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Parker Compax3S025V2, Operating Instructions Manual

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Parker Compax3S025V2 Operating Instructions Manual Download Page 235

 

 

Parker EME 

Communication

 

 

192-120101 N11 C3I11T11 November 2007

 235 

Compax3> 

 

Bits 0 and 1 are used to identify the response 

 

Bit 3 is always 0 

The maximum number of data bytes in the request telegram is 256, in the response 
telegram 253. 
The block securing (CRC16) is made via the CCITT table algorithm for all 
characters. 
After receiving the start code, the timeout monitoring is activated in order to avoid 
that Compax3 waits in vain for further codes (e.g. connection interrupted) The 
timeout period between 2 codes received is fixed to 5ms (5 times the code time at 
9600Baud)   

 

Write object – WrObj telegram 

SZ 

Adr 

L 

D0 

D1 

D2 

D3 ... Dn 

Crc(Hi) 

Crc(Lo) 

0xCX 

 

n Index(Hi) 

Index(Lo) 

Subindex 

Value  0x.. 

0x.. 

Describing an object by a value. 

Positive acknowledgement – Ack-telegram 

SZ 

L 

D0 

D1 

Crc(Hi) 

Crc(Lo) 

0x06 

1 

0 0 0x.. 

0x.. 

Answer from Compax3 if a writing process was successful, i.e. the function could 
be executed and is completed in itself. 

Negative acknowledgement – Nak - telegram 

SZ 

L 

D0 

D1 

Crc(Hi) 

Crc(Lo) 

0x07 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 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(L
o) 

Subindex2 ... ... 0x.. 

0x.. 

Reading one or several objects 

Answer – Rsp - telegram 

SZ 

L 

D0 ... Dx-1 

Dx ... Dy-1 

Dy-D.. 

D ... D.. 

D ... Dn 

Crc(Hi) 

Crc(Lo) 

0x05 

n 

Value1 

Value 2 

Value 3 

Value .. 

Value n 

0x.. 

0x.. 

Answer from Compax3 if the object can be read. 
If the object has no reading access, Compax3 answers with the Nak – telegram. 

 
 

Reading object "StatusPositionActual" (o680.5): 

Request: A5 03 02 02 A8 05 E1 46 
Response: 05 05 FF FF FF FF FE 2D 07 B4 

Writing into an Array (o1901.1 = 2350) 

Request: C5 02 08 07 6D 01 00 09 2E 00 00 00 95 D5 
Response: 06 01 00 00 BA 87 
 

 

Response telegram 

Example: 

Summary of Contents for Compax3S025V2

Page 1: ...make technical changes 05 12 07 10 01 192 120101 N11 C3I11T11 November 2007 The data correspond to the current status at the time of printing Operating instructions Compax3 I11T11 Positioning via digi...

Page 2: ...er com Parker Hannifin GmbH Co KG registered office Bielefeld Amtsgericht Bielefeld HRA 14808 Personally liable shareholder Parker Hannifin Management GmbH Amtsgericht Bielefeld HRB 35489 executive bo...

Page 3: ...ontroller 22 3 2 Meaning of the status LEDs Compax3MP mains module 22 3 3 Connections of Compax3S 23 3 3 1 Compax3S connectors 23 3 3 2 Connector and pin assignment C3S 24 3 3 3 Control voltage 24VDC...

Page 4: ...ector X30 X31 54 3 6 2 3 Adjusting the basic address 55 3 6 2 4 Setting the axis function 55 3 7 Signal interfaces 56 3 7 1 Resolver Feedback connector X13 56 3 7 2 Analog Encoder plug X11 57 3 7 2 1...

Page 5: ...itioning window Position reached 93 4 1 9 3 Following error limit 95 4 1 9 4 Maximum operating speed 95 4 1 10 Encoder Simulation 96 4 1 11 Positioning 96 4 1 11 1 Operating modes 97 4 1 11 2 Define p...

Page 6: ...rface 211 4 4 9 8 Basics of frequency response measurement 223 4 4 9 9 Examples are available as a movie in the help file 228 4 4 10 ProfileViewer for the optimization of the motion profile 229 4 4 10...

Page 7: ...box MH145 MH205 266 9 3 7 Encoder cable 267 9 4 External braking resistors 268 9 4 1 Permissible braking pulse powers of the braking resistors 269 9 4 1 1 Calculation of the BRM cooling time 270 9 4 1...

Page 8: ...4 Braking resistor BRM4 0x 279 9 4 2 5 Braking resistor BRM11 01 BRM12 01 280 9 4 2 6 Braking resistor BRM13 01 BRM14 01 280 9 5 Connection set for Compax3S 281 9 6 Connection set for Compax3MP Compa...

Page 9: ...s Compax3S025V2 supplement Compax3S063V2 supplement Compax3S100V2 supplement Compax3S150V2 supplement Compax3S015V4 supplement Compax3S038V4 supplement Compax3S075V4 supplement Compax3S150V4 supplemen...

Page 10: ...2 230VAC 240VAC 4 400VAC 480VAC 3 Unique number of the particular device 4 Nominal supply voltage 1AC single phase 3AC three phase input current 5 Designation of the feedback system F10 Resolver F11...

Page 11: ...wish to mount and install the device immediately make sure to store it in a dry and clean environment see page 306 Make sure that the device is not stored near strong heat sources and that no metal c...

Page 12: ...ated for this purpose 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...

Page 13: ...rounded due to high earth leakage currents The drive motor must be grounded with a suitable protective lead The devices are equipped with high voltage DC condensers Before removing the protective cove...

Page 14: ...r mounting instructions see page 60 We cannot provide any guarantee for any other mounting methods Note on exchange of options Compax3 options must be exchanged in the factory to ensure hardware and s...

Page 15: ...t or separately at the mains input to each device or with C3M for each axis combination Devices in a commercial and residential area limit values of Class C2 in accordance with EN 61800 3 The followin...

Page 16: ...ecial Shield connecting terminal as accessory item ZBH 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 motor type...

Page 17: ...Connect all cable shields at both ends ensuring large contact areas This is a product in the restricted sales distribution class according to EN 61800 3 In a domestic area this product can cause radio...

Page 18: ...00V4 1 25 1 7Nm 11 15Lb in Temperature rating of field installed conductors shall be at least 60 C Use copper lines only Please use the cables described in the accessories chapter see page 244 see pag...

Page 19: ...Mains filters do have high leakage currents due to their internal capacity An internal mains filter is usually integrated into the Compax3 servo controllers Additional leakage currents are caused by...

Page 20: ...tral conductor mains voltages of up to 480VAC are permitted When grounding an external conductor delta mains two phase mains mains voltages external conductor voltages of up to 300VAC are permitted Se...

Page 21: ...cture and size of the device are of considerable importance High quality electronics are a fundamental requirement for the particularly small and compact form of the Compax3 devices All connectors are...

Page 22: ...y 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 status fault prese...

Page 23: ...0 X20 X21 X22 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 Enabl...

Page 24: ...heat dissipator can reach very high temperatures 70 C Line cross sections of the line connections X1 X2 X3 Compax3 device Cross section Minimum Maximum mm2 S025V2 S063V2 0 25 2 5 AWG 24 12 S100V2 S150...

Page 25: ...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 Rx...

Page 26: ...ltage SELV yes Short circuit proof conditional internally protected with 3 15AT Hardware enable input X4 3 24VDC This input is used as safety interrupt for the power output stage Tolerance range 18 0V...

Page 27: ...housing We offer a special Shield connecting terminal as accessory item ZBH The shield of the cable must also be connected with the motor housing The fixing via plug or screw in the terminal box depe...

