranty conditions 14 Wiring of analog outputs 31 Wiring of the analog input 30 Wiring of the motor output filter 131 X X1 22 X10 29 X11 30 X12 31 X13 33 X2 24 X3 26 X...

Page 150: ...Index 150 I11 T11 192 120101 N6 March 2004...

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