Positioning via Ethernet Powerlink or EtherCAT

Compax3
Electromechanical Automation
Operating instructions Compax3 I30T11 & I31T11
Positioning via Ethernet Powerlink or
EtherCAT
192-120115 N5 C3I30T11 / C3I31T11
Release R09-10
We reserve the right to make technical changes.
The data correspond to the current status at the time of printing.
23.12.10 13:04
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
December 2010
Introduction
C3I30T11 / C3I31T11
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Worldwide sales
http://divapps.parker.com/divapps/eme/EME/Contact_sites/Sales%20Channel
_Parker-EME.pdf
Production site:
Parker Hannifin GmbH
Electromechanical Automation Europe [EME]
Robert-Bosch-Strasse 22
77656 Offenburg (Germany)
Tel.: + 49 (0781) 509-0
Fax: + 49 (0781) 509-98176
Internet: www.parker-eme.com http://www.parker-eme.com
E-mail: [email protected] mailto:[email protected]
Parker Hannifin GmbH - registered office: Bielefeld HRB 35489
Geschäftsführung: Dr. Gerd Scheffel, Günter Schrank, Christian Stein, Kees Veraart - Aufsichtsratsvorsitzender: Hansgeorg Greuner
Headquarters:
2
England:
Parker Hannifin PLC • Electromechanical Automation • Arena Business Centre
Holy Rood Close • Poole, Dorset BH17 7FJ UK
Tel.: +44 (0)1202 606300 • Fax: +44 (0)1202 606301
E-mail: [email protected] mailto:[email protected] •
Internet: www.parker-eme.com http://www.parker-eme.com
Italy:
Parker Hannifin S.p.A • SSD SBC • Electromechanical Automation • Via Gounod, 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: +39 (0)2 66012459 • Fax: +39 (0)2 66012808
E-mail: [email protected] mailto:[email protected] •
Internet: www.parker-eme.com http://www.parker-eme.com
USA:
Parker Hannifin Corporation • Electromechanical Automation
5500 Business Park Drive • Rohnert Park, CA 94928
Phone #: (800) 358-9068 • FAX #: (707) 584-3715
E-mail: [email protected] mailto:[email protected] • Internet:
www.compumotor.com http://www.compumotor.com
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
Inhalt
1. Introduction ...........................................................................................11
1.1
Device assignment ................................................................................ 11
1.2
Scope of delivery ................................................................................... 11
1.3
Type specification plate ........................................................................ 13
1.4
Packaging, transport, storage .............................................................. 14
1.5
Safety instructions ................................................................................. 16
1.5.1.
1.5.2.
1.5.3.
General hazards ............................................................................................... 16
Safety-conscious working .............................................................................. 16
Special safety instructions ............................................................................. 17
1.6
Warranty conditions .............................................................................. 18
1.7
Conditions of utilization ........................................................................ 19
1.7.1.
1.7.2.
1.7.3.
1.7.4.
1.7.5.
1.7.6.
Conditions of utilization for CE-conform operation ..................................... 19
1.7.1.1 Conditions of utilization mains filter ...................................................... 19
1.7.1.2 Conditions of utilization for cables / motor filter .................................... 20
1.7.1.3 Additional conditions of utilization ......................................................... 21
Conditions of utilization for UL certification Compax3S ............................. 22
Conditions of utilization for UL certification Compax3M ............................ 23
Conditions of utilization for UL certification Compax3H ............................. 24
Current on the mains PE (leakage current) ................................................... 25
Supply networks .............................................................................................. 26
2. Compax3 Xxxx I30T11 / I31T11 introduction .......................................27
3. Compax3 device description ................................................................29
3.1
Meaning of the status LEDs - Compax3 axis controller ..................... 29
3.2
Meaning of the status LEDs - PSUP (mains module) .......................... 30
3.3
Connections of Compax3S ................................................................... 31
3.3.1.
3.3.2.
3.3.3.
3.3.4.
3.3.5.
3.3.6.
Compax3S connectors .................................................................................... 31
Connector and pin assignment C3S .............................................................. 32
Control voltage 24VDC / enable connector X4 C3S ..................................... 34
Motor / Motor brake (C3S connector X3) ....................................................... 35
Compax3Sxxx V2 ............................................................................................. 36
3.3.5.1 Main voltage supply C3S connector X1 ................................................ 36
3.3.5.2 Braking resistor / high voltage DC C3S connector X2 .......................... 37
Compax3Sxxx V4 ............................................................................................. 39
3.3.6.1 Power supply connector X1 for 3AC 400VAC/480VAC-C3S
devices .................................................................................................. 39
3.3.6.2 Braking resistor / high voltage supply connector X2 for 3AC
400VAC/480VAC_C3S devices ............................................................ 40
3.3.6.3 Connection of the power voltage of 2 C3S 3AC devices ...................... 40
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
3
Introduction
C3I30T11 / C3I31T11
3.4
Installation instructions Compax3M .................................................... 41
3.5
PSUP/Compax3M Connections ............................................................ 43
3.5.1.
3.5.2.
3.5.3.
3.5.4.
3.5.5.
3.5.6.
3.5.7.
3.5.8.
3.6
Connections of Compax3H ................................................................... 54
3.6.1.
3.6.2.
3.6.3.
3.6.4.
3.6.5.
3.6.6.
3.6.7.
3.6.8.
3.7
3.7.3.
3.8.3.
Resolver / feedback (plug X13) ...................................................................... 69
Analogue / encoder (plug X11) ....................................................................... 70
3.8.2.1 Wiring of analog interfaces ................................................................... 70
3.8.2.2 Connections of the encoder interface ................................................... 70
Digital inputs/outputs (plug X12) ................................................................... 71
3.8.3.1 Connection of the digital Outputs/Inputs ............................................... 72
3.8.3.2 Logic proximity switch types ................................................................. 72
Installation and dimensions Compax3 ................................................. 73
3.9.1.
4
RS232/RS485 interface (plug X10) ................................................................. 63
Communication Compax3M ........................................................................... 64
3.7.2.1 PC - PSUP (Mains module) .................................................................. 64
3.7.2.2 Communication in the axis combination (connector X30, X31) ............ 64
3.7.2.3 Adjusting the basic address .................................................................. 65
3.7.2.4 Setting the axis function ........................................................................ 65
Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 ............. 66
3.7.3.1 Set Ethernet Powerlink (option I30) bus address ................................. 66
3.7.3.2 Set Ethernet Powerlink (option I30) bus address ................................. 66
3.7.3.3 Meaning of the Bus LEDs (Ethernet Powerlink) ................................... 66
3.7.3.4 Meaning of the Bus LEDs (EtherCAT) .................................................. 67
Signal interfaces .................................................................................... 69
3.8.1.
3.8.2.
3.9
Compax3H plugs/connections ....................................................................... 54
Connection of the power voltage ................................................................... 55
Compax3H connections front plate ............................................................... 57
Plug and pin assignment C3H ........................................................................ 57
Motor / Motor brake C3H ................................................................................. 59
Control voltage 24 VDC C3H........................................................................... 60
Mains connection Compax3H......................................................................... 60
Braking resistor / supply voltage C3H ........................................................... 61
3.6.8.1 Connect braking resistor C3H ............................................................... 61
3.6.8.2 Power supply voltage DC C3H ............................................................. 61
3.6.8.3 Connection of the power voltage of 2 C3H 3AC devices...................... 62
Communication interfaces .................................................................... 63
3.7.1.
3.7.2.
3.8
Front connector ............................................................................................... 43
Connections on the device bottom ................................................................ 44
Connections of the axis combination ............................................................ 45
Control voltage 24VDC PSUP (mains module) ............................................. 46
Mains supply PSUP (mains module) X41 ...................................................... 47
Braking resistor / temperature switch PSUP (mains module) .................... 49
3.5.6.1 Temperature switch PSUP (mains module).......................................... 51
Motor / motor brake Compax3M (axis controller) ........................................ 52
3.5.7.1 Measurement of the motor temperature of Compax3M (axis
controller) .............................................................................................. 53
Safety technology option for Compax3M (axis controller) ......................... 53
Mounting and dimensions Compax3S .......................................................... 73
3.9.1.1 Mounting and dimensions Compax3S0xxV2 ........................................ 73
3.9.1.2 Mounting and dimensions Compax3S100V2 and S0xxV4 ................... 74
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
3.9.2.
3.9.3.
3.9.1.3 Mounting and dimensions Compax3S150V2 and S150V4................... 75
3.9.1.4 Mounting and dimensions Compax3S300V4........................................ 76
Mounting and dimensions PSUP/C3M ........................................................... 77
3.9.2.1 Mounting and dimensions PSUP10/C3M050D6, C3M100D6,
C3M150D6 ............................................................................................ 77
3.9.2.2 Mounting and dimensions PSUP20/PSUP30/C3M300D6 .................... 78
3.9.2.3 With upper mounting, the housing design may be different ................. 78
Mounting and dimensions C3H ...................................................................... 79
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 80
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 80
3.9.3.3 Mounting distances, air currents Compax3H1xxV4 .............................. 81
3.10 Safety function - STO (=safe torque off) .............................................. 82
3.10.1.
General Description ......................................................................................... 82
3.10.1.1 Important terms and explanations ........................................................ 82
3.10.1.2 Intended use ......................................................................................... 83
3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 83
3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 84
3.10.2. STO (= safe torque off) with Compax3S ........................................................ 85
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S ............................. 85
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function ........... 87
3.10.2.3 Notes on the STO function.................................................................... 87
3.10.2.4 STO application example (= safe torque off) ........................................ 89
3.10.2.5 Technical Characteristics STO Compax3S .......................................... 96
3.10.3. STO (= safe torque off) with Compax3m (Option S1)................................... 97
3.10.3.1 Safety switching circuits ........................................................................ 97
3.10.3.2 Safety notes for the STO function in the Compax3M ........................... 98
3.10.3.3 Conditions of utilization for the STO function with Compax3M............. 98
3.10.3.4 STO delay times ................................................................................... 99
3.10.3.5 Compax3M STO application description ............................................ 100
3.10.3.6 STO function test ................................................................................ 104
3.10.3.7 Technical details of the Compax3M S1 option ................................... 106
4. Setting up Compax3 ............................................................................ 107
4.1
Configuration ....................................................................................... 107
4.1.1.
4.1.2.
4.1.3.
4.1.4.
4.1.5.
4.1.6.
4.1.7.
4.1.8.
Test commissioning of a Compax3 axis ..................................................... 109
Selection of the supply voltage used .......................................................... 109
Motor selection .............................................................................................. 109
Optimize motor reference point and switching frequency of the
motor current ................................................................................................. 110
Ballast resistor ............................................................................................... 113
General drive .................................................................................................. 113
Defining the reference system ..................................................................... 114
4.1.7.1 Measure reference .............................................................................. 114
4.1.7.2 Machine Zero ...................................................................................... 117
4.1.7.3 Travel Limit Settings ........................................................................... 134
4.1.7.4 Change assignment direction reversal / limit switches ....................... 137
4.1.7.5 Change initiator logic .......................................................................... 137
Defining jerk / ramps ..................................................................................... 138
4.1.8.1 Speed for positioning and velocity control .......................................... 138
4.1.8.2 Acceleration for positioning and velocity control ................................. 138
4.1.8.3 Acceleration / deceleration for positioning .......................................... 138
4.1.8.4 Jerk limit for positioning ...................................................................... 138
4.1.8.5 Ramp upon error and de-energize ...................................................... 140
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
5
Introduction
C3I30T11 / C3I31T11
4.1.9.
4.1.10.
4.1.11.
4.1.12.
4.1.13.
4.1.14.
4.1.15.
4.1.16.
4.1.17.
4.1.18.
4.2
Configuring the signal Source ............................................................ 157
4.2.1.
4.2.2.
4.3
4.3.3.
Configuration of load control ....................................................................... 162
Error: Position difference between load mounted and motor
feedback too high .......................................................................................... 164
Load control signal image ............................................................................ 164
4.3.3.1 Object for the load control (overview) ................................................. 164
4.3.3.2 Objects for load control ....................................................................... 165
Optimization ......................................................................................... 166
4.4.1.
4.4.2.
4.4.3.
4.4.4.
6
Signal source of the load feedback system ................................................ 157
Select signal source for Gearing ................................................................. 157
4.2.2.1 Signal source HEDA ........................................................................... 158
4.2.2.2 Encoder A/B 5V, step/direction or SSI feedback as signal source ..... 158
4.2.2.3 +/-10V analog speed setpoint value as signal source ........................ 160
Load control ......................................................................................... 161
4.3.1.
4.3.2.
4.4
4.1.8.6 Jerk for STOP, MANUAL and error .................................................... 140
Limit and monitoring settings ...................................................................... 140
4.1.9.1 Current (Torque) Limit......................................................................... 141
4.1.9.2 Positioning window - Position reached ............................................... 141
4.1.9.3 Following error limit ............................................................................. 142
4.1.9.4 Maximum operating speed.................................................................. 142
Encoder simulation ....................................................................................... 143
4.1.10.1 Encoder bypass with Feedback module F12 (for direct drives).......... 143
I/O Assignment .............................................................................................. 144
Position mode in reset operation ................................................................. 145
4.1.12.1 Examples in the help file ..................................................................... 145
Reg-related positioning / defining ignore zone .......................................... 146
Write into set table ......................................................................................... 147
4.1.14.1 Programmable status bits (PSBs) ....................................................... 147
Motion functions ............................................................................................ 148
4.1.15.1 MoveAbs and MoveRel ....................................................................... 148
4.1.15.2 Reg-related positioning (RegSearch, RegMove) ................................ 149