Page 28: ...r voltage the input current limitation can be overloaded which will cause a device error Therefore please wait at least 2 minutes after switching off before you switch the device on again Power supply...

Page 29: ...tor X2 In this chapter you can read about Braking resistor high voltage supply plug X2 for 1AC 230VAC 240VAC devices 29 Braking resistor high voltage supply plug X2 for 3AC 230VAC 240VAC devices 30 Co...

Page 30: ...1 Braking resistor 2 Braking resistor no short circuit protection 3 PE 4 DC high voltage supply 5 DC high voltage supply Braking operation Compax3S1xxV2 3AC Controller type S100V2 S150V2 Capacitance s...

Page 31: ...rror Therefore please wait at least 2 minutes after switching off before you switch the device on again PIN Designation 1 L1 2 L2 3 L3 4 PE Mains connection Compax3SxxxV4 3AC Controller type S015V4 S0...

Page 32: ...supply 5 DC high voltage supply Braking operation Compax3SxxxV4 3AC Controller type S015V4 S038V4 S075V4 S150V4 S300V4 Capacitance storable energy 235 F 37Ws 235 F 37Ws 470 F 75Ws 690 F 110Ws 1100 F 1...

Page 33: ...epending on the application It is not permitted to connect the power voltage in order to use one brake circuit for two servo axes as this function cannot be ensured reliably Note the following Caution...

Page 34: ...ED1 Status LEDs Mains module S1 Basic address X3 Configuraiton interface USB X9 Supply voltage 24VDC M Axis controller LED2 Status LEDs of the axis S10 Function X11 Analog Encoder X12 Inputs Outputs X...

Page 35: ...rface The heat dissipator can reach very high temperatures 70 C MP Power module X40 Braking Resistor X41 Mains supply VAC PE 1 Central ground connection for the axis combination with 10mm2 to the grou...

Page 36: ...to secure the contact protection against the alive rails it is absolutely necessary to respect the following Insert the yellow plastic device at the left or right of the rails Make sure that the yell...

Page 37: ...ut in X31 SSK28 Highvoltage DC Bus 24VDC Supply Compax3M DC Versorgung DC Supply AC Versorgung AC Supply X41 X9 24VDC USB SSK33 out X30 Compax3MP PC Maximum no of C3M axes in a combination 15 axes max...

Page 38: ...eedback DirectDrive F12 X23 6 res X23 7 CAN_H X23 8 res X23 9 res X23 CANopen I21 X23 1 res X23 2 CAN_L X23 3 GNDfb X23 4 res X23 5 SHIELD HEDA motionbus option M 11 M10 I Os X20 6 Lx X20 7 res X20 8...

Page 39: ...it breaker or delayed action fuse due to capacitive load Current drain of the device C3MP10D6 0 2A Total current drain C3M050D6 0 85A C3M100D6 0 85A C3M150D6 0 85A Total load of the digital outputs cu...

Page 40: ...temperature switch Compax3MP mains module The energy generated during braking operation must be dissipated via a braking resistor Connector X40 PIN Description R Braking resistor R Braking resistor n...

Page 41: ...d unless an error message will be issued Temperature switch relay No galvanic separation the temperature sensor normally closed contact must comply with the safe separation according to EN 60664 If th...

Page 42: ...tput Motor holding brake output Compax3 Voltage range 21 27VDC Maximum output current short circuit proof 1 6A Minimum output current 150 mA Securing of brake Compax3M 3 15A Motor holding brake Connec...

Page 43: ...Compax3H 50 Braking resistor supply voltage C3H 51 3 5 1 Compax3H plugs connections The following figure is an example for all sizes The fitting of the different controller plugs depends on the exten...

Page 44: ...only connected to the external housing LEDs if the RS232 jumper at X10 is fitted to the control and the upper dummy cover is fitted The RS232 programming interface under the upper dummy cover is only...

Page 45: ...rica 54 3mm for M50 PG42and 1 NPT America C3H1xxV4 22 8mm for M20 PG16 and NPT America 28 6mm for M25 PG21 and NPT America Recommended tightening torques High voltage supply Braking Resistor Grounding...

Page 46: ...92 120101 N11 C3I11T11 November 2007 3 5 3 Plug and pin assignment C3H AC Versorgung AC Supply DC Versorgung DC Supply X4 24VDC RS232 SSK1 PC Compax3 Further information on the assignment of the plug...

Page 47: ...3 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 48: ...minal box depends on the motor type Motor holding brake Connect the brake only on motors which have a holding brake Otherwise make no brake connections at all Requirements cables for motor holding bra...

Page 49: ...e Compax3 Voltage range 21 27VDC Mains module with switch on current limitation due to capacitive load Fuse MTP miniature circuit breaker or delayed action fuse due to capacitive load Current drain of...

Page 50: ...the front cover It is secured with 2 screws at the bottom of the device Remove the bottom cover in order to access the conection clamps Make sure that all live parts are covered by the housing after i...

Page 51: ...PIN Designation DBR Braking resistor DBR Braking resistor Braking operation of Compax3HxxxV4 Controller type H050V4 H090V4 H125V4 H155V4 Capacitance storable energy 2600 F 602Ws 3150 F 729Ws 5000 F 1...

Page 52: ...n It is not permitted to connect the power voltage in order to use one brake circuit for two servo axes as this function cannot be ensured reliably Note the following Caution In case of non compliance...

Page 53: ...X10 1 5V RS485 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...

Page 54: ...he mains module via an USB cable SSK33 03 3 6 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 sle...

Page 55: ...resses Switch Value upon ON 1 16 2 32 3 64 Settings left OFF right ON Settable value range 0 16 32 48 64 80 96 112 Address of the 1st Compax3M basic address 1 The addresses of the axis controllers are...

Page 56: ...ncoder 13 Reserved DATAfbk DATAfbk 14 Reserved DATAfbk DATAfbk 15 REF Resolver GND Vcc GND Vcc X13 Pin10 Tmot may not be connected at the same time as X15 on Compaxx3M Resolver cables see page 260 can...

Page 57: ...mA 2 Ain1 analog input 14Bit max 10V 3 D A monitor channel 1 10V 8 bit resolution 4 D A monitor channel 0 10V 8 bit resolution 5 5V output for encoder max 150mA 6 A Encoder simulation 7 A Encoder simu...

Page 58: ...or deenergized with delay 9 I3 Address 0 10 I4 Address 1 11 E 24V input for the digital outputs Pins 2 to 5 12 I5 Address 2 13 I6 Address 3 14 I7 Input MN Ini Address 4 15 Output Gnd 24 V Machine home...

Page 59: ...1 Compax3 24V 0V 100KW X12 1 X12 6 X12 15 10KW 22KW 22KW 22KW SPS PLC F2 F1 10nF Compax3 The circuit example is valid for all digital outputs The outputs are short circuit proof a short circuit genera...

Page 60: ...ng and dimensions Compax3S100V2 and S0xxV4 61 Monting and dimensions Compax3S150V2 and S150V4 62 Mounting and dimensions Compax3S300V4 63 Mounting and dimensions C3MP C3M 64 Mounting and dimensions C3...

Page 61: ...ing and dimensions Compax3S100V2 and S0xxV4 Mounting 3 socket head screws M5 248 80 259 267 279 65 C3S015V4 84 C3S038V4 100 7 5 40 C3S075V4 C3S100V2 115 Please respect an appropriate mounting gap in o...

Page 62: ...C3I11T11 November 2007 3 8 3 Monting and dimensions Compax3S150V2 and S150V4 Mounting 4 socket head screws M5 248 259 158 267 279 80 39 Please respect an appropriate mounting gap in order to ensure s...

Page 63: ...imensions Compax3S300V4 Mounting 4 socket head screws M5 380 400 412 391 175 80 6 Please respect an appropriate mounting gap in order to ensure sufficient convection At the side 15mm At the top and be...

Page 64: ...sure that the mounting plate is not exhibited to other temperature influences than that of the devices mounted on this very plate The devices must be mounted vertically on a level surface Make sure t...

Page 65: ...C3H050V4 453mm 440mm 245mm 252mm 150mm C3H090V4 668 6mm 630mm 312mm 257mm 150mm C3H1xxV4 720mm 700mm 355mm 257mm 150mm Mounting 4 screws M6 During operation the device radiates heat power loss Please...

Page 66: ...I Os 66 192 120101 N11 C3I11T11 November 2007 3 8 6 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 8 6 2 Mounting distances air currents Compax3H090...

Page 67: ...Parker EME Compax3 device description 192 120101 N11 C3I11T11 November 2007 67 3 8 6 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 68: ...x3 with two measures independent of each other Channel 1 and 2 without disconnecting the drive from the power supply Channel 1 Activation of the power output stage can be disabled in the Compax3 contr...

Page 69: ...is not capable of braking a motor or bringing it to a standstill by itself 3 9 2 Devices with the Safe Standstill safety function The Safe Standstill safety function is implemented in the following de...

Page 70: ...ter the power is disconnected dangerous electrical voltages may still be present in the Compax3 drive for about 5 minutes When using an external Emergency power off module with adjustable delay time a...

Page 71: ...ax3 is required or used for a machine or system the errors Motor_Stalled and Tracking is not to be switched off see page 104 see page 95 3 9 4 2 Layout 2 Compax3 devices the circuit example is also va...

Page 72: ...aliger Schutzt rw chter 2 channel safety door control BD5985N Dold 14 24 13 23 S13 S23 S14 S24 S32 Not Aus Schalter Emergency power off switch 14 13 S33 K1 S3 K2 S12 S11 A1 24V GND24V A2 Y1 Y2 control...

Page 73: ...S33 S34 Prerequisite S3 closed Safety door closed only in this case the safety door monitor enables the emergency power off module via two channels K1 and K2 energized K1 receives current if Compax3 D...

Page 74: ...time set in the Emergency power off module this time must be set so that all drives are stopped after it has elapsed the contacts between 57 58 open which in turn deactivates the Enable inputs of the...

Page 75: ...xis 77 Selection of the supply voltage used 77 Motor Selection 77 Optimize motor reference point and switching frequency of the motor current 78 Braking Resistor 81 General Drive 82 Defining the refer...

Page 76: ...eed administrator authorization on the target computer Several applications running parallelly reduce the performance and operability especially customer applications exchanging standard system compon...

Page 77: ...nuous optimization individual monitor displays may have changed This does however hardly influence the general proceeding 4 1 2 Selection of the supply voltage used Please select the mains voltage for...

Page 78: ...st also be reduced The possible settings or limits result from the respective motor characteristics Caution Wrong reference values too high can cause the motor to switch off during operation because o...

Page 79: ...ng frequency S015V4 S038V4 S075V4 S150V4 S300V4 Inominal 15Aeff 30Aeff 8 kHz Ipeak 5s 30Aeff 60Aeff Inominal 1 5Aeff 3 8Aeff 7 5Aeff 10 0Aeff 26Aeff 16kHz Ipeak 5s 4 5Aeff 9 0Aeff 15 0Aeff 20 0Aeff 52...

Page 80: ...k 5s 49 5Aeff 112 5Aeff 123Aeff 150Aeff Inominal 19Aeff 45Aeff 49Aeff 59Aeff 32kHz Ipeak 5s 28 5Aeff 67 5Aeff 73 5Aeff 88 5Aeff Compax3HxxxV4 at 3 480VAC Switching frequency H050V4 H090V4 H125V4 H155V...

Page 81: ...s 6Aeff 11Aeff 16Aeff Inominal 2Aeff 2 5Aeff 4Aeff 32kHz Ipeak 5s 4Aeff 5Aeff 8Aeff The values marked with grey are the pre set values standard values corresponds to the frequency of the motor current...

Page 82: ...imum moment of inertia for best possible behavior under varying load If you do not know the moment of inertia klick on Unknown using default values You have then the possibility to determine the momen...

Page 83: ...a fraction numerator divided by denominator This is useful in the case of continuous operation mode or in reset mode if the value cannot be specified as a rational number This makes it possible to av...

Page 84: ...0 000 1 000 000 Denominator Unit Range 1 1 000 000 Standard value 1 Integer value The unit increments is valid only for position values speed acceleration and jerk are specified in this case in revolu...

Page 85: ...Range depending on the chosen unit Standard value depending on the chosen unit Unit of Travel Division Standard value Increments 10 1 000 000 0 mm 1 2000 0 Degrees 1 720 0 Denominator Unit Range 1 1 0...

Page 86: ...sition value 0 is defined via the homing offset Using a SinCos or EnDat Multiturn absolute value sensor as feedback system the absolute position can be read in over the entire travel range when switch...

Page 87: ...N 3 4 4 3 1 2 1 Motor zero point 2 Logic state of the home switch MN M 5 6 MN initiator 1 on the negative side The MN initiator can be positioned at any location within the travel range The travel ran...

Page 88: ...osition when the MN run is activated is used as an MN 35 MN M 128 129 Current_following error_threshold when moving to block Without a MN machine zero initiator an end of travel region block is used a...

Page 89: ...e position of the MN initiator there is a possibility that small movements in the motor position will cause the machine reference point to shift by one motor revolution to the next motor reference poi...

Page 90: ...Software end limits The travel range is defined via the negative and positive end limits 0 1 2 1 negative end limit 2 positive end limit Software end limit in absolute operating mode The positioning i...

Page 91: ...each 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 is limited by the maximum jerk According to VD...

Page 92: ...ergize Ramp delay upon error and De energize 3 3 QUIT 3 Deceleration upon deenergize and on error QUIT I2 Quit on positive edge START I1 START on positive edge The same delay is used for Deenergizing...

Page 93: ...window time is started If the actual position is still inside the position window after the position window time Position reached is set If the actual position leaves the position window within the p...

Page 94: ...POS O1 Position reached Sequence PLC Reaction Compax3 START of a positioning Position reached goes to 0 From position reached 0 follows START 0 Positioning completed Position reached 1 From position r...

Page 95: ...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 96: ...Limit frequency 620kHz i e for Increments per revolution Max speed 1024 36000 min 1 4096 9000 min 1 16384 2250 min 1 4 1 11 Positioning Positioning takes place with 31 positioning data records 15 when...

Page 97: ...respective of the set positioning data record address if the positioning data record address 0 is still present the machine zero run is executed With a repeat count 1 this can be the same positioning...

Page 98: ...pose the repetition number 0 must stand for the data record following after the last valid positioning data record When Compax3 encounters a data record with the repetition number 0 a new positioning...

Page 99: ...tioning data record address is read in Positioning data record 7 is executed START 3 Positioning data record address is read in Positioning data record 13 is executed Defining the STOP function The fu...

Page 100: ...f the current positioning procedure STOP without termination The positioning procedure which was active before the STOP is continued irrespective of the set motion data record address Position mode in...

Page 101: ...ng of the individual positioning modes 4 1 11 2 Define positioning data records t t t t 1 2 3 5 4 1 Target position 2 Travel speed 3 Maximum acceleration 4 Maximum deceleration 5 Maximum jerk see page...