4.1.15.3 Electronic gearbox (Gearing) .............................................................. 153
4.1.15.4 Speed specification (Velocity) ............................................................. 154
4.1.15.5 Stop command (Stop) ......................................................................... 154
Error response ............................................................................................... 154
Configuration name / comments .................................................................. 155
Dynamic positioning ..................................................................................... 155
Optimization window ..................................................................................... 167
Scope .............................................................................................................. 168
4.4.2.1 Monitor information ............................................................................. 168
4.4.2.2 User interface ...................................................................................... 169
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 174
Controller optimization ................................................................................. 176
4.4.3.1 Introduction ......................................................................................... 176
4.4.3.2 Configuration ....................................................................................... 179
4.4.3.3 Automatic controller design................................................................. 196
4.4.3.4 Setup and optimization of the control ................................................. 208
Signal filtering with external command value ............................................ 240
4.4.4.1 Signal filtering for external setpoint specification and electronic
gearbox ............................................................................................... 240
4.4.4.2 Signal filtering for external setpoint specification and electronic
cam ..................................................................................................... 241
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
4.4.5.
Input simulation ............................................................................................. 243
4.4.5.1 Calling up the input simulation ............................................................ 243
4.4.5.2 Operating Principle ............................................................................. 244
4.4.6.
Setup mode .................................................................................................... 245
4.4.6.1 Motion objects in Compax3................................................................. 246
4.4.7.
Load identification ......................................................................................... 247
4.4.7.1 Principle .............................................................................................. 247
4.4.7.2 Boundary conditions ........................................................................... 247
4.4.7.3 Process of the automatic determination of the load characteristic
value (load identification) .................................................................... 248
4.4.7.4 Tips ..................................................................................................... 249
4.4.8.
Alignment of the analog inputs .................................................................... 250
4.4.8.1 Offset alignment .................................................................................. 250
4.4.8.2 Gain alignment .................................................................................... 250
4.4.8.3 Signal processing of the analog inputs ............................................... 251
4.4.9.
C3 ServoSignalAnalyzer ............................................................................... 252
4.4.9.1 ServoSignalAnalyzer - function range ................................................ 252
4.4.9.2 Signal analysis overview ..................................................................... 253
4.4.9.3 Installation enable of the ServoSignalAnalyzer .................................. 254
4.4.9.4 Analyses in the time range.................................................................. 256
4.4.9.5 Measurement of frequency spectra .................................................... 259
4.4.9.6 Measurement of frequency responses ............................................... 262
4.4.9.7 Overview of the user interface ............................................................ 269
4.4.9.8 Basics of frequency response measurement...................................... 283
4.4.9.9 Examples are available as a movie in the help file ............................. 288
4.4.10. ProfileViewer for the optimization of the motion profile ........................... 289
4.4.10.1 Mode 1: Time and maximum values are deduced from Compax3
input values ......................................................................................... 289
4.4.10.2 Mode 2: Compax3 input values are deduced from times and
maximum values ................................................................................. 290
4.4.11. Turning the motor holding brake on and off............................................... 291
5. Communication ................................................................................... 292
5.1
Compa3 communication variants ....................................................... 292
5.1.1.
5.1.2.
5.1.3.
5.1.4.
5.1.5.
5.1.6.
5.1.7.
5.1.8.
5.2
COM port protocol ............................................................................... 302
5.2.1.
5.2.2.
5.2.3.
5.3
PC <-> Compax3 (RS232) .............................................................................. 293
PC <-> Compax3 (RS485) .............................................................................. 295
PC <-> C3M device combination (USB) ....................................................... 296
USB-RS485 Moxa Uport 1130 adapter ......................................................... 297
ETHERNET-RS485 NetCOM 113 adapter ..................................................... 298
Modem MB-Connectline MDH 500 / MDH 504 ............................................. 299
C3 settings for RS485 two wire operation ................................................... 300
C3 settings for RS485 four wire operation .................................................. 301
RS485 settings values ................................................................................... 302
ASCII - record ................................................................................................. 303
Binary record ................................................................................................. 304
Remote diagnosis via Modem............................................................. 307
5.3.1.
5.3.2.
5.3.3.
5.3.4.
Structure ......................................................................................................... 308
Configuration of local modem 1 ................................................................... 309
Configuration of remote modem 2 ............................................................... 309
Recommendations for preparing the modem operation ........................... 310
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
7
Introduction
5.4
C3I30T11 / C3I31T11
Ethernet Powerlink / EtherCAT ........................................................... 311
5.4.1.
5.4.2.
5.4.3.
5.4.4.
5.4.5.
5.4.6.
Operating mode ............................................................................................. 311
5.4.1.1 CN (Controlled Node) in Velocity Mode - velocity control ................... 312
5.4.1.2 CN (Controlled Node) in Position Mode - Direct Positioning .............. 313
5.4.1.3 CN (Controlled Node) with set selection ............................................. 315
5.4.1.4 Error Reaction on Bus Failure............................................................. 317
CN Controlled Node (Slave) .......................................................................... 317
State machine ................................................................................................ 318
Controlword /Statusword .............................................................................. 320
5.4.4.1 Control word 1 (Controlword 1) ........................................................... 320
5.4.4.2 Status word 1 (Status word) ............................................................... 322
5.4.4.3 Interpolated Position / Cyclic Synchronous Position Mode ................ 322
Acyclic parameter channel ........................................................................... 328
5.4.5.1 Service Data Objects (SDO) ............................................................... 328
5.4.5.2 Object Up-/Download via Ethernet Powerlink / EtherCAT .................. 329
5.4.5.3 Ethernet Powerlink objects ................................................................. 330
Ethernet Powerlink / EtherCAT communication profile (doc) ................... 346
6. Status values ....................................................................................... 347
6.1
D/A-Monitor .......................................................................................... 347
6.2
Status values ........................................................................................ 347
7. Error ..................................................................................................... 348
7.1
Error list ................................................................................................ 348
8. Order code ........................................................................................... 349
8.1
Order code device: Compax3 ............................................................. 349
8.2
Order code for mains module: PSUP ................................................. 350
8.3
Order code for accessories................................................................. 350
9. Compax3 Accessories ........................................................................ 354
9.1
Parker servo motors ............................................................................ 354
9.1.1.
9.1.2.
9.2
EMC measures ..................................................................................... 357
9.2.1.
8
Direct drives ................................................................................................... 354
9.1.1.1 Transmitter systems for direct drives .................................................. 355
9.1.1.2 Linear motors ...................................................................................... 356
9.1.1.3 Torque motors ..................................................................................... 356
Rotary servo motors ...................................................................................... 356
Mains filter ...................................................................................................... 357
9.2.1.1 Mains filter NFI01/01 ........................................................................... 358
9.2.1.2 Mains filter NFI01/02 ........................................................................... 358
9.2.1.3 Mains filter for NFI01/03...................................................................... 359
9.2.1.4 Mains filter NFI02/0x ........................................................................... 359
9.2.1.5 Mains filter NFI03/01& NFI03/03 ........................................................ 360
9.2.1.6 Mains filter NFI03/02 ........................................................................... 361
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
9.2.2.
9.2.3.
9.3
Connections to the motor ................................................................... 365
9.3.1.
9.3.2.
9.3.3.
9.3.4.
9.3.5.
9.4
Motor output filter .......................................................................................... 362
9.2.2.1 Motor output filter MDR01/04 .............................................................. 362
9.2.2.2 Motor output filter MDR01/01 .............................................................. 362
9.2.2.3 Motor output filter MDR01/02 .............................................................. 363
9.2.2.4 Wiring of the motor output filter ........................................................... 363
Mains filters .................................................................................................... 364
9.2.3.1 Mains filter for PSUP30....................................................................... 364
Resolver cable ............................................................................................... 366
SinCos© cable ................................................................................................ 367
EnDat cable .................................................................................................... 368
Motor cable ..................................................................................................... 368
9.3.4.1 Connection of terminal box MH145 & MH205 .................................... 369
Encoder cable ................................................................................................ 370
External braking resistors ................................................................... 371
9.4.1.
9.4.2.
Permissible braking pulse powers of the braking resistors ..................... 372
9.4.1.1 Calculation of the BRM cooling time ................................................... 373
9.4.1.2 Permissible braking pulse power: BRM08/01 with C3S015V4 /
C3S038V4 ........................................................................................... 374
9.4.1.3 Permissible braking pulse power: BRM08/01 with C3S025V2 ........... 374
9.4.1.4 Permissible braking pulse power: BRM09/01 with C3S100V2 ........... 375
9.4.1.5 Permissible braking pulse power: BRM10/01 with C3S150V4 ........... 375
9.4.1.6 Permissible braking pulse power: BRM10/02 with C3S150V4 ........... 376
9.4.1.7 Permissible braking pulse power: BRM05/01 with C3S063V2 ........... 376
9.4.1.8 Permissible braking pulse power: BRM05/01 with C3S075V4 ........... 377
9.4.1.9 Permissible braking pulse power: BRM05/02 with C3S075V4 ........... 377
9.4.1.10 Permissible braking pulse power: BRM04/01 with C3S150V2 ........... 378
9.4.1.11 Permissible braking pulse power: BRM04/01 with C3S300V4 ........... 378
9.4.1.12 Permissible braking pulse power: BRM04/02 with C3S150V2 ........... 379
9.4.1.13 Permissible braking pulse power: BRM04/02 with C3S300V4 ........... 379
9.4.1.14 Permissible braking pulse power: BRM04/03 with C3S300V4 ........... 380
9.4.1.15 Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........... 380
9.4.1.16 Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........... 381
9.4.1.17 Permissible braking pulse power: BRM13/01 with PSUP10D6 .......... 381
9.4.1.18 Permissible braking pulse power: BRM14/01 with PSUP10D6 .......... 381
Dimensions of the braking resistors ........................................................... 382
9.4.2.1 BRM8/01braking resistors................................................................... 382
9.4.2.2 BRM5/01 braking resistor ................................................................... 382
9.4.2.3 Braking resistor BRM5/02, BRM9/01 & BRM10/01 ............................ 382
9.4.2.4 Ballast resistor BRM4/0x and BRM10/02 ........................................... 383
9.4.2.5 Braking resistor BRM11/01 & BRM12/01 ........................................... 383
9.4.2.6 Ballast resistor BRM13/01 & BRM14/01 ............................................. 384
9.5
Condenser module C4 ......................................................................... 385
9.6
Operator control module BDM ............................................................ 386
9.7
EAM06: Terminal block for inputs and outputs ................................. 387
9.8
Interface cable ...................................................................................... 389
9.8.1.
9.8.2.
9.8.3.
9.8.4.
RS232 cable .................................................................................................... 389
RS485 cable to Pop ....................................................................................... 390
I/O interface X12 / X22 ................................................................................... 391
Ref X11 ............................................................................................................ 391
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
9
Introduction
C3I30T11 / C3I31T11
9.8.5.
9.8.6.
9.9
Encoder coupling of 2 Compax3 axes ......................................................... 392
Modem cable SSK31 ...................................................................................... 393
Options M1x ......................................................................................... 394
9.9.1.
9.9.2.
9.9.3.
Input/output option M12 ................................................................................ 394
9.9.1.1 Assignment of the X22 connector ....................................................... 394
HEDA (motion bus) - Option M11 ................................................................. 395
Option M10 = HEDA (M11) & I/Os (M12) ..................................................... 397
10. Technical Characteristics ................................................................... 398
11. Index..................................................................................................... 416
10
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
1. Introduction
In this chapter you can read about:
Device assignment ..........................................................................................................11
Scope of delivery .............................................................................................................11
Type specification plate ...................................................................................................13
Packaging, transport, storage ..........................................................................................14
Safety instructions ...........................................................................................................16
Warranty conditions .........................................................................................................18
Conditions of utilization .................................................................................................... 19
1.1
Device assignment
This manual is valid for the following devices:
Compax3S025V2 + supplement
Compax3S063V2 + supplement
 Compax3S100V2 + supplement
 Compax3S150V2 + supplement
 Compax3S015V4 + supplement
 Compax3S038V4 + supplement
 Compax3S075V4 + supplement
 Compax3S150V4 + supplement
 Compax3S300V4 + supplement
 Compax3H050V4 + supplement
 Compax3H090V4 + supplement
 Compax3H125V4 + supplement
 Compax3H155V4 + supplement
 Compax3M050D6 + supplement
 Compax3M100D6 + supplement
 Compax3M150D6 + supplement
 Compax3M300D6 + supplement
 PSUP10D6
 PSUP20D6