Page 102: ...ven by the binary value of the inputs whereby I3 20 1 I4 21 2 I5 22 4 I6 23 8 I7 24 16 POSA Absolute positioning Inappropriate in continuous mode and in operation without machine zero POSR Relative po...

Page 103: ...main constant independent of the values predefined in the new motion set The jerk too remains constant The velocity of the new motion set is activated The drive moves to the target position defined in...

Page 104: ...is fixed to downramp deenergize for Compax3H 4 1 13 Configuration name comments Here you can name the current configuration as well as write a comment Then you can download the configuration settings...

Page 105: ...l enable of the servo controller 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 After you...

Page 106: ...n configured This takes place automatically with the first START after Power On For this purpose the machine zero proximity switch must be connected to X12 14 When sequential positioning mode has been...

Page 107: ...evice can be brought into various states via the inputs I0 No stop I1 Start I2 Energize motor I2 Quit The device is brought into various device states The transitions are implemented via different ram...

Page 108: ...119 Signal filtering with external command value 184 Input simulation 185 Setup mode 187 Load identification 190 Alignment of the analog inputs 192 C3 ServoSignalAnalyzer 194 ProfileViewer for the op...

Page 109: ...cope see page 110 Window 2 Optimization Controller optimization D A Monitor see page 242 Output of status values via 2 analog outputs Scope Settings Window 3 Status Display Compax3 Error History Windo...

Page 110: ...cilloscope 117 The integrated oscilloscope function features a 4 channel oscilloscope for the display and measurement of signal images digital and analog consisting of a graphic display and a user int...

Page 111: ...le and Normal operating mode 4 Channel information Type of display and trigger settiing 5 X DIV X deviation set 6 Single channel sources Cursormodes functions Depending on the operating mode different...

Page 112: ...oll 2 Setting the time basis see page 114 3 Starting Stopping the measurement prerequisites are valid channel sources and if necessary valid trigger settings 4 Setting channel see page 114 Channels 1...

Page 113: ...perating mode Short description SINGLE Single measurements of 1 4 channels with trigger on a freely selectable channel NORMAL Like Single but after each trigger event the measurement is started again...

Page 114: ...00 500ms 100 0ms 8 1 25ms 80 800 1s 200 0ms 9 2 50ms 80 800 2s 500 0ms 10 6 25ms 80 800 5s 1s 11 12 50s 80 800 10s 2s 12 25 00ms 80 800 20s 5s 13 62 50ms 80 800 50s 10s 14 125 00ms 80 800 100s For the...

Page 115: ...ith the mouse drag drop from the Status value window right at the bottom into this area 4 Set Channel offset to 0 5 Select channel display GND DC AC DIG DC Display of the measurement values with const...

Page 116: ...I file and is presented in the appendix open OSCI settings from file Loading a memorized set of settings The file ending is OSC Memorizing OSCI settings in the project Up to four sets of OSCI settings...

Page 117: ...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 118: ...Setting up Compax3 Positioning via digital I Os 118 192 120101 N11 C3I11T11 November 2007 Example Only b0 and b1 are to be displayed Set display mask to 03...

Page 119: ...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 120: ...tion of 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...

Page 121: ...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 122: ...ing of the motor 129 Relevant appication parameters 132 Control path For the motors the knowledge of the mathematical model is a prerequisite Mathematically idealized model of the control path R 1 T K...

Page 123: ...constant corresponds to the motor torque constant KT which represents the correlation between the torque producing current and the drive torque however in a different unit The EMC voltage antagonizes...

Page 124: ...ce 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 defined for different operating modes 230V 400V and 480V...

Page 125: ...read about Interface 125 Resolution 126 Noise 126 The controller quality depends to a great extent on the signal quality of the position feedback and its signal acquisition It is therefore important...

Page 126: ...at the cost of the controller bandwidth For comparison the noise of the actual velocity value at standstill of two different feedbacks is displayed Resolver 1 period revolution SinCos 1024periods rev...

Page 127: ...r 2 Setpoint velocity 3 Actual velocity Instable behavior 3 2 1 1 Setpoint velocity 2 Actual velocity 3 Following error Feedback error compensation Feedbacks with sine cosine tracks may have different...

Page 128: ...r Renishaw RGH 24B with 20 m resolution Servo controller Compax3 In order to accept the changes in the MotorManager in the project the individual configuration pages must be clicked through In order t...

Page 129: ...e 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...

Page 130: ...on the velocity and is acquired online from the linearization of the motor characteristic line Linearized motor characteristic lien for different operating points Nominal point 0 500 1000 1500 2000 2...

Page 131: ...idden range For monitoring the continuous usage the linearized characteristic line betweenI0 and I1 n1 is used as a threshold Motor pulse usage This monitoring watches over the duration of the defined...

Page 132: ...ly the temperature behavior of the motor By defining a reference point different from the motor nominal data the I t monitoring of the motor can be adapted to changed thermal ambient conditions e g ai...

Page 133: ...l position Reduction of the current ripple Reduction of the current ripple of the phase current due to the higher switching frequency 2 8kHz 32kHz 3 1 1 Current ripple 2 Phase current 3 PWM control Pl...

Page 134: ...m a different manufacturer you will have to enter the relevant data This process is supported by the MotorManager software tool which can be called up from the ServoManager Start Motormanager After do...

Page 135: ...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 136: ...ing settings wizard page you can set among others the current and velocity limits in of the nominal values The nominal values are motor parameters resulting from the motor library or from shifting the...

Page 137: ...ttled state as well as the dynamic behavior Structure of a control Regler Controller Regelstrecke Control Process Z X W X Regler Control Parameter The basic task of a control is the generation and mai...

Page 138: ...egative feedback passes into positive feedback If the product of the gain factors of all control loop components is higher than 1 the oscillation amplitude will continually rise In this case the contr...

Page 139: ...8 1 1 2 X t TE t T S TE P TE T Tangent S Input jerk P TE Output value of the P TE component TE Time constant of the P TE component The definition of the delay time constant is displayed in the above...

Page 140: ...l surface of the ideal P T1 component The velocity of a dynamic system can also be described in the frequency range In the frequency range the system behavior is analyzed to sinusoidal inputs signals...

Page 141: ...called the bandwidth of a control loop Setpoint and disturbance behavior of a control loop In this chapter you can read about Demand behavior 142 Disturbance behavior 142 Test functions 142 Characteri...

Page 142: ...value X Actual value Z Disturbance variable In order to examine the disturbance and setpoint behavior the Compax3 setup software offers 4 jerk functions Test functions Test functions for the analysis...

Page 143: ...s speed acceleration and jerk are fed into the cascade as feedforward signals The feedforward signals work with calculated factors and contribute to an improved contour constancy due to the minimizati...

Page 144: ...ess Prozess X2 X1 W1 W2 Controller1 Regler 1 Controller 2 Regler 2 Process Part 1 Streckenteil 1 Process Part 2 Steckenteil 2 W1 Setpoint value setpoint for the superposed controller 2 W2 Setpoint val...

Page 145: ...be detected by the reading system and by numerical resolution Additional effects are for instance mechanical stiffness of the mechanic components in the control path e g load connection guiding syste...

Page 146: ...X n i 1 KT 1 1 Feeding in of a disturbance current jerk which corresponds to a disturbance torque jerk The maximum amplitude an the settling time of the following error decline with rising dynamic st...

Page 147: ...er attenuation and stiffness 148 D term 148 Postition loop 148 The controller design takes place after the configuration immediately before the configuration download into the device The controller co...

Page 148: ...activates existing control oscillations of drives with elastic coupling e g toothed belt drives The D term is not automatically designed and must therefore be set manually Postition loop The position...

Page 149: ...near function straight between attenuation and KPV Tm Moment of Inertia St Stiffness Dp Attenuation D term of the KD velocity controller Dterm K K Dterm K D D D 100 100 _ KD_100 The defined 100 coeffi...

Page 150: ...optimization window is available The Compax3 control functionality is divided into 2 sections standard and advanced the advanced functionality does however incorporate the entire standard functionalit...

Page 151: ...d filtered value 682 6 Actual Acceleration 688 18 Actual quadrature motor current r m s torque producing 681 5 Actual speed unfiltered value 682 5 Actual Acceleration 688 19 Actual quadrature motor cu...

Page 152: ...with vertical 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 Cont...

Page 153: ...ce 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 S06...

Page 154: ...current The Compax3 servo controller disposes of four feedforward measures see in the standard cascade structure Velocity feed forward Acceleration feed forward Current feed forward Jerk feed forward...

Page 155: ...r EME Setting up Compax3 192 120101 N11 C3I11T11 November 2007 155 Motion cycle without feedforward control Motion cycle with feedforward measures Velocity feedforward Velocity and acceleration feedfo...

Page 156: ...e value range for these filters is 63 8 300 000 s Depending on the replacement time consant of the closed velocity loop we can make recommendations for the setting Setting recommendation for control s...

Page 157: ...structure variant 2 with disturbance variable observer 160 Optimization parameter Advanced 161 EMC feedforward 162 Motor parameters 162 Filter External Command Interface 162 Voltage decoupling 162 Lo...

Page 158: ...actuating signa l 201 0 5 Jerk feed forw ard 201 0 4 C urr ent feed forw ard 201 0 2 Acc eleration feed forw ard 201 0 1 Velocity feed forw ard 210 0 7 Velocity loop D term 210 0 2 Stiffness 210 0 3...

Page 159: ...ltiplied with Kp T1 First order delay component P T1 component KI Integration block I block Kp TN PI block Limitation block signal limitation f f B d Notch filter band elimination filter Addition bloc...

Page 160: ...orward 2100 7 Velocity loop D term 2100 8 Current loop Bandwidth 2100 9 Current loop Damping 2100 2 Stiffness 2100 3 Damping 2100 4 Moment of Inertia Setpoint gene rator Observe r Observer off 2120 1...

Page 161: ...T1 First order delay component P T1 component KI Integration block I block Kp TN PI block Limitation block signal limitation f f B d Notch filter band elimination filter Addition block blue descripti...

Page 162: ...Compax3 load control Luenberg observer In this chapter you can read about Introduction observer 162 Signal flow chart Luenberg observer 163 Introduction observer A high signal quality of the actual s...

Page 163: ...1 T K Ges J 2 1 0 h 1 h 2 h I t Torque forming motor current Kt Torque constant ML t External disturbance torque Jtotal Total mass moment of inertia motor load a t Acceleration n t Velocity x t Positi...

Page 164: ...velocity loop running away of the motor or of bad motor efficiency reduced force constant Digital hall sensors are the most common aid to prevent this Due to the mechanical design it is however imposs...

Page 165: ...voltage for instance the motor develops a sinusoidal torque depending on the rotor position which can be used for example by evaluating the resulting movement in order to determine the correct motor c...

Page 166: ...direction of the field of rotation must be identical automatic commutation performed in the MotorManager Course of the automatic commutation function If automatic commutation with movement is selecte...

Page 167: ...cally the motor torque is maximal for the provided current If you gradually increase the provided motor current the motor will from a defined value on surpass its friction torque and exceed a motion t...

Page 168: ...slightly worse than without this measure As a current well above the nominal motor current is provided here there may be saturation effects on ironcore motors which might lead to an instable current...

Page 169: ...ch filter In this chapter you can read about Effect of the notch filter 169 Wrongly set notch filter 169 Frequency response of the notch filter 170 Parameterization by 3 objects 170 Notch filters are...

Page 170: ...sibly be used if the distance between the controller bandwidth velocity loop and the center frequency is long enough at least factor 5 This permits to deduce the following recommendation 4 x or 1 x 17...

Page 171: ...ms 2 1Aeff 1 1 2 2Aeff 1 Actual current 2 Setpoint current In the above figure we can see from the settling response that the drive shows a distinctive tendency to oscillate at doubled current The sat...

Page 172: ...on the following control functions were implemented Deadband following error Obj 2200 20 Filter following error Obj 2200 24 Friction compensation Obj 2200 20 Deadband following error Deadband filter f...

Page 173: ...ad identification 173 Setpoint generation 173 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 in...

Page 174: ...torque of the motor FL Load force of a linear motor Jtotal entire mass moment of inertia mges Total mass of a linear motor a possible acceleration The generation of the setpoint profile is jerk contr...

Page 175: ...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 t...

Page 176: ...LCB actuator 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...

Page 177: ...192 120101 N11 C3I11T11 November 2007 177 Controller optimization disturbance and setpint behavior standard In this chapter you can read about Controller optimization standard 178 Controller optimizat...

Page 178: ...the event of loud noise yes no Main diagram Controller optimization standard Please note that a stronger filtering may destabilize the control loop Please try to find a compromise between the signal...

Page 179: ...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 180: ...1T11 November 2007 Controller optimization disturbance and setpint behavior advanced In this chapter you can read about Controller optimization Advanced 181 Flow chart controller optimization of a dir...

Page 181: ...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 182: ...he size of the jerk and define jerk Respect the setpoint speed and the actual speed Smooth stable behavior 1 Observer time constant Obj 2120 1 and Vary filter of observed disturbance Obj 2120 5 increa...

Page 183: ...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 184: ...110 1 TRF 2110 1 Trackingfilter The displayed filter influences all outputs of the tracking filter Number Object number of the filter characteristic Differentiator Output signal d input signal dt The...

Page 185: ...s 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 i...

Page 186: ...t side 3rd series 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 ar...

Page 187: ...o longer available Access via an interface RS232 RS485 Profibus CANopen and via digital inputs is deactivated Attention The safe standstill according to EN954 1 category 3 is not guaranteed during set...

Page 188: ...en opening the commisisoning window of a new project for the first time Activated via the Upload settings fromdevice button bottom at the left side C3IxxT11 via an activated motion set C3I2xT11 via a...

Page 189: ...configured l the following buttons are displayed in the Commissioning window 1 Status of the load control yellow off green on 2 Activate Deactivate load control 3 Alignment of the position values of m...

Page 190: ...bbing caused by friction 4 4 7 2 Boundary conditions If the control is instable before the beginning of the measurement please reduce the stiffness in the optimization window at the left bottom The fo...

Page 191: ...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 192: ...oo small with continuous operation Increase amplitude of the excitation signal increase maximum speed 7 Test movement missing amplitude of the excitation signal too small Increase amplitude of the exc...

Page 193: ...n the status value analog input optimizing window at the top right unit 1 10V Enter this value directly with the same sign as offset value The status value analogue input shows the corrected value 4 4...

Page 194: ...sponse measurement 223 Examples are available as a movie in the help file 228 4 4 9 1 ServoSignalAnalyzer function range The function range of the ServoSignalAnalyzer is divided into 2 units Analysis...

Page 195: ...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 Oscillos...

Page 196: ...irmware is too old update with the aid of the firmware from the CD Activation In order to being able to use the analysis functions in the frequency range for example frequency response measurement a s...

Page 197: ...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 198: ...ompax3 Positioning via digital I Os 198 192 120101 N11 C3I11T11 November 2007 4 4 9 4 Analyses in the time range Selection and parameterization of the desired analysis function Exemplary step function...