With the supplement:
F10 (Resolver)
F11 (SinCos©)
 F12 (linear and rotary direct drives)
 I30 T11
 I31 T11


1.2
Scope of delivery
The following items are furnished with the device:

Manuals*
 Installation manual (German, English, French)
 Compax3 DVD
 Startup Guide (German / English)
*Comprehensiveness of documentation depends on device type
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
11
Introduction
12
C3I30T11 / C3I31T11

Device accessories
Device accessories for Compax3S
 Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
 the mating plug connectors for the Compax3S plug connectors X1, X2, X3, and
X4
 a toroidal core ferrite for one cable of the motor holding brake
 Lacing cord

Device accessories for Compax3M
 Cable clamps in different sizes for large area shielding of the motor cable, the
screw for the cable clamp as well as
 the matching plug for the Compax3M connectors X14, X15, X43
 a toroidal core ferrite for one cable of the motor holding brake
 an interface cable (SSK28/23) for communication within the axis combination

Device accessories for PSUP
 Matching plug for the PSUP connectors X9, X40, X41
 2 bus terminal connectors (BUS07/01) for mains module and the last axis
controller in the combination

Device accessories for Compax3H
 Mating connector for X3 and X4
 SSK32/20: RS232 adapter cable (programming port C3HxxxV4 - SSK1 - PC)
 VBK17/01: SubD jumper mounted
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
1.3
Type specification plate
The present device type is defined by the type specification plate (on the housing):
Compax3 - Type
specification plate
(example):
Explanation:
1
Type designation
The complete order designation of the device (2, 5, 6, 9, 8).
C3:Abbreviation for Compax3
2
S025:Single axis device, nominal device current in 100mA (025=2.5A)
M050:Multi-axis device, nominal device current in 100mA (050=5A)
H050:High power device, nominal device current in 1A (050=50A)
D6: Designation nominal supply
V2:Mains supply voltage (2=230VAC/240VAC, 4=400VAC/480VAC)
3
Unique number of the particular device
4
5
Nominal supply voltage
Power Input: Input supply data
Power Output: Output data
Designation of the feedback system
F10:Resolver
F11:SinCos© / Single- or Multiturn
F12: Feedback module for direct drives
6
Device interface
I10:Analog, step/direction and encoder input
I11 / I12:Digital Inputs / Outputs and RS232 / RS485
I20:Profibus DP / I21:CANopen / I22:DeviceNet /
I30:Ethernet Powerlink / I31: EtherCAT / I32: Profinet
C20: integrated controller C3 powerPLmC, Linux & Web server
7
Date of factory test
8
Options
Mxx: I/O extension, HEDA
Sx: optional safety technology on C3M
9
Technology function
T10:Servo drive
T11:Positioning
T30:Motion control programmable according to IEC61131-3
T40:Electronic cam
10
CE compliance
11
Certified safety technology (corresponding to the logo displayed)
12
UL certified (corresponding to the logo displayed)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
13
Introduction
1.4
C3I30T11 / C3I31T11
Packaging, transport, storage
Packaging material and transport
Caution!
The packaging material is inflammable, if it is disposed of improperly by burning,
lethal fumes may develop.
The packaging material must be kept and reused in the case of a return shipment.
Improper or faulty packaging may lead to transport damages.
Make sure to transport the drive always in a safe manner and with the aid of
suitable lifting equipment (Weight (see on page 398, see on page 410)). Do never
use the electric connections for lifting. Before the transport, a clean, level surface
should be prepared to place the device on. The electric connections may not be
damaged when placing the device.
First device checkup
Check the device for signs of transport damages.
Please verify, if the indications on the Type identification plate (see on page 13)
correspond to your requirements.
 Check if the consignment is complete.


Disposal
This product contains materials that fall under the special disposal regulation from
1996, which corresponds to the EC directory 91/689/EEC for dangerous disposal
material. We recommend to dispose of the respective materials in accordance with
the respectively valid environmental laws. The following table states the materials
suitable for recycling and the materials which have to be disposed of separately.
Material Option
suitable for
recycling
Disposal
Metal
yes
no
Plastic materials
yes
no
Circuit boards
no
yes
Please dispose of the circuit boards according to one of the following methods:
 Burning at high temperatures (at least 1200°C) in an incineration plant licensed in
accordance with part A or B of the environmental protection act.
 Disposal via a technical waste dump which is allowed to take on electrolytic
aluminum condensers. Do under no circumstances dump the circuit boards at a
place near a normal waste dump.
Storage
If you do not wish to mount and install the device immediately, make sure to store it
in a dry and clean environment (see on page 412). Make sure that the device is
not stored near strong heat sources and that no metal chippings can get into the
device.
14
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
Please note in the
event of storage >1
year:
Forming the capacitors
Forming the capacitors only required with 400VAC axis controllers and PSUP
mains module
If the device was stored longer than one year, the intermediate capacitors must be
re-formed!
Forming sequence:


Remove all electric connections
Supply the device with 230VAC single phase for 30 minutes
 via the L1 and L2 terminals on the device or
 multi axis devices via L1 and L2 on the PSUP mains module
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
15
Introduction
1.5
C3I30T11 / C3I31T11
Safety instructions
In this chapter you can read about:
General hazards .............................................................................................................. 16
Safety-conscious working ................................................................................................ 16
Special safety instructions ............................................................................................... 17
1.5.1.
General hazards
General Hazards on Non-Compliance with the Safety Instructions
The device described in this manual is designed in accordance with the latest
technology and is safe in operation. Nevertheless, the device can entail certain
hazards if used improperly or for purposes other than those explicitly intended.
Electronic, moving and rotating components can
 constitute a hazard for body and life of the user, and
 cause material damage
Usage in accordance with intended purpose
The device is designed for operation in electric power drive systems (VDE0160).
Motion sequences can be automated with this device. Several motion sequences
can be combined by interconnecting several of these devices. Mutual interlocking
functions must be incorporated for this purpose.
1.5.2.
Safety-conscious working
This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:
 Persons who, by virtue to their training, experience and instruction, and their
knowledge of pertinent norms, specifications, accident prevention regulations and
operational relationships, have been authorized by the officer responsible for the
safety of the system to perform the required task and in the process are capable
of recognizing potential hazards and avoiding them (definition of technical
personnel according to VDE105 or IEC364),
 Persons who have a knowledge of first-aid techniques and the local emergency
rescue services.
 persons who have read and will observe the safety instructions.
 Those who have read and observe the manual or help (or the sections pertinent
to the work to be carried out).
This applies to all work relating to setting up, commissioning, configuring,
programming, modifying the conditions of utilization and operating modes, and to
maintenance work.
This manual and the help information must be available close to the device during
the performance of all tasks.
16
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Introduction
Parker EME
1.5.3.
Special safety instructions
Check the correct association of the device and its documentation.
Never detach electrical connections while voltage is applied to them.
 Safety devices must be provided to prevent human contact with moving or
rotating parts.
 Make sure that the device is operated only when it is in perfect condition.
 Implement and activate the stipulated safety functions and devices.
 Operate the device only with the housing closed.
 Make sure that all devices are sufficiently fixed.
 Check that all live terminals are secured against contact. Perilous voltage levels
of up to 850V occur.
 Do not bypass power direct current


Be cautious when performing configuration downloads with master - slave couplings (electronic gear,
cam) Deactivate the drive before starting the configuration download: Master and Slave axis.
Caution!
Due to movable machine parts and high voltages, the device can pose a lethal
danger. Danger of electric shock in the case of non-respect of the following
instructions. The device corresponds to DIN EN 61800-3, i.e. it is subject to
limited sale. The device can emit disturbances in certain local environments. In
this case, the user is liable to take suitable measures.
The device must be permanently grounded 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 cover, the discharging time must be awaited. After switching off the
supply voltage, it may take up to 10 minutes to discharge the capacitors.
Danger of electric shock in case of non respect.
 Before you can work on the device, the supply voltage must be switched off at the
L1, L2 and L3 clamps. Wait at least 10 minutes so that the power direct current
may sink to a secure value (<50V). Check with the aid of a voltmeter, if the
voltage at the DC+ and DC- clamps has fallen to a value below 50V.
Danger of electric shock in case of non respect.
 Do never perform resistance tests with elevated voltages (over 690V) on the
wiring without separating the circuit to be tested from the drive.
 Please exchange devices only in currentless state and, in an axis system, only in
a defined original state.
 In the event of a axis controller device exchange it is absolutely necessary to
transfer the configuration determining the correct operation of the drive to the
device, before the device is put into operation. Depending on the operation mode,
a machine zero run will be necessary.
 The device contains electrostatically sensitive components. Please heed the
electrostatic protection measures while working at/with the device as well as
during installation and maintenance.
 Operation of the PSUP30 only with mains filter.


Attention - hot surface!
The heat dissipator can reach very high temperatures (>70°C)
Protective seals
Caution!
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
17
Introduction
C3I30T11 / C3I31T11
Please note in the
event of storage >1
year:
Forming the capacitors
Forming the capacitors only required with 400VAC axis controllers and PSUP
mains module
If the device was stored longer than one year, the intermediate capacitors must be
re-formed!
Forming sequence:


1.6
Remove all electric connections
Supply the device with 230VAC single phase for 30 minutes
 via the L1 and L2 terminals on the device or
 multi axis devices via L1 and L2 on the PSUP mains module
Warranty conditions
The device must not be opened.
Do not make any modifications to the device, except for those described in the
manual.
 Make connections to the inputs, outputs and interfaces only in the manner
described in the manual.
 Fix the devices according to the mounting instructions (see on page 73, see on
page 79).
We cannot provide any guarantee for other mounting methods.


Note on exchange of options
Device options must be exchanged in the factory to ensure hardware and software
compatibility.
When installing the device, make sure the heat dissipators of the device receive
sufficient air and respect the recommended mounting distances of the devices
with integrated ventilator fans in order to ensure free circulation of the cooling air.
 Make sure that the mounting plate is not exposed to external temperature
influences.