Page 199: ...k is set at the end of the oscilloscope recording time but is reset to 0 after max 50mS Caution Many systems are not stable without control Position as well as speed control are switched off during me...

Page 200: ...s especially important during current step responses as position as well as speed control are deactivated during the measurement Max permitted speed When exceeding this value an error is triggered the...

Page 201: ...ller Signal Pocessing Steuerung Signal Verarbeitung Amplitude spectrum Amplitudenspektrum V f C3 Software Oscilloscope Upload System S1 During the spectral analysis of scanned signals with the aid of...

Page 202: ...transformation Complete oscillation period in the scanning period f0 Envelope without leak effect Non complete oscillation period in the scanning period f0 Envelope with leak effect Sine at 200Hz with...

Page 203: ...ough 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 spectre Th...

Page 204: ...es The 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...

Page 205: ...ems 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 sign...

Page 206: ...for reasons of safety or feasibility Caution Many systems are not stable without control Position as well as speed control are switched off during measurement no measurement on z axes If you want to a...

Page 207: ...ce 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...

Page 208: ...the frequency range in the event of a non linear system is shown below Signal amplitude too high non linearity in the signal range Signals Spectrum Output Signal Input Signal System Input Signal Outp...

Page 209: ...havior of the system will change greatly over this range caused by non linearities in the signal range An inexact measurement is the result If the excitation is reduced so that the drive will move onl...

Page 210: ...nt so that the speed will not become zero during the measurement the system remains in sliding friction and a precise measurement can be obtained Optimal measurement with rubbing friction v t v test m...

Page 211: ...215 3 Other settings see page 217 4 Operating and status field see page 219 5 Display of the measurement result see page 221 6 Dispaly of the measurement point at the cursor position see page 222 Sel...

Page 212: ...disturbance torque Kt 2 Pi J 1 velocity controlled system Signal generator Application for the design of superposed controllers or systems For the verification of the obtained controller speed during...

Page 213: ...lled system use Verification of the dynamic disturbance value behavior of the position control Which following error generates a sinusoidal disturbance torque disturbance current with the frequency fZ...

Page 214: ...J 1 velocity controlled system Reflects the transmission behavior between the acceleration at the motor and the acceleration at the load to be moved Application for the analysis of the dynamic behavi...

Page 215: ...ectrum and noise frequency response 3 Frequency resolution see page 201 During the measurement of frequency spectrum and noise frequency response this results automatically from the bandwidth and is o...

Page 216: ...control Shows the dynamic disturbance value behavior of the velocity control which dynamic influence does a disturbance torque have on the control deviation of the velocity control The disturbance to...

Page 217: ...r frequency responses are measured the following types of analyses are available For frequency spectra a Spectrum b Spectrum cumulated c cascade diagram For frequency responses d noise frequency respo...

Page 218: ...tra without and with cumulation cascade diagram c Frequency spectra are displayed subject to time The information on the value of the signal is color coded Cascade diagrams of the velocity signal duri...

Page 219: ...place 3 Progress of the registration of the signals in the controller The time of registration of the signals in the controller itself can depending on the bandwidth and the kind of measurement take...

Page 220: ...N last measurements are kept This is important for the display of the cumulated measurement and for the cascade diagram The larger the memory the older the results still used When the contents is dele...

Page 221: ...mpax3 192 120101 N11 C3I11T11 November 2007 221 Display of the measurement result Frequency spectra Bode diagrams Value and phase Magnitude Phase Position Controller open Velocity Controller closed Ve...

Page 222: ...utoscale mode and fixscale mode AutoScaleMode In this mode the scaling of hte color scale is adapted automatically so that all values can be displayed FixScaleMode Here the scaling is fixed If for ins...

Page 223: ...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 224: ...he 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 input signal only in value and pha...

Page 225: ...ances signal to noise ratio increases with a rising frequency The value as well as the phase response of the displayed frrquency response are disturbed at the same intensity this shows that disturbanc...

Page 226: ...Mechanical system with a resonance point fARes fRes fARes Anti resonance frequency fRes Resonance frequency The displayed change of the frequency response resonance point has its cause in a so called...

Page 227: ...es in the rotary system with a hollow shaft as elastic coupling element 2 1 Re 1 1 2 1 J J D f s 2 Re 2 1 J D f s A l r r G dr r l G D I A r r A I 2 2 4 4 3 G Shear modulus of the material used N m e...

Page 228: ...Achse spez l l l D D D D l D D l D D l l l F D 1 1 2 1 2 1 1 2 max 2 2 2 1 2 004 0 2 1 2 2 Re Re 1 2 1 2 2 1 Getriebe Zahnrad s s A i J r m D f m D f D Total spring constant of the toothed belt drive...

Page 229: ...values 230 You will find the ProfileViewer 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 230: ...Acceleration Deceleration Acceleration Jerk and Deceleration Jerk Times for the acceleration deceleration and constant phase Maximum values for acceleration deceleration and speed Set deceleration an...

Page 231: ...g 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 When z...

Page 232: ...etection interface settings see page 308 RS232 SSK1 see page 289 RS485 like SSK27 see page 290 RS485 is activated by 5V on X10 1 USB SSK33 03 only for Compax3M 5 1 1 RS485 setting values If Master Pop...

Page 233: ...on the value Commands requesting an Info string e g software version are only acknowledged with the respective ASCII character sequence followed by a CR without preceding command repetition The length...

Page 234: ...nd acknowledgement 0 0 0 0 0 1 1 1 Bits 7 6 5 and 4 of the start code form the telegram identification Bit 2 is always 1 Bits 3 1 and 0 have different meanings for the request and response telegrams T...

Page 235: ...the function could be executed and is completed in itself Negative acknowledgement Nak telegram SZ L D0 D1 Crc Hi Crc Lo 0x07 1 F No Hi F No Lo 0x 0x Answer from Compax3 if access to the object was de...

Page 236: ...9b79 0x8b58 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...

Page 237: ...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 238: ...plication example modem C3_Appl_A1016_language pdf on the Compax3 CD Connection Compax3 ServoManager Compax3 The Compax3 ServoManager 1 establishes a RS232 connection with modem 1 PC internal or exter...

Page 239: ...odem does not support standard AT commands Then you can enter special AT commands Note When operating the local modem on a telephone system it may be necessary to make a blind dialling Here the modem...

Page 240: ...re required For user defined modem additional settings are only required if the modem does not support standard AT commands Then you can enter special AT commands Note When operating the local modem o...

Page 241: ...the control cabinet and connect to telephone line Remote diagnosis required On site Connect modem to Compax3 X10 via SSK31 Modem is automatically initialized Local connect modem to telephone line Est...

Page 242: ...d status values require a better knowledge The user level can be changed in the optimization window left hand side lower part under selection TAB optimization with the following button 6 1 D A Monitor...

Page 243: ...on of the brake Caution A Z axis may drop down due to the brake delay times Most pending errors can be acknowledged with Quit The following errors must be acknowledged with Power on 0x7381 0x7382 0x73...

Page 244: ...itioning via digital I Os 244 192 120101 N11 C3I11T11 November 2007 In this chapter you can read about Order code device Compax3 245 Order code for mains module Compax3MP 246 Accessories order code 24...

Page 245: ...VAC three phase M 100 D6 15A 30A 400VAC three phase M 150 D6 Feedback Resolver F10 SinCos Hiperface F11 Encoder Sine cosine with without hall F12 Interface Step direction analog input I10 T10 M00 Posi...

Page 246: ...0V4 S1xxV2 ZBH 02 02 ZBH 0 2 0 2 for C3S300V4 ZBH 02 03 ZBH 0 2 0 3 Order Code connection set for Compax3MP Compax3M for C3M050D6 C3M100D6 C3M150D6 ZBH 04 01 ZBH 0 4 0 1 for C3MP10 ZBH 04 03 ZBH 0 4 0...

Page 247: ...cont BRM 0 5 0 2 for C3S025V2 or C3S038V4 100 60Wcont BRM 0 8 0 1 for C3S150V4 47 0 57kWcont BRM 1 0 0 1 for C3S150V2 and C3S300V4 4 01 15 0 57kWcont 4 02 15 0 74kWcont BRM 0 4 0 for C3S300V4 4 03 15...

Page 248: ...nnector BUS 1 0 0 1 Order Code operating module Operating module for Compax3S 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 lumino...

Page 249: ...olours according to DESINA 3 with motor plug 4 with cable eye for motor terminal box 5 Length code 2 for SSK28 Length m 0 17 0 25 0 5 1 0 3 0 5 0 10 0 Order code 23 20 21 01 22 03 05 6 Order code SSK2...

Page 250: ...can read about Parker servo motors 251 EMC measures 253 Connections to the motor 259 External braking resistors 268 Connection set for Compax3S 281 Connection set for Compax3MP Compax3M 283 Operator c...

Page 251: ...utation see page 251 or Digital hall sensors e g DiCoder Digital bidirectional interface All EnDat 2 1 or EnDat 2 2 feedback systems with incremental track sine cosine track linear or rotary max 400kH...

Page 252: ...Linear motors Feed force continuous dynamic Stroke length LMDT ironless linear servo motors 26 1 463N amost any LMI iron cored linear servo motors 52 6 000N 64 999mm Linear motors of the LXR series 3...

Page 253: ...m shielded 5m fully shielded on ground e g ground of control cabinet Order code mains filter Compax3S Compax3H for C3S025V2 or S063V2 NFI 0 1 0 1 for C3S0xxV4 S150V4 or S1xxV2 NFI 0 1 0 2 for C3S300V4...

Page 254: ...07 9 2 1 2 Mains filter NFI01 02 for Compax3 S0xx V4 Compax3 S150 V4 and Compax3 S1xx V2 Dimensional drawing 65 6 6 177 151 70 0 3 140 125 111 4 L I N E L O A D 9 2 1 3 Mains filter for NFI01 03 for C...

Page 255: ...nsional drawing B1 B M6 T1 T BFU H2 H1 H1 Stated in mm Filter type Dimensions Hole distances Distances Weight Grounding clamp Connection clamp B H H2 T B1 H1 T1 BFU HF U kg C3H050V4 NFI02 01 233 515 4...

Page 256: ...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 Connection clamp N...

Page 257: ...sion when the motor connecting 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 MD...

Page 258: ...A 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 filter M Motor MDR Compax3 PE PE U V W Br Br U1 U2 V2 V1 W1...

Page 259: ...2 up to 18 9A MOK 5 6 1 for SMH MH56 MH70 MH105 3 2 5mm 2 up to 18 9A cable chain compatible MOK 5 7 1 for MH145 MH205 4 1 5mm 2 up to 13 8A MOK 6 0 1 for MH145 MH205 4 1 5mm 2 up to 13 8A cable chain...

Page 260: ...1 NC Resolver 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...

Page 261: ...Compax3 X13 27mm 2x0 25 2x0 25 2x0 25 0 5 8 4 6 5 7 3 2 1 9 16 11 10 12 13 15 14 17 7 10 13 14 NC NC NC 5 NC 6 4 15 NC 16 NC 17 NC V GND 13 4 15 GND 5Vfil GY PK VT RD BU WH BN BN BK GN GY PK VT RD BU...

Page 262: ...Sense Sense 2 1 14 13 7 15 GND VCC 15 14 13 12 11 6 9 8 7 10 5 4 3 2 1 L tseite solder side 5 6 15 16 A A B 0 14 0 14 BU BK RD BK YE BK 17 14 Data Data 0 5 0 14 SIN SIN CLK 6 VCCTemp 8 CLK 9 4 YE VT...

Page 263: ...back over external cover for about 75mm and fix with insulating tape Fix 2x approx 30mm shrinking hose adhesive Strip ends of lines for 10mm and fix terminal sleeves 1 5 MOK54 max 13 8A cable chain co...

Page 264: ...standard Cable 6x2 5mm2 30mm 30mm 30mm 140mm 75mm Schirm auf Schirmanbindung selement Screen at screen contact sw1 sw2 sw3 sw4 sw5 gn ge sw1 sw2 sw3 sw4 sw5 gn ge 140mm 75mm 65mm 10mm Compax3 Motor Ab...

Page 265: ...ger Strip end of lines for about 6mm and fix with cable eyes M6 Please note the two different shield connection elements Additional motor cables for the terminal box with similar layout MOK62 max 47 3...

Page 266: ...I11T11 November 2007 9 3 6 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 PE F Brake red for MH205 G Brake blue for MH205 Additional designati...

Page 267: ...3 6 8 15 NC 1 NC Encoder Compax3 X11 2x0 14 2x0 5 2x0 14 D E G H K M NC NC NC NC NC C F J L N P R S T NC U NC V NC W NC X NC Y NC Z GY PK GN BN WH BU RD YE 4 14 13 A B C D E F G H J K L M N P R S T V...

Page 268: ...the connecting leads at the bottom Observe the instructions on the resistors warning plate Please note that the length of the supply cable must not exceed 2m Braking resistors for Compax3 Braking Resi...

Page 269: ...power BRM05 01 with C3S075V4 273 Permissible braking pulse power BRM05 02 with C3S075V4 274 Permissible braking pulse power BRM04 01 with C3S150V2 274 Permissible braking pulse power BRM04 01 with C3S...

Page 270: ...found in the range between characteristic F 0 5 and F 1 In order to achieve operating safety please select the higher factor this means that the required cooling time is 1s F Braking time cooling tim...

Page 271: ...ower 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 10...

Page 272: ...power BRM09 01 with C3S100V2 BRM09 01 230V_3AC 100 1000 10000 0 0 5 1 1 5 2 2 5 3 3 5 4 Braking time s PBdyn W 9 4 1 5 Permissible braking pulse power BRM10 01 with C3S150V4 BRM10 01 400 480V 100 100...

Page 273: ...er BRM05 01 with C3S063V2 BRM05 01 230V 100 1000 10000 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 C3S075V4 BRM05 01 400 480V 100 1000 10000 100000...

Page 274: ...power BRM05 02 with C3S075V4 BRM05 02 400 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 BRM04 01 with C3S150V2 BRM04 01 230V_3AC 100 10...

Page 275: ...wer BRM04 01 with C3S300V4 BRM04 01 400V 100 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 Braking time s PBdyn W 9 4 1 11 Permissible braking pulse power BRM04 02 with C3S150V2 BRM04 02 230V 1000 10000 0 0 5...

Page 276: ...power BRM04 02 with C3S300V4 BRM04 02 400V 1000 10000 100000 0 0 5 1 1 5 2 2 5 3 Braking time s PBdyn W 9 4 1 13 Permissible braking pulse power BRM04 03 with C3S300V4 BRM04 03 400V 1000 10000 100000...

Page 277: ...01 with C3H0xxV4 BRM11 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 15 Permissible braking pulse power BRM12 01 with C3H1xxV4 BRM12 01 400V 480V 1000 10000 10...

Page 278: ...9 4 2 Dimensions of the braking resistors In this chapter you can read about BRM8 01braking resistors 278 BRM5 01 braking resistor 278 Braking resistor BRM5 02 BRM9 01 BRM10 01 279 Braking resistor B...

Page 279: ...BRM5 02 BRM9 01 BRM10 01 Dimensional drawing 95 97 96 98 250 330 64 120 6 5 64 92 12 1 9 4 2 4 Braking resistor BRM4 0x Dimensional drawing 95 97 96 98 A B C 120 6 5 C 92 12 1 1 thermal current overl...

Page 280: ...istor BRM11 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 9 4 2 6 Braking resistor BRM13 01 BRM14 01 Dimensional dr...

Page 281: ...shield and the mating plug connectors for the Compax3 plug connectors X1 X2 X3 and X4 a toroidal core ferrite for a cable of the motor holding brake Lacing cord Order Code connection set for Compax3S...

Page 282: ...Compax3 Accessories Positioning via digital I Os 282 192 120101 N11 C3I11T11 November 2007 ZBH02 03 for Compax3 S300 3AC V4...

Page 283: ...Compax3M connectors X14 X15 X43 a toroidal core ferrite for a cable of the motor holding brake an interface cable SSK28 23 for communication within the axis combination for Compx3MP the matching plug...

Page 284: ...r can be plugged into any unit Can be plugged in while in operation Power supply via Compax3 servo control Display with 2 times 16 places Menu driven operation using 4 keys Displays and changing of va...

Page 285: ...11 or X12 for further wiring to a terminal strip and to a Sub 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 av...

Page 286: ...3 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 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 YE...

Page 287: ...mpax3 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...

Page 288: ...X12 X22 I Os digital for I O terminal block SSK 2 4 1 PC POP RS232 SSK 2 5 1 Compax3 POP RS485 for several C3H on request SSK 2 7 6 Compax3 HEDA Compax3 HEDA or PC C3powerPLmC Compax3 I30 Compax3 I30...

Page 289: ...ovember 2007 289 9 9 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 5V 1 n c 7 x 0 25mm Schirm Shield 1 5 6 9 1 5 6 9 X10 You will find the...

Page 290: ...8 1 1 15 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 cke...

Page 291: ...5 Screen 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 m...

Page 292: ...5 Screen 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 15...

Page 293: ...6 8 14 N N B B A A Schirm gro fl chig auf Geh use legen Place sheath 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 1...

Page 294: ...N YE BN Compax3 X10 Schirm gro fl chig auf Geh use legen Place sheath over large area of housing Pin 1 TxD GND 5 2 L tseite solder side 1 2 3 4 5 6 7 8 9 4 mm 6 mm 26 mm 5 2 3 RxD TxD GND 4 NC 1 6 7 9...

Page 295: ...upply voltage Three phase 3 400VAC 480VAC 80 528VAC 50 60Hz Input current 3Aeff 6Aeff 10Aeff 16Aeff 22Aeff 6A 10A 16A 20A 25A Maximum fuse rating per device short circuit rating MTP miniature circuit...

Page 296: ...due to capacitive load Fuse MTP miniature circuit breaker or delayed action fuse due to capacitive load Current drain of the device C3MP10D6 0 2A Total current drain C3M050D6 0 85A C3M100D6 0 85A C3M...

Page 297: ...Switching frequency 16kHz 16kHz 16kHz 8kHz 8kHz Power loss for In 60W 80 W 120W 160W 350W Output data Compax3Mxxx at 3 400VAC Device type Compax3 M050D6 M100D6 M150D6 Output voltage 3x 0 400V Nominal...

Page 298: ...W 1970W during low speeds the overload time is reduced to 1s Limit 2 5 electric rev s actual revolutions s number of pole pairs resp 2 5 Pitch s Output data Compax3Hxxx at 3 480VAC Controller type H05...

Page 299: ...frequency S015V4 S038V4 S075V4 S150V4 S300V4 Inominal 15Aeff 30Aeff 8 kHz Ipeak 5s 30Aeff 60Aeff Inominal 1 5Aeff 3 8Aeff 7 5Aeff 10 0Aeff 26Aeff 16kHz Ipeak 5s 4 5Aeff 9 0Aeff 15 0Aeff 20 0Aeff 52Ae...

Page 300: ...8Aeff 7 5Aeff 10Aeff 16kHz Ipeak 5s 7 5Aeff 15Aeff 20Aeff Inominal 2 5Aeff 3 8Aeff 5Aeff 32kHz Ipeak 5s 5Aeff 7 5Aeff 10Aeff Compax3MxxxD6 at 3 480VAC Switching frequency M050D6 M100D6 M150D6 Inomina...

Page 301: ...Aeff 40Aeff 48Aeff 32kHz Ipeak 5s 24Aeff 60Aeff 60Aeff 72Aeff The values marked with grey are the pre set values standard values corresponds to the frequency of the motor current Resolution of the mot...

Page 302: ...ximum rotating field frequency 1 000Hz Max speed 60 1000 number of pole pairs slip in min 1 Field suppression typically up to triple higher on request Temperature sensor KTY84 130 insulated according...

Page 303: ...S Interface Distance coding with RS422 Interface Encoder Feedback error compensation Feedback error compensation Automatic feedback error compensation offset amplification for analog hall sensors and...

Page 304: ...M100 M150 Capacitance storable energy 110 F 18Ws at 400V 10Ws at 480V 220 F 37Ws at 400V 21Ws at 480V 220 F 37Ws at 400V 21Ws at 480V Braking operation of Compax3HxxxV4 Controller type H050V4 H090V4...

Page 305: ...ompax3M100D6 360 x 50 x 263 3 6 Compax3M150D6 360 x 50 x 263 3 6 Protection type IP20 Size weight of Compax3H Controller type Dimensions HxWxD mm Weight kg Compax3H050V4 453 x 252 x 245 17 4 Compax3H0...

Page 306: ...3 Climate temperature humidity barometric pressure Class 3K3 Permissible ambient temperature Operation Storage Transport 0 to 45 C Class 3K3 25 to 70 C Class 2K3 25 to 70 C Class 2K3 Tolerated humidi...

Page 307: ...ing site 1000m above sea level for 100 load ratings 2000m above sea level for 1 100m power reduction Please inquire for greater elevations Sealing IP20 protection class according to EN 60 529 Mechanic...

Page 308: ...rds possible with the following settings Target position Velocity Acceleration Deceleration Repeat count Jerk specification Sequential or single positioning Different machine zero modes Absolute conti...

Page 309: ...278 C C3 ServoSignalAnalyzer 194 C3Sxxx V2 28 C3Sxxx V4 31 Calculation of the BRM cooling time 270 Calculation of the reference current from the characteristic line 124 Calling up the input simulation...

Page 310: ...irect drives 251 Dispaly of the measurement point at the cursor position 222 Display of the commutation error in incremental feedback systems 165 Display of the measurement result 221 Distinction betw...

Page 311: ...ns supply Compax3MP mains module 39 Mass inertia 123 Maximum operating speed 95 Meaning of the status LEDs Compax3 axis controller 22 Meaning of the status LEDs Compax3MP mains module 22 Measure refer...

Page 312: ...BRM08 01 with C3S015V4 C3S038V4 271 BRM08 01 with C3S025V2 271 BRM09 01 with C3S100V2 272 BRM10 01 with C3S150V4 272 BRM11 01 with C3H0xxV4 277 BRM12 01 with C3H1xxV4 277 BRM13 01 with C3MP10D6 278 B...

Page 313: ...e high frequency range 138 Stability problem in the low frequency range 138 stability attenuation 138 Standard 150 standard cascade structure 151 Standard optimization parameters 152 Static stiffness...

Page 314: ...Index Positioning via digital I Os 314 192 120101 N11 C3I11T11 November 2007 X3 27 X4 26...

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