18
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
1.7
Conditions of utilization
In this chapter you can read about:
Conditions of utilization for CE-conform operation ........................................................... 19
Conditions of utilization for UL certification Compax3S .................................................... 22
Conditions of utilization for UL certification Compax3M .................................................... 23
Conditions of utilization for UL certification Compax3H .................................................... 24
Current on the mains PE (leakage current) ...................................................................... 25
Supply networks .............................................................................................................. 26
1.7.1.
Conditions of utilization for CE-conform operation
- Industry and trade The EC guidelines for electromagnetic compatibility 2004/108/EC and for electrical
operating devices for utilization within certain voltage limits 2006/95/EC are fulfilled
when the following boundary conditions are observed:
Operation of the devices only in the condition in which they were delivered,
i.e. with all housing panels.
In order to ensure contact protection, all mating plugs must be present on the
device connections even if they are not wired.
Please respect the specifications of the manual, especially the technical
characteristics (mains connection, circuit breakers, output data, ambient
conditions,...).
1.7.1.1
Mains filter:
Conditions of utilization mains filter
A mains filter is required in the mains input line if the motor cable exceeds a certain
length. Filtering can be provided centrally at the system mains input or separately
for each device or with C3M for each axis system.
Use of the devices in a commercial and residential area (limit value class in
accordance with EN 61800-3)
The following mains filters are available for independent utilization:
Device:
Compax3S
Limit value
class
Motor cable length
Mains filter
Order No.:
S0xxV2
C2
< 10 m
without
C2
> 10 m, < 100 m
NFI01/01
S1xxV2,
S0xxV4, S150V4
C2
< 10 m
without
C2
> 10 m, < 100 m
NFI01/02
S300V4
C3
< 10 m
without
C2, C3
> 10 m, < 100 m
NFI01/03
Device:
Compax3H
Limit value
class
Motor cable length
Mains filter
Order No.:
H050V4
C2
< 10 m
without
C2
> 10 m, < 50 m
NFI02/01
C2
< 10 m
without
C2
> 10 m, < 50 m
NFI02/02
C2
< 10 m
without
C2
> 10 m, < 50 m
NFI02/03
H090V4
H1xxV4
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
19
Introduction
C3I30T11 / C3I31T11
Use of the devices in the industrial area (limit values class C3 in accordance
with EN 61800-3)
The following mains filters are available for independent utilization:
Device: PSU
Limit value
class
Reference: Axis system Mains filter
with motor cable
Order No.:
P10
C3
< 6 x 10 m
NFI03/01
P10
C3
< 6 x 50 m
NFI03/02
P20
C3
< 6 x 50 m
NFI03/03
P30
C3
< 6 x 50 m
NFI03/03
Connection length: Connection between mains filter and device:
Motor and Feedback
cable:
Compax3S motor
cable
unshielded:
< 0.5 m
shielded
< 5 (fully shielded on ground - e.g. ground of control cabinet)
1.7.1.2
Conditions of utilization for cables / motor filter
Operation of the devices only with motor and feedback cables whose plugs
contain a special full surface area screening.
< 100 m (the cable should not be rolled up!)
A motor output filter (see on page 362) is required for motor cables >20 m:
 MDR01/04 (max. 6.3 A rated motor current)
 MDR01/01 (max. 16 A rated motor current)
 MDR01/02 (max. 30 A rated motor current)
Compax3H motor
cable
A motor output filter is required for motor cables >50m. Please contact us.
Compax3M motor
cable
<80m per axis (the cable must not be rolled up!)
The entire length of the motor cable per axis combination may not exceed 300m.
A motor output filter (see on page 362) is required for motor cables >20 m:
 MDR01/04 (max. 6.3 A rated motor current)
 MDR01/01 (max. 16 A rated motor current)
 MDR01/02 (max. 30 A rated motor current)
Shielding connection of the motor cable
The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals furnished with the device.
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
Compax3 encoder
cable:
Compax3M encoder
cable:
< 100 m
< 80m
Cable for Compax3S,
Compax3M
Corresponding to the specifications of the terminal clamp with a temperature range
of up to 60°C.
Cable for Compax3H
Corresponding to the specifications of the terminal clamp with a temperature range
of up to 75°C.
20
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
Cable installation:
Signal lines and power lines should be installed as far apart as possible.
Signal lines should never pass close to excessive sources of interference
(motors, transformers, contactors etc.).
 Do not place mains filter output cable parallel to the load cable.


1.7.1.3
Additional conditions of utilization
Motors:
Operation with standard motors.
Control:
Use only with aligned controller (to avoid control loop oscillation).
Grounding:
Connect the filter housing and the device to the cabinet frame, making sure that the
contact area is adequate and that the connection has low resistance and low
inductance.
Never mount the filter housing and the device on paint-coated surfaces!
Compax3S300V4
Accessories:
For CE and UL conform operation of the Compax3S300V4, a mains filter is
compulsory:
 400 VAC / 0.740 mH certified in accordance with EN 61558-1 bzw. 61558-2-2
 We offer the mains filter as an accessory: LIR01/01
Make sure to use only the accessories recommended by Parker
Connect all cable shields at both ends, ensuring large contact areas!
Warning:
This is a product in the restricted sales distribution class according to EN
61800-3. In a domestic area this product can cause radio frequency
disturbance, in which case the user may be required to implement
appropriate remedial measures.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
21
Introduction
1.7.2.
C3I30T11 / C3I31T11
Conditions of utilization for UL certification Compax3S
UL certification for Compax3S
conform to UL:

Certified

according to UL508C
E-File_No.: E235342
The UL certification is documented by a "UL" logo on the
device (type specification plate).
“UL” logo:
Conditions of utilization
The devices are only to be installed in a degree of contamination 2 environment
(maximum).
 The devices must be appropriately protected (e.g. by a switching cabinet).
 The X2 terminals are not suitable for field wiring.
 Tightening torque of the field wiring terminals ( green Phoenix plugs)
 C3S0xxV2
0.57 - 0.79Nm
5 - 7Lb.in
 C3S1xxV2,
0.57 - 0.79Nm
5 - 7Lb.in
C3S0xxV4, C3S150V4
 C3S300V4
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 on page 349,
see on page 350), they feature a temperature rating of at least 60°C.
 Maximum Surrounding Air Temperature: 45°C.
 Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes and 480 volts maximum.

ATTENTION
Danger of electric shock.
Discharge time of the bus condenser is 10 minutes.
The drive provides internal motor overload protection.
This must be set so that 200% of the motor nominal current are not exceeded.
 Cable cross-sections
 Mains input: corresponding to the recommended fuses.
 Motor cable: corresponding to the Nominal output currents (see on page 400,
see on page 401)
2
 Maximum cross-section limited by the terminals mm / AWG
2
 C3S0xxV2
2.5mm
AWG 12
2
 C3S1xxV2,
4.0mm
AWG 10
C3S0xxV4, C3S150V4
 C3S300V4
6.0mm2
AWG 7
 Circuit breaker
In addition to the main circuit breaker, the devices must be equipped with a S271
K or S273 K circuit breaker with K characteristic made by ABB.
 C3S025V2: ABB, nom 480V 10A, 6kA
 C3S063V2: ABB, nom 480V, 16A, 6kA
 C3S100V2: ABB, nom 480V, 16A, 6kA
 C3S150V2: ABB, nom 480V, 20A, 6kA
 C3S015V4: ABB, nom 480V, 6A, 6kA
 C3S038V4: ABB, nom 480V, 10A, 6kA
 C3S075V4: ABB, nom 480V, 16A, 6kA
 C3S150V4: ABB, nom 480V, 20A, 6kA
 C3S300V4: ABB, nom 480V, 25A, 6kA

22
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
1.7.3.
Conditions of utilization for UL certification Compax3M
UL-approval for PSUP/Compax3M
conform to UL:

according to UL508C
Certified

E-File_No.: E235342
The UL certification is documented
by a “UL” logo on the device (type
specification plate).
Conditions of utilization
The devices are only to be installed in a degree of contamination 2 environment
(maximum).
 The devices must be appropriately protected (e.g. by a switching cabinet).
 Tightening torque of the field wiring terminals ( green Phoenix plugs)

Device
X40: Ballast resistor
X41: Mains connector
X9: 24VDC
PSUP10
0.5 Nm (4.43Lb.in)
1.2 Nm (10.62Lb.in)
1.2 Nm
(10.62Lb.in)
PSUP20
0.5 Nm (4.43Lb.in)
1.7 Nm (15Lb.in)
1.2 Nm
(10.62Lb.in)
UL approval in preparation
X43: Motor connector
X15: Temperature monitoring
PSUP30
Device
C3M050-150
C3M300
0.5Nm (4.43Lb.in)
0.22Nm (1.95Lb.in)
1.2Nm (10.62Lb.in)
0.22Nm (1.95Lb.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 on page 349,
see on page 350), they feature a temperature rating of at least 60°C.
 Maximum Surrounding Air Temperature: 40°C.
 Suitable for use on a circuit capable of delivering not more than 5000 rms
symmetrical amperes and 480 volts maximum.

Caution!
Danger of electric shock.
Discharge time of the bus capacitor is 10 minutes.
 The drive provides internal motor overload protection.
This must be set so that 200% of the motor nominal current are not exceeded.
 Cable cross-sections
 Mains input: corresponding to the recommended fuses.
 Motor cable: corresponding to the Nominal output currents (see on page 400,
see on page 401)
2
 Maximum cross-section limited by the terminals mm / AWG
Line cross-sections of the power connections (on the device bottoms)
Compax3 device:
M050, M100, M150
Cross-section: Minimum... Maximum [with conductor sleeve]
M300
0.5 ... 6 mm2 (AWG: 20 ... 10)
PSUP10
Mains supply: 0.5 ... 6 mm2 (AWG: 20 ... 10)
0.25 ... 4 mm2 (AWG: 23 ... 11)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
PSUP20 & PSUP30
Mains supply: 0.5 ... 16 mm2 (AWG: 20 ... 6)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
23
Introduction
1.7.4.
C3I30T11 / C3I31T11
Conditions of utilization for UL certification Compax3H
UL certification for Compax3H
Conform to UL:

Certified

according to UL508C
E-File_No.: E235342
The UL certification is documented by a "UL" logo on the
device (type specification plate).
“UL” logo:
Conditions of utilization
The devices are only to be installed in a degree of contamination 2 environment
(maximum).
 The devices must be appropriately protected (e.g. by a switching cabinet).
 Tightening Torque of the Field Wiring Terminals.

Terminal clamps - max. line cross sections
The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
2.5 / 16mm2
C3H050V4
Massive
Multiwire
C3H090V4
16 / 50mm2
25 / 50mm2
C3H1xxV4
25 / 95mm2
35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4
are not suitable for flat line bars.
Temperature rating of field installed conductors shall be at least 75°C. Do
only use copper lines.
Maximum Surrounding Air Temperature: 45°C.
Short Circuit Rating - Suitable for use on a circuit capable of delivering not more
than 10000 RMS symmetrical amperes and 480 volts maximum.
CAUTION Danger of electric shock.


Upon removing power to the equipment, wait minimum 10 minutes before
accessing the drive to ensure internal voltage levels are less than 50VDC.
 The drive provides internal motor overload protection.
This must be set so that 200% of the motor nominal current are not exceeded.
 Cable cross-sections
 Mains input: corresponding to the recommended fuses.
 Motor cable: corresponding to the Nominal output currents (see on page 400,
see on page 401)
 This device is provided with Solid State Short Circuit (output) Protection.
24
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Introduction
Parker EME
1.7.5.
Current on the mains PE (leakage current)
Caution!
This product can cause a direct current in the protective lead. If a residual current
device (RCD) is used for protection in the event of direct or indirect contact, only a
type B (all current sensitive) RCD is permitted on the current supply side of this
product . Otherwise, a different protective measure must be taken, such as
separation from the environment by doubled or enforced insulation or separation
from the mains power supply by means of a transformer.
Please heed the connection instructions of the RCD supplier.
Mains filters do have high leakage currents due to their internal capacity. An
internal mains filter is usually integrated into the servo controllers. Additional
leakage currents are caused by the capacities of the motor cable and of the motor
windings. Due to the high clock frequency of the power output stage, the leakage
currents do have high-frequency components. Please check if the FI protection
switch is suitable for the individual application.
If an external mains filter is used, an additional leakage current will be produced.
The figure of the leakage current depends on the following factors:
 Length and properties of the motor cable
 Switching frequency
 Operation with or without external mains filter
 Motor cable with or without shield network
 Motor housing grounding (how and where)
Remark:
The leakage current is important with respect to the handling and usage safety of
the device.
 A pulsing leakage current occurs if the supply voltage is switched on.

Please note:
The device must be operated with effective grounding connection, which must
comply with the local regulations for high leakage currents (>3.5mA).
Due to the high leakage currents it is not advisable to operate the servo drive with
an earth leakage circuit breaker.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
25
Introduction
1.7.6.
C3I30T11 / C3I31T11
Supply networks
This product is designed for fixed connection to TN networks (TN-C, TN-C-S or TNS). Please note that the line-earth voltage may not exceed 300VAC.
 When grounding the neutral 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 240VAC are
permitted.
Devices which are to be connected to an IT network must be provided with a
separating transformer. Then the devices are operated locally as in a TN network.
The secondary sided center of the separating transformer must be grounded and
connected to the PE connector of the device.
26
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Xxxx I30T11 / I31T11 introduction
Parker EME
2. Compax3 Xxxx I30T11 / I31T11
introduction
Due to its high functionality, the Positioning version of Compax3 forms an ideal
basis for many applications in high-performance motion automation.
Up to 31 motion profiles with the motion functions:
 Absolute or relative positioning,
 electronic gearbox,
 register-related positioning,
 speed control,
 Stop - Set
 ...
can be created with the help of the PC software.
Via different operating modes:
 Speed Control
 Direct positioning
 Positioning with set selection
the motion functions can be triggered via the bus.
A number of different transfer telegrams, which can be conveniently adjusted with
the Compax3 ServoManager), can be used to adjust cyclic bus communication to
the requirements of specific applications.
Compax3 control
technology
High-performance control technology and openness for various sender systems
are fundamental requirements for a fast and high-quality automation of movement.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
27
Compax3 Xxxx I30T11 / I31T11 introduction
Model / standards /
auxiliary material
C3I30T11 / C3I31T11
The structure 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 located on the front of the
Compax3S.
Partly integrated mains filters permit connection of motor cables up to a certain
length without requiring additional measures. EMC compatibility is within the limits
set by EN 61800-3, Class A. The Compax3 is CE-conform.
The intuitive user interface familiar from many applications, together with the
oscilloscope function, wizards and online help, simplifies making and modifying
settings via the PC.
The optional Operator control module (BDM01/01) (see on page 386) for
Compax3S/F makes it possible to exchange devices quickly without requiring a
PC.
Configuration
Configuration is made with a PC with the help of the Compax3 ServoManager.
General proceeding (see on page 109)
Ethernet Powerlink / EtherCAT characteristics
Profile
Baud rate
Bus file


Ethernet Powerlink:
EtherCAT:
Service data object
Cycle time
Synchronicity accuracy
Deviations from the Device Profile
DSP402
28
Motion Control CiADS402
100MBits (FastEthernet)
C3_EPL_cn.EDS
C3_EtherCAT_xx.XML
 SDO
 >=1ms,
 maximum jitter: +/-25µs
 For the velocity mode profile the setpoint
acceleration is also applicable when
braking.
 Only one rotation speed is possible for
machine zero run start (objects 0x6099.1
and .2 are the same).


192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3. Compax3 device description
In this chapter you can read about:
Meaning of the status LEDs - Compax3 axis controller ....................................................29
Meaning of the status LEDs - PSUP (mains module) .......................................................30
Connections of Compax3S ..............................................................................................31
Installation instructions Compax3M ..................................................................................41
PSUP/Compax3M Connections .......................................................................................43
Connections of Compax3H ..............................................................................................54
Communication interfaces ...............................................................................................63
Signal interfaces ..............................................................................................................69
Installation and dimensions Compax3 ..............................................................................73
Safety function - STO (=safe torque off)........................................................................... 82
3.1
Meaning of the status LEDs - Compax3 axis controller
Device status LEDs
Voltages missing
During the booting sequence
No configuration present.
SinCos© feedback not detected.
 Compax3 IEC61131-3 program not
compatible with Compax3 Firmware.
 no Compax3 IEC61131-3 program
 For F12: Hall signals invalid.

Right LED (red) Left LED (green)
off
off
alternately flashing
flashes slowly
off

Axis without current excitation
Power supplied to axis; commutation calibration
running
Axis with current excitation
Axis in fault status / fault present / axis energized
(error reaction 1)
Axis in fault status / fault present / axis currentless
(error reaction 2)
Compax3 faulty: please contact us
Note on Compax3H:
off
off
flashes slowly
flashes quickly
off
flashes quickly
on
on
on
off
on
on
The internal device status LEDs are 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.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
29
Compax3 device description
3.2
C3I30T11 / C3I31T11
Meaning of the status LEDs - PSUP (mains module)
PSUP Status LEDs
Left LED (green)
Right LED (red)
Control voltage 24 VDC is missing
Error of mains module*
DC power voltage is built up
Phase failure / mains power supply undervoltage
Address assignment CPU active
Address assignment CPU completed
PSUPxx Ready - State
Incorrect wiring of internal communication X30/31
Device in bootloader state
off
off
on
flashes quickly
flashes slowly
on
flashes slowly
flashes slowly
off
on
flashes quickly
flashes slowly
off
flashes quickly
flashes slowly
*can be read out in each axis controller
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
30
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.3
Connections of Compax3S
In this chapter you can read about:
Compax3S connectors .................................................................................................... 31
Connector and pin assignment C3S................................................................................. 32
Control voltage 24VDC / enable connector X4 C3S ......................................................... 34
Motor / Motor brake (C3S connector X3) ......................................................................... 35
Compax3Sxxx V2 ............................................................................................................ 36
Compax3Sxxx V4 ............................................................................................................ 39
3.3.1.
Compax3S connectors
LED2
LED1
X20
X1
X10
X21
X2
X11
X22
X23
X3
X24
X12
LED3
X4
X1
X13
S24
X20
X4
AC Supply
Ballast / DC power voltage
Motor / Brake
24VDC / Enable
X10
RS232/RS485
S24
X11
Analog/Encoder
Inputs/Outputs
Motor position feedback
LED1 Device status LEDs
LED2 HEDA LEDs
X2
X3
X12
X13
X21
X22
X23/
X24
HEDA in (Option)
HEDA out (Option)
Inputs Outputs (Option M10/12)
Bus (Option)
Connector type
depends on the bus
system!
bus settings
LED3 Bus LEDs
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
31
Compax3 device description
C3I30T11 / C3I31T11
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
Attention - PE connection!
PE connection with 10mm2 via a grounding screw at the bottom of the device.
Attention - hot surface!
The heat dissipator can reach very high temperatures (>70°C)
Line cross sections of the line connections X1, X2, X3
3.3.2.
Compax3 device:
S025V2, S063V2
Cross-section: Minimum... Maximum[mm2]
S100V2, S150V2
S015V4, S038V4, S075V4, S150V4
S300V4
0.25 ... 4 (AWG: 24 ... 10)
0.25 ... 2.5 (AWG: 24 ... 12)
0.5 ... 6 (AWG: 20 ... 7)
Connector and pin assignment C3S
Overview:
AC - Versorgung
AC - Supply
DC - Versorgung
DC - Supply
Freigabe 24VDC
Enable 24VDC
Compax3
X1
X4 (24VDC)
X10
RS232
SSK1
PC
X4/3
Further information on the assignment of the plug mounted at the particular
device can be found below!
32
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
X1/3
X1/4
TxD
X10/3
GND
X10/5
DSR
X10/6
RTS
X10/7
CTS
X10/8
+5V
X10/9
X1
L2
L3
Ain1-
PE
D/A-channel1
D/A-channel0
X11: Analog/Encoder
+5V
X2/1
X2/2
X2/3
X2/4
X2/5
res.
X2
-R
PE
+R
res.
A/
A
B
Ain0+
Ain1+
Ain0B/
N/
N
Ballast resistor (3AC)
X2/3
X2/4
X2/5
+R
PE
+HV
-HV
Motor/Brake
X3/2
X3/3
X3/4
X3/5
X3/6
U
X3
X22: Input/Output
X3/1
X11/3
X11/4
X11/5
X11/6
X11/11
X11/15
res.
V
W
PE
Br+
Br-
O0/I0
O1/I1
O2/I2
O3/I3
O4/I4
O5/I5
O6/I6
O7/I7
O8/I8
Input24VDC
O9/I9
O10/I10
O11/I11
InputGND
X22/1
Output+24V
X22/2
Output 0
X22/3
X22/4
X22/5
X22/6
X22/7
X22/8
X22/9
X22/10
X22/11
X22/12
Output 1
Output 2
Output 3
Input 0
Input 1
Input 2
Input 3
Input 4
Input+24V
Input 5
X22/13
X22/14
Input 6
Input 7 or (MN-INI)
X22/15
GND24V
X12/1
X12/2
X12/3
X12/4
X12/5
X12/6
X12/7
X12/8
X12/9
X12/10
X12/11
X12/12
X12/13
X12/14
X12/15
res.
res.
Lx/
res.
res.
Tx-
X11/10
X11/14
res.
Tx+
X11/9
X11/13
Lx/
res.
Lx
X11/8
X11/12
res.
Tx
X11/7
X2
-R
X12: Digital Inputs/Outputs
X2/2
option M12(M10=+HEDA)
X2/1
GND
X11/2
res.
Tx/
X11/1
Output +24V
Ballast resistor (1AC)
Lx
X20: HEDA in
DTR
X10/4
X21: HEDA out
X1/2
L1
res. X10/8
+5V X10/9
RxD
X23: Ethernet in
X1/1
RxD/ X10/8
+5V X10/9
res. X10/4
GND X10/5
res. X10/6
TxD_RxD/ X10/7
Rx
Rx/
Rx+
res.
res.
Rxres.
res.
Tx+
Tx-
X24: Ethernet out
Compax3 3AC
Power supply
res. X10/6
TxD X10/7
X10/1
X10/2
EnableRS232 0V
option M11(M10=+I/Os)
PE
res. X10/4
GND X10/5
X10/1
res. X10/2
TxD_RxD/ X10/3
HEDA-motionbus
N
RS485 +5V
Ethernet Powerlink Interface I30
X1/3
L
X10/1
RxD X10/2
TxD/ X10/3
Rx+
res.
res.
Rxres.
res.
res.
X23: Profibus I20
X1/2
X1
X10: RS485 vierdraht
X1/1
RS485 +5V
X10: RS232
Compax3 1AC
Power supply
The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
X10: RS485 zweidraht
In detail:
res.
Data line-B
RTS
GND
+5V
res.
Data line-A
X4/4
Enable_in
Enable_out_a
X4/5
Enable_out_b
+5V
Hall2
Sin-/ASin+/A+
Hall3
Tmot
COS-/BCOS+/B+
N+
NGND(Vcc)
X13/4
X13/5
X13/6
X13/7
X13/8
X13/9
X13/10
X13/1
X13/2
res.
X13/2
GND
X13/3
GND
X13/3
Vcc(+8V)
X13/4
+5V
X13/5
+5V
X13/5
CLKfbk
X13/6
CLKfbk
X13/6
res.
X13/3
res.
SIN-
X13/7
SIN+
X13/8
CLKfbk/
X13/9
Tmot
X13/10
REF+Resolver
X13/4
GNDfb
res.
SHIELD
SINSIN+
X13/8
CLKfbk/
X13/9
res.
res.
Tmot
X13/10
COS-
X13/11
COS+
X13/12
COSCOS+
X13/12
X13/13
DATAfbk
X13/13
res.
X13/13
X13/14
DATAfbk/
X13/14
res.
X13/14
X13/15
GND(Vcc)
X13/15
X13/12
res.
CAN_L
X13/7
X13/11
X13/11
res.
X23: CANopen I21
X4/3
GND24V
Vcc(+5V)
X13/2
X13/1
REF-Resolver
X13/15
X23: DeviceNet I22
X4/2
X4
+24V Input
Hall1
res.
X13: Resolver F10
X4/1
Sense+
X13: Feedback DirectDrive F12
24VDC Control voltage/
Enable
X13/1
X13: Feedback SinCos F11
Sense-
res.
CAN_H
-VDC
CAN_L
Shield
CAN_H
+VDC
X20/1
X20/2
X20/3
X20/4
X20/5
X20/6
X20/7
X20/8
X21/1
X21/2
X21/3
X21/4
X21/5
X21/6
X21/7
X21/8
X23/1
X23/2
X23/3
X23/4
X23/5
X23/6
X23/7
X23/8
X24/1
X24/2
X24/3
X24/4
X24/5
X24/6
X24/7
X24/8
X23/1
X23/2
X23/3
X23/4
X23/5
X23/6
X23/7
X23/8
X23/9
X23/1
X23/2
X23/3
X23/4
X23/5
X23/6
X23/7
X23/8
X23/9
X23/1
X23/2
X23/3
X23/4
X23/5
The jumper drawn in at X4 (at the left side in red) is used to enable the device for
testing purposes. During operation, the enable input is in most cases switched
externally.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
33
Compax3 device description
3.3.3.
C3I30T11 / C3I31T11
Control voltage 24VDC / enable connector X4 C3S
PIN
1
2
3
4
5
Description
+24V (supply)
Gnd24V
Enable_in
Enable_out_a
Enable_out_b
Line cross sections:
minimum: 0.25mm2
maximum: 2.5mm2
(AWG: 24 ... 12)
Control voltage 24VDC Compax3S and Compax3H
Controller type
Voltage range
Current drain of the device
Total current drain
Ripple
Requirement according to safe extra
low voltage (SELV)
Short-circuit proof
Compax3
21 - 27VDC
0.8 A
0.8 A + Total load of the digital outputs + current
for the motor holding brake
0.5Vpp
yes
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 - 33.6V / 720Ω
"Safe torque off (X4/3=0V)
For implementation of the "safety torque off" safety feature in accordance with the
“protection against unexpected start-up” described in EN1037. Observe
instructions in the corresponding chapter (see on page 82) with the circuitry
examples!
The energy supply to the drive is reliably shut off, the motor has no torque.
A relay contact is located between X4/4 and X4/5 (normally closed contact)
Enable_out_a - Enable_out_b
Contact opened
Contact closed
Power output
stage is
activated
disabled
Series connection of these contacts permits certain determination of whether all
drives are de-energized.
Relay contact data:
Switching voltage (AC/DC): 100mV - 60V
Switching current: 10mA - 0.3A
Switching power: 1mW...7W
34
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.3.4.
Motor / Motor brake (C3S connector X3)
PIN
1
Designation
U (motor)
2
3
V (motor)
W (motor)
4
5
PE (motor)
BR+
Motor holding brake
6
BR-
Motor cable lead designation*
U / L1 / C / L+
1
U1
V / L2
2
V2
W / L3 / D / L-
3
W3
YE / GN
YE / GN
YE / GN
WH
4
Br1
BK
5
Br2
Motor holding brake
* depending on the cable type
Requirements for motor cable
< 100m (the cable should not be rolled up!)
A motor output filter (see on page 362) is required for motor cables >20 m:
Shielding connection of the motor cable
The cable must be fully-screened and connected to the Compax3 housing. Use the
cable clamps/shield connecting terminals furnished with the device.
The shield of the cable must also be connected with the motor housing. The fixing
(via plug or screw in the terminal box) depends on the motor type.
Attention - Please wire the motor holding brake!
Connect the brake only on motors which have a holding brake! Otherwise make no
brake connections at all.
Requirements cables for motor holding brake
If a motor holding brake is present, one cable of the motor holding brake must be
fed on the device side through the toroidal core ferrite provided as accessory
ZBH0x/xx (63Ω @1MHz, di=5.1mm), in order to ensure error-free switching on and
off of the motor holding brake.
Motor holding brake output
Motor holding brake output
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
Motor cable
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
35
Compax3 device description
3.3.5.
C3I30T11 / C3I31T11
Compax3Sxxx V2
In this chapter you can read about:
Main voltage supply C3S connector X1 ........................................................................... 36
Braking resistor / high voltage DC C3S connector X2 ..................................................... 37
3.3.5.1
Device protection
Main voltage supply C3S connector X1
By cyclically switching on and off the power 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 plug X1 for 1 AC 230VAC/240VAC devices
PIN
1
2
3
Designation
L
N
PE
Mains connection Compax3S0xxV2 1AC
Controller type
Supply voltage
Input current
Maximum fuse rating per device
(=short circuit rating)
S025V2
S063V2
Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
6Arms
13Arms
10 A (MCB miniature 16A (automatic circuit
circuit breaker, K
breaker K)
characteristic)
* for UL conform operation (see on page 22), a miniature circuit breaker, K
characteristic, Type S203 is to be used.
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
Power supply plug X1 for 3AC 230VAC/240VAC devices
36
PIN
1
2
Designation
L1
L2
3
L3
4
PE
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
Mains connection Compax3S1xxV2 3AC
Controller type
Supply voltage
Input current
Maximum fuse rating per device
(=short circuit rating)
S100V2
S150V2
Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
10Arms
13Arms
16A
20A
MCB miniature circuit breaker, K characteristic
* for UL conform operation (see on page 22), a miniature circuit breaker, K
characteristic, Type S203 is to be used.
Caution!
The 3AC V2 devices must only be operated with three phases!
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
3.3.5.2
Braking resistor / high voltage DC C3S connector X2
The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
Braking resistor / high voltage supply plug X2 for 1AC
230VAC/240VAC devices
PIN
1
2
3
4
5
Designation
factory use
- braking resistor (not short-circuit protected!)
PE
+ braking resistor (not short-circuit protected!)
factory use
Braking operation Compax3S0xxV2 1AC
Controller type
Capacitance / storable energy
S025V2
S063V2
560µF / 15Ws
1120µF / 30Ws
Minimum braking- resistance
100Ω
20 ... 60W
8A
56Ω
60 ... 180W
15A
Recommended nominal power rating
Maximum continuous current
Caution!
The power voltage DC of two Compax3 1AC V2 devices (230VAC/240VAC
devices) must not be connected.
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37
Compax3 device description
C3I30T11 / C3I31T11
Braking resistor / high voltage supply plug X2 for 3AC
230VAC/240VAC devices
PIN
1
2
3
4
5
Description
+ Braking resistor
- Braking resistor
PE
+ DC high voltage supply
- DC high voltage supply
no short-circuit
protection!
Braking operation Compax3S1xxV2 3AC
Controller type
Capacitance / storable energy
S100V2
S150V2
780µF / 21Ws
1170µF / 31Ws
Minimum braking- resistance
22Ω
60 ... 450W
20A
15Ω
60 ... 600W
20A
Recommended nominal power rating
Maximum continuous current
Connection of a braking resistor
38
Minimum line cross section:
1.5mm2
Maximum line length:
2m
Maximum output voltage:
400VDC
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.3.6.
Compax3Sxxx V4
In this chapter you can read about:
Power supply connector X1 for 3AC 400VAC/480VAC-C3S devices ............................... 39
Braking resistor / high voltage supply connector X2 for 3AC 400VAC/480VAC_C3S devices
Connection of the power voltage of 2 C3S 3AC devices.................................................. 40
3.3.6.1
Device protection
40
Power supply connector X1 for 3AC 400VAC/480VACC3S devices
By cyclically switching on and off the power 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!
PIN
1
2
3
4
Designation
L1
L2
L3
PE
Mains connection Compax3SxxxV4 3AC
Controller type
Supply voltage
S015V4
S038V4
S075V4
S150V4
Three phase 3*400VAC/480VAC
80-528VAC / 50-60Hz
Input current
3Aeff
6Arms
10Arms
16Arms
Maximum fuse rating per 6A
10A
16A
20A
device(=short circuit
MCB miniature circuit breaker, K characteristic
rating)
S300V4
22Arms
25A
D*
* for UL conform operation (see on page 22), a miniature circuit breaker, K
characteristic, Type S203 is to be used.
Caution!
The 3AC V4 devices must only be operated with three phases!
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
39
Compax3 device description
C3I30T11 / C3I31T11
3.3.6.2
Braking resistor / high voltage supply connector X2
for 3AC 400VAC/480VAC_C3S devices
PIN
1
Description
+ Braking resistor
2
- Braking resistor
3
PE
4
+ DC high voltage supply
5
- DC high voltage supply
no short-circuit
protection!
Braking operation Compax3SxxxV4 3AC
Controller type
S015V4
Capacitance / storable energy
400V / 480V
235µF
235µF
37 / 21 Ws 37 / 21 Ws
470µF
690µF
1230µF
75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum braking- resistance
100Ω
60 ...
100W
10A
56Ω
60 ... 500
W
15A
Recommended nominal power
rating
Maximum continuous current
S038V4
100Ω
60 ... 250W
10A
S075V4
S150V4
33Ω
60 ... 1000
W
20A
S300V4
15Ω
60 ... 1000
W
30A
Connection of a braking resistor
Minimum line cross section:
1.5mm2
Maximum line length:
2m
Maximum output voltage:
800VDC
3.3.6.3
Connection of the power voltage of 2 C3S 3AC
devices
Caution!
The power voltage DC of the single phase Compax3 servo axes must not be
connected!
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending 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! In case of non-compliance with the following instructions, the
device may be destroyed!
You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
If the external pre-fuse of one of the servo axes takes action, the second servo axis
must also be disconnected automatically.

Please connect as follows:
Servo axis 1 X2/4 to servo axis 2 X2/4
Servo axis 1 X2/5 to servo axis 2 X2/5
40
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.4
Installation instructions Compax3M
General introductory notes
Operation of the Compax3M multi-axis combination is only possible in connection
with a PSUP (mains module).
 Axis controllers are aligned at the right of the mains module.
 Arrangement within the multi-axis combination sorted by power (with the same
device types according to device utilization), the axis controller with the highest
power is placed directly at the right of the mains module.
e.g. first the device type with high utilization, at the right of this, the same device
type with a lower utilization.
 Max. 15 Compax3M (axis controllers) per PSUP (mains module) are permitted
(please respect the total capacity of max. 2400µF for PSUP10, max. 5000µF for
PSUP20).
 The continuation of the current rail connection outside the axis combination is not
permitted and will lead to a loss of the CE and UL approbation.
 External components may not be connected to the rail system.

Required tools:
Allen key M5 for fixing the devices in the control cabinet.
Crosstip screwdriver M4 for connection rails of the DC rail modules.
 Crosstip screwdriver M5 for grounding screw of the device.
 Flat-bladed screwdriver 0.4x2.5 / 0.6x3.5 / 1.0x4.0 for wiring and mounting of the
phoenix clamps.


Order of installation
Fixing the devices in the control cabinet.
 Predrilling the mounting plate in the control cabinet according to the
specifications. Dimensions. Fit M5 screws loosely in the bores.
 Fit device on the upper screws and place on lower screw. Tighten screws of all
devices. The tightening torque depends on the screw type (e.g. 5.9Nm for M5
screw DIN 912 8.8).
 Connection of the internal supply voltage.
The Compax3M axis controllers are connected to the supply voltages via the rail
modules. Details (see on page 45).
 Deblocking the yellow protective cover with a flat-bladed screwdriver on the
upper surface (click mechanism). Remove the closing devices (contact
protection) that are not required from between the devices.
 Connecting the rail modules, beginning with the mains module.
For this, loosen crosshead screws (5 screws at the right in the mains module,
all 10 screws in the next axis controller), push the rails one after the other
against to the left and tighten screws. Proceed accordingly for all adjacent axis
controllers in the combination.
Max. tightening torque: 1.5Nm.
 Close all protective covers. The protective covers must latch audibly.
Please note:

Insufficiently fixed screw connections of the DC power voltage rails may lead to the
destruction of the devices.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
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Compax3 device description
C3I30T11 / C3I31T11
Protective seals
Caution - Risk of Electric Shock!
In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.
 Connect protective earth to mains module (M5 crosshead screw on front of
device bottom).
 Connecting the internal communication. Details (see on page 64).
 Connecting the signal and fieldbus connectors. Details (see on page 69).
 Connection of mains power supply Details (see on page 47) ballast resistor
details (see on page 49) and motor details (see on page 52).
 Connecting the configuration interface to the PC. Details (see on page 64).

42
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.5
PSUP/Compax3M Connections
In this chapter you can read about:
Front connector ............................................................................................................... 43
Connections on the device bottom ................................................................................... 44
Connections of the axis combination................................................................................ 45
Control voltage 24VDC PSUP (mains module) ................................................................ 46
Mains supply PSUP (mains module) X41......................................................................... 47
Braking resistor / temperature switch PSUP (mains module) ........................................... 49
Motor / motor brake Compax3M (axis controller) ............................................................. 52
Safety technology option for Compax3M (axis controller)................................................. 53
3.5.1.
Front connector
LED1
LED2
S1
S10
P
Mains module PSUP
LED1
Status LEDs Mains module
S1
Basic address
X3
Configuration interface (USB)
X9
Supply voltage 24VDC
M
Axis controller
LED2
Status LEDs of the axis
S10
Function
X11
Analog/Encoder
X23
X12
Inputs/Outputs
X24
X13
Motor position feedback
LED4
X14
Safety technology (option)
S24
X15
Motor temperature monitoring
LED3
HEDA LEDs
X20
HEDA in (Option)
X21
HEDA out (Option)
X22
Inputs Outputs (Option M10/12)
X23
Bus (option) connector type depends on the bus
system!
X24
Bus (option) depends on the bus system!
LED4
Bus LEDs
S24
bus settings
1
Behind the yellow protective covers you can find the
rails for the supply voltage connection.
 Supply voltage 24VDC
 DC power voltage supply
LED3
X20
X21
X3
X11
X22
X12
X13
X14
X9
X15
1
M
P
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
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Compax3 device description
3.5.2.
C3I30T11 / C3I31T11
Connections on the device bottom
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
Attention - PE connection!
PE connection with 10mm2 via a grounding screw at the bottom of the device.
Attention - hot surface!
The heat dissipator can reach very high temperatures (>70°C)
P
Mains module PSUP
X40
Ballast resistor
X41
Mains supply VAC/PE
1
Central ground connection for the axis system,
with 10mm2 to the ground screw on the housing.
4
Fan*
M
Axis controller
X43
Motor / Brake
2
Fixing for motor shield clamp
4
Fan*
3
optionally, the axis controller features a ground screw
on the housing, if the grounding is not possible via the
back plate.
* is internally supplied.
Line cross-sections of the power connections (on the device bottoms)
Compax3 device:
M050, M100, M150
Cross-section: Minimum... Maximum [with conductor sleeve]
M300
0.5 ... 6 mm2 (AWG: 20 ... 10)
PSUP10
Mains supply: 0.5 ... 6 mm2 (AWG: 20 ... 10)
0.25 ... 4 mm2 (AWG: 23 ... 11)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
PSUP20 & PSUP30
Mains supply: 0.5 ... 16 mm2 (AWG: 20 ... 6)
Braking resistor: 0.25 ... 4 mm2 (AWG: 23 ... 11)
44
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.5.3.
Connections of the axis combination
The axis controllers are connected to the supply voltages via rails.
 Supply voltage 24VDC
 DC power voltage supply
The rails can be found behind the yellow protective covers. In order to connect the
rails of the devices, you may have to remove the yellow plastic device inserted at
the side.
CAUTION: Risk of Electric Shock
Caution - Risk of Electric Shock!
Please note before opening:
 Warning - Possible risk of electric shock; disconnect power before removing
cover.
 Caution! - Dangerous electric voltage! Respect discharge time.
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
Caution!
When the control voltage is missing there is no indication whether or not high
voltage supply is available.
Protective seals
Caution - Risk of Electric Shock!
In order to secure the contact protection against the alive rails, it is absolutely
necessary to respect the following:
Insert the yellow plastic comb at the left or right of the rails.
Make sure that the yellow plastic combs are placed at the left of the first device
and at the right of the last device in the system and have not been removed.
 Setup of the devices only with closed protective covers.

Note:
1
24VDC
2
GND24V
3
-HV DC
4
PE
5
+HV DC
External components may not be connected to the rail system.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
45
Compax3 device description
C3I30T11 / C3I31T11
Maximum capacity in the axis system:
 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
Reference value for the required capacity in an axis system
100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
Protective seals
Caution!
The user is responsible for protective covers and/or additional safety measures in
order to prevent damages to persons and electric accidents.
3.5.4.
Control voltage 24VDC PSUP (mains module)
Connector X9
Pin
1
2
Designation
+24 V
GND24V
Line cross sections:
minimum: 0.5mm2 with conductor sleeve
maximum: 6mm2 with conductor sleeve
(AWG: 20 ... 10)
Control voltage 24 VDC PSUP
Device type
Voltage range
Ripple
PSUP
21 - 27VDC
0.5Vpp
Requirement according to safe extra
low voltage (SELV)
yes (class 2 mains module)
Current drain PSUP
Electric current drain Compax3M
46
PSUP10: 0.2A
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.5.5.
Mains supply PSUP (mains module) X41
Device protection
By cyclically switching on and off the power voltage, the input current
limitation can be overloaded, which may cause damage to the device.
Wait at least one minute between two switching on processes!
Operation of the PSUP30 only with mains filter!
Connector X41
Pin
PE
L3
L2
L1
Designation
Earth conductor
Phase 3
Phase 2
Phase 1
Mains connection PSUP10D6
Device type PSUP10
Supply voltage
Rated voltage
Input current
Output voltage
Output power
Pulse power (<5s)
Power dissipation
Maximum fuse rating per
device (=short circuit rating)
230V
400V
480V
230VAC ±10%
400VAC ±10%
480VAC ±10%
50-60Hz
50-60Hz
50-60Hz
3AC 230V
3AC 400V
3AC 480V
22Arms
22Arms
18Arms
325VDC ±10%
565VDC ±10%
680VDC ±10%
6kW
10 kW
10 kW
12kW
20kW
20kW
60W
60W
60W
Measure for line and device protection:
MCB miniature circuit breaker (K characteristic) 25A in
accordance with UL category DIVQ
Recommendation: (ABB) S203UP-K 25(480VAC)
Mains connection PSUP20D6
Device type PSUP20
Supply voltage
Rated voltage
Input current
Output voltage
Output power
Pulse power (<5s)
Power dissipation
Maximum fuse rating per
device (=short circuit rating)
2 circuit breakers in line are
required
230V
400V
480V
230VAC ±10%
400VAC ±10%
480VAC ±10%
50-60Hz
50-60Hz
50-60Hz
3AC 230V
3AC 400V
3AC 480V
44Arms
44Arms
35Arms
325VDC ±10%
565VDC ±10%
680VDC ±10%
12kW
20kW
20kW
24kW
40kW
40kW
120W
120W
120W
Cable protection measure:
MCB (K characteristic) with a rating of 50A / 4xxVAC
(depending on the input voltage)
Recommendation: (ABB) S203U-K50 (440VAC)
Device protection measure:
Circuit breakers 80A / 700VAC per supply leg in
accordance with UL category JFHR2
Requirement: Bussmann 170M1366 or 170M1566D
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
47
Compax3 device description
C3I30T11 / C3I31T11
PSUP30D6 Mains connection
Device type PSUP30
Supply voltage
Rated voltage
Input current
Output voltage
Output power
Pulse power (<5s)
Power dissipation
Maximum fuse rating per
device (=short circuit rating)
2 circuit breakers in line are
required
Caution!
230V
400V
480V
230VAC ±10%
400VAC ±10%
480VAC ±10%
50-60Hz
50-60Hz
50-60Hz
3AC 230V
3AC 400V
3AC 480V
50Arms
50Arms
42Arms
325VDC ±10%
565VDC ±10%
680VDC ±10%
17kW
30kW
30kW
34kW
60kW
60kW
140W
140W
140W
Cable protection measure:
MCB (K characteristic) with a rating of 63A / 4xxVAC
(depending on the input voltage)
Recommendation: (ABB) S203U-K63 (440VAC)
Device protection measure:
Circuit breakers 125A / 700VAC per supply leg in
accordance with UL category JFHR2
Requirement: Bussmann 170M1368 or 170M1568D
Only three-phase operation of the PSUP devices is permitted!
The PSUP30 mains module may only be operated with mains filter (see on
page 364)
Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
48
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
Dimensional drawing: LCG-0055-0.45 mH-UL
Caution - Risk of Electric Shock!
Always switch devices off before wiring them!
Dangerous voltages are still present until 10 min. after switching off the power
supply.
3.5.6.
Braking resistor / temperature switch PSUP (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
PE
PE
T1R
T2R
Temperature Switch
Temperature Switch
short-circuit proof!
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
49
Compax3 device description
C3I30T11 / C3I31T11
Braking operation PSUPxxD6 (mains module)
Device type
Capacitance / storable
energy
PSUP10
PSUP20
PSUP30
550 µF/
92 Ws at 400 V
53 Ws at 480 V
1175 µF/
197 Ws at 400 V
114 Ws at 480 V
1175 µF/
197 Ws at 400 V
114 Ws at 480 V
Minimum brakingresistance
Recommended
nominal power rating
Pulse power rating for
1s
Maximum permissible
continuous current
27 Ω
15 Ω
10 Ω
500 ... 1500 W
500 ... 3500 W
500 ... 5000 W
22 kW
40 kW
60 kW
13 A
15 A
15 A
Maximum capacity in the axis system:
 PSUP10: 2400 µF
 PSUP20 & PSUP30: 5000 µF
Reference value for the required capacity in an axis system
100 µF per kW of the temporal medium value of the total power (transmissions +
power dissipation) in the axis system
Example: PSUP20 (1175 µF) with one axis controller (440 µF)
Total power 15 kW, 100 µF/kW => 1500 µF required in the axis system.
Axis system: 1615 µF are sufficient.
Connection of a braking resistor on PSUP (mains module)
Minimum line cross section:
1.5 mm2
Maximum line length:
2m
Maximum intermediate circuit voltage:
810 VDC
Switch-on threshold:
780 VDC
Hysteresis
20 VDC
Braking operation Compax3MxxxD6 (axis controller)
Device type
Compax3
Capacity/
storable energy
50
M050
M100
M150
M300
110µF/
18Ws at 400V
10Ws at 480V
220µF/
37Ws at 400V
21Ws at 480V
220µF/
37Ws at 400V
21Ws at 480V
440µF/
74Ws at 400V
42Ws at 480V
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.5.6.1
Temperature switch PSUP (mains module)
Connector X40 Pin T1R, T2R
Temperature monitoring:
The temperature switch (normally closed contact) must be connected, 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 there is no temperature monitoring due to the connected braking resistor, the
T1R and T2R connections must be connected by a jumper.
Caution!
Without temperature monitoring, the braking resistor might be destroyed.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
51
Compax3 device description
3.5.7.
C3I30T11 / C3I31T11
Motor / motor brake Compax3M (axis controller)
Connector X43
PIN
BR-
Designation
Motor holding brake *
BR+
PE
Motor holding brake *
PE (motor)
Motor cable lead designation*
BK
5
Br2
WH
4
Br1
YE / GN
YE / GN
YE / GN
W
W (motor)
W / L3 / D / L-
3
U3
V
U
V (motor)
U (motor)
V / L2
2
U2
U / L1 / C / L+
1
U1
* depending on the cable type
Compax3M motor
cable
<80m per axis (the cable must not be rolled up!)
The entire length of the motor cable per axis combination may not exceed 300m.
A motor output filter (see on page 362) is required for motor cables >20 m:
 MDR01/04 (max. 6.3 A rated motor current)
 MDR01/01 (max. 16 A rated motor current)
 MDR01/02 (max. 30 A rated motor current)
Shielding connection of the motor cable
The cable must be fully-screened and connected to the
Compax3 housing. Use the cable clamps/shield connecting
terminals furnished with the device.
The shield of the cable must also be connected with the motor
housing. The fixing (via plug or screw in the terminal box)
depends on the motor type.
Motor cables can be found in the accessories chapter of the device description.
Motor holding brake output
Motor holding brake output
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
Attention - Please wire the 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 brake
If a motor holding brake is present, one cable of the motor holding brake must be
fed on the device side through the toroidal core ferrite provided as accessory
ZBH0x/xx (63Ω @1MHz, di=5.1mm), in order to ensure error-free switching on and
off of the motor holding brake.
52
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Compax3 device description
Parker EME
3.5.7.1
Measurement of the motor temperature of Compax3M
(axis controller)
Connector X15
The acquisition of the motor temperature by the axis controller can either take
place via the connection of X15 (Tmot) or via the feedback cable and the
corresponding connection on X13 PIN10.
Pin
1
2
Description
+5V
Sensor
The temperature acquisition on X15 Tmot can not be connected at the same
time as X13 Pin 10.
3.5.8.
Safety technology option for Compax3M (axis controller)
Connector X14
Pin
1
2
3
4
Description
STO1/
STO-GND
STO2/
STO-GND
+24VDC
GND
+24VDC
GND
Note!
If the Compax3M axis controller features a safety option, these connections must
also be wired, otherwise it is not possible to set up the axis.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
53
Compax3 device description
3.6
C3I30T11 / C3I31T11
Connections of Compax3H
In this chapter you can read about:
Compax3H plugs/connections ......................................................................................... 54
Connection of the power voltage...................................................................................... 55
Compax3H connections front plate .................................................................................. 57
Plug and pin assignment C3H ......................................................................................... 57
Motor / Motor brake C3H ................................................................................................. 59
Control voltage 24 VDC C3H ........................................................................................... 60
Mains connection Compax3H .......................................................................................... 60
Braking resistor / supply voltage C3H .............................................................................. 61
3.6.1.
Compax3H plugs/connections
The following figure is an example for all sizes.
The fitting of the different controller plugs depends on the extension level of
Compax3.
(1): Dummy cover with display of the external device
status LEDs.
(2): lower clamp cover, fixed by 2 screws at the device
bottom.
(3): RS232 programming interface
Connection to the PC via adapter cable SSK32/20
(furnished with the device) and standard RS232 cable
SSK1.
(4): Control
(5): Power connections
1
3
4
2
5
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes after switching off the
power supply!
Caution!
If the control voltage is missing and if the X10-X10 jumper is not fitted (VBK17/01)
on the control part, the availability of power voltage is not displayed.
PE connection
PE connection with 10mm2 via a grounding screw at the bottom of the device.
Attention hot surface!
Metal parts can heat up to a temperature of 90°C during operation.
54
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.6.2.
Connection of the power voltage
The terminal block of the drive can be found under the front cover. It is secured
with 2 screws at the bottom of the device. Remove the bottom cover in order to
access the connection clamps.
Make sure that all live parts are covered by the housing after installation.
Illustration of the connection clamps exemplarily for all sizes:
2
1
L1, L2, L3: 3 phase mains connection
M1, M2, M3: Motor connections
DC+, DC-: DC link voltage
(1) DBR+ und DBR-: Connection of external braking resistor
(2) AUX1, AUX2: only with C3H1xxV4 external supply (AC) for device ventilator L,
N
 All shields must be connected via a cable joint to the cable feed through plate.
 Braking resistor and cable must be shielded if they are not installed in a control
cabinet.
 The standard connection clamps of C3H090V4 and C3H1xxV4 are not suitable
for flat line bars.
Attention: The MOT/TEMP connection is not supported by the Compax3H050; do
therefore not wire this connection!
Terminal clamps - max. line cross sections
The line cross sections must correspond to the locally valid safety regulations. The
local regulations have always priority.
Power clamps
(minimum/maximum section)
2.5 / 16mm2
C3H050V4
C3H090V4
C3H1xxV4
Massive
Multiwire
16 / 50mm2
25 / 95mm2
25 / 50mm2
35 / 95mm2
The standard connection clamps of Compax3H090V4 and Compax3H1xxV4
are not suitable for flat line bars.
Cover plate for cable feed through
The cable feed through holes have the following dimensions:
C3H050V4
28.6mm for M20, PG16 and ½” NPT (America).
37.3mm for M32, PG29 and 1” NPT (America).
C3H090V4
22.8mm for M20, PG16 und ½” NPT (America).
28.6mm for M25, PG21 and ¾” NPT (America).
47.3mm for M40, PG36 and 1¼” NPT (America).
54.3mm for M50, PG42and 1½” NPT (America).
22.8mm for M20, PG16 and ½” NPT (America)
28.6mm for M25, PG21 and ¾” NPT (America)
C3H1xxV4
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
55
Compax3 device description
C3I30T11 / C3I31T11
Recommended tightening torques
C3H050V4
C3H090V4
C3H1xxV4
High voltage supply
4Nm / 35lb-in
6-8Nm / 53-70lb-in
15-20Nm / 132-177lb-in
Ballast resistor
4Nm / 35lb-in
6-8Nm / 53-70lb-in
0.7Nm / 6.1lb-in
Grounding
4.5Nm / 40lb-in
6-8Nm / 53-70lb-in
42Nm / 375lb-in
Cable joints
Use metallic cable joints permitting a 360° shielding in order to comply with the
EMC directive.
1
2
1: Cable feed through plate
2: metallic joint with 360° shielding for EMC compliant design
The device must be grounded without interruption according to EN 61800-5-1. The
mains supply lines must be protected with a suitable fuse or a circuit breaker (FI
switches or earth fault fuses are not recommended).
For installation in accordance with EN 61800-5-1 mm Europe:
²
 For grounding without interruption, two separate protective leads ( cross-section)
or one lead (>10mm² cross-section) are required. Each protective lead must meet
the requirements according to EN 60204.
56
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.6.3.
Compax3H connections front plate
Communication and signal interfaces
Showcase front plate of the control (number of connectors depends on the
extension level of the Compax3)
LED2
X20
X21
LED3
X22
X23
X11
X12
S24
LED1
X10
X13
X4
X3
Motor brake
24VDC
RS232/RS485 with jumper to the
programming interface
X20
X11
X12
X3
X4
X10
X13
X21
HEDA in (Option)
HEDA out (Option)
X22
Inputs Outputs (Option M10/12)
Analog/Encoder
X23
Bus (Option)
Inputs/Outputs
Motor position feedback
S24
Bus settings
Device status LEDs
HEDA LEDs
Bus LEDs
LED1
LED2
LED3
Note on Compax3H:
Connector type
depends on the bus
system!
The internal device status LEDs are 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 available
if the X10 jumper at the controller is fitted.
3.6.4.
Plug and pin assignment C3H
Overview
AC - Versorgung
AC - Supply
DC - Versorgung
DC - Supply
Compax3
X4 (24VDC)
RS232
PC
SSK1
Further information on the assignment of the plug mounted at the particular
device can be found below!
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
57
Compax3 device description
X10/2
TxD_RxD/ X10/3
res. X10/4
TxD
X10/3
DTR
X10/4
GND
X10/5
DSR
X10/6
RTS
X10/7
+5V X10/9
CTS
X10/8
+5V
X10/9
TxD_RxD/ X10/7
res. X10/8
+5V X10/9
AUX1 L
AUX2 N
Output+24V
Ain1D/A-channel1
D/A-channel0
L1
L2
L3
L3
PE
PE
A
B
Ain0+
Ain1+
Ain0B/
N/
DC power voltage
N
DC+ DC+
DC- DC-
Motor
M3/W
PE
V
W
PE
24VDC Control voltage
X4
X4/1
NC
X4/2 GND24V
X4/3 +24V
+DBR
DBR- -DBR
Please note
58
X13: Feedback DirectDrive F12
X3
Ballast resistor
DBR+
O2/I2
O3/I3
O4/I4
O5/I5
O6/I6
O7/I7
O8/I8
Input24VDC
O9/I9
O10/I10
O11/I11
InputGND
Output+24V
X22/2
X22/3
X22/4
X22/5
X22/6
X22/7
X22/8
X22/9
X22/10
X22/11
X22/12
Output0
Output1
Output2
Output3
Input0
Input1
Input2
Input3
Input4
Input+24V
Input5
X22/13
X22/14
Input6
Input7 or (MN-INI)
X22/15
GND24V
X11/4
X11/5
X11/6
Tx X21/1
X21/2
X11/7
X11/8
X11/10
X11/12
X11/13
X11/14
X11/15
X12/1
X12/2
X12/3
X12/4
X12/5
X12/6
X12/7
X12/8
X12/9
X12/10
X12/11
X12/12
X12/13
X12/14
X12/15
Lx X21/3
res. X21/4
res. X21/5
Lx/ X21/6
res. X21/7
res. X21/8
Tx+ X23/1
Tx- X23/2
X11/9
X11/11
Lx/ X20/6
res. X20/7
res. X20/8
Rx+ X23/3
res. X23/4
res. X23/5
Rx- X23/6
res. X23/7
res. X23/8
Tx+ X24/1
Tx- X24/2
Rx+ X24/3
res. X24/4
res. X24/5
Rx- X24/6
res. X24/7
res. X24/8
res. X23/1
res. X23/2
Data line-B
X23/3
RTS
X23/4
GND X23/5
+5V X23/6
res. X23/7
X23/8
Data line-A
Motor Brake
X3/1 BR
X3/2 GND
O1/I1
X22/1
res.
X13/1
X13/2
res.
X13/2
X13/3
GND
X13/3
Vcc(+8V)
X13/4
REF+Resolver
X13/4
+5V
X13/5
+5V
X13/5
CLKfbk
X13/6
CLKfbk
X13/6
SIN-
X13/7
SIN-
X13/7
SIN+
X13/8
SIN+
X13/8
CLKfbk/
X13/9
CLKfbk/
X13/9
Sense-
X13/1
res.
X13/1
Sense+
X13/2
res.
GND
Hall1
X13/3
Vcc(+5V)
X13/4
+5V
X13/5
Hall2
X13/6
Sin-/A-
X13/7
Sin+/A+
X13/8
Hall3
X13/9
Tmot
X13/10
COS-/B-
X13/11
COS+/B+
X13/12
N+
X13/13
N-
X13/14
GND(Vcc)
X13/15
Tmot
X13/10
COS-
X13/11
COS+
X13/12
DATAfbk
X13/13
DATAfbk/
X13/14
GND(Vcc)
X13/15
X13: Resolver F10
M2/V
U
O0/I0
X13: Feedback SinCos F11
M1/U
res.
X12: Digital Inputs/Outputs
X22: Input/Output option M12(M10=+HEDA)
GND
X11/3
Tmot
X13/10
COS-
X13/11
COS+
X13/12
res.
X13/13
res.
X13/14
REF-Resolver
X13/15
res. X23/9
X23: CANopen I21
L2
A/
X11/2
X23: DeviceNet I22
L1
+5V
X11: Analog/Encoder
Compax3 3AC
Power supply
X11/1
res. X20/4
res. X20/5
Tx/
X23: Ethernet in
TxD X10/7
RxD/ X10/8
GND X10/5
res. X10/6
X24: Ethernet out
GND X10/5
res. X10/6
Ethernet Powerlink Interface I30
TxD/ X10/3
res. X10/4
Rx X20/1
Rx/ X20/2
Lx X20/3
X20: HEDA in
X10/1
RxD
X21: HEDA out
EnableRS232 0V
X23: Profibus I20
Fan xxxVAC(C3H1xxV4)
RS485 +5V X10/1
res. X10/2
X10: RS485 zweidraht
RS232 Programming Port
X10: RS485 vierdraht
RS485 +5V X10/1
RxD X10/2
HEDA-motionbus option M11(M10=+I/Os)
The fitting of the different plugs depends on the extension level of Compax3. In
part, the assignment depends on the Compax3 option implemented.
X10: RS232
In detail:
C3I30T11 / C3I31T11
res. X23/1
CAN_L X23/2
GNDfb X23/3
res. X23/4
SHIELD X23/5
res. X23/6
CAN_H X23/7
res. X23/8
res. X23/9
-VDC X23/1
CAN_L X23/2
Shield X23/3
CAN_H X23/4
+VDC X23/5
The RS232 programming interface under the upper dummy cover is only available if the X10 jumper at
the controller is fitted.
C3H1xxV4 uses a ventilator fan which must be externally supplied via separate connections. The
ventilator fan is available in two versions for single phase feed: 220/240VAC; 110/120VAC
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.6.5.
Motor / Motor brake C3H
Motor connection clamps - figure (see on page 55)
PIN
M1/U
Designation
U (motor)
M2/V
Motor cable lead designation*
U / L1 / C / L+
1
U1
V (motor)
V / L2
2
U2
M3/W
W (motor)
W / L3 / D / L-
3
U3
PE
PE (motor)
YE / GN
YE / GN
YE / GN
* depending on the cable type
Compax3H motor
cable
A motor output filter is required for motor cables >50m. Please contact us.
Shielding connection of the motor cable
The motor cable should be fully shielded and connected to the Compax3 housing.
The shield of the motor cable must also be connected with the motor housing. The
fixing (via plug or screw in the terminal box) depends on the motor type.
Attention - Please wire the motor holding brake!
Connect the brake only on motors which have a holding
brake! Otherwise make no brake connections at all.
Requirements cables for motor holding brake
If a motor holding brake is present, one cable of the
motor holding brake must be fed on the device side
through the toroidal core ferrite provided as accessory
ZBH0x/xx (63Ω @1MHz, di=5.1mm), in order to ensure
error-free switching on and off of the motor holding
brake.
Connection of motor brake X3 - figure (see on page 57)
PIN
1
Designation
BR
2
GND
Motor cable lead designation*
WH
4
Br1
BK
5
Br2
Motor holding brake output
Motor holding brake output
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
59
Compax3 device description
3.6.6.
C3I30T11 / C3I31T11
Control voltage 24 VDC C3H
Connection of control voltage 24VDC figure (see on page 57)
Connector
X4 Pin
1
Descripti
on
NC
NC
2
GND24V
GND
3
+24 V
24 VDC (power supply)
Control voltage 24VDC Compax3S and Compax3H
Controller type
Voltage range
Current drain of the device
Total current drain
Compax3
Ripple
Requirement according to safe extra
low voltage (SELV)
Short-circuit proof
3.6.7.
21 - 27VDC
0.8 A
0.8 A + Total load of the digital outputs + current
for the motor holding brake
0.5Vpp
yes
conditional (internally protected with 3.15AT)
Mains connection Compax3H
Device protection
Avoid permanent switching on and off so that the charging connection is not
overloaded. Therefore wait at least 1 minute before switching on the device
again.
Connection of mains voltage figure (see on page 55)
Mains connection Compax3HxxxV4 3*400VAC
Device type Compax3
H050V4
H090V4
Three-phase 3*400VAC
350-528VAC / 50-60Hz
Input current
66Arms
95Arms
Output current
50Arms
90Arms
Maximum fuse rating per 80A
100A
device(=short circuit
rating)
JDDZ Class K5 or H
Branch circuit protection JDRX Class H
according to UL
H125V4
H155V4
Supply voltage
143Arms
125Arms
160A
164Arms
155Arms
200A
Mains connection Compax3HxxxV4 3*480VAC
Device type Compax3
H050V4
H090V4
Three-phase 3*480VAC
Supply voltage
350-528VAC / 50-60Hz
Input current
54Arms
82Arms
Output current
43Arms
85Arms
Maximum fuse rating per 80A
100A
device(=short circuit
rating)
JDDZ Class K5 or H
Branch circuit protection JDRX Class H
according to UL
60
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
H125V4
118Arms
110Arms
160A
H155V4
140Arms
132Arms
200A
Compax3 device description
Parker EME
3.6.8.
Braking resistor / supply voltage C3H
The energy generated during braking operation is absorbed by the Compax3
storage capacity.
If this capacity is too small, the braking energy must be drained via a braking
resistor.
3.6.8.1
Connect braking resistor C3H
Connection of braking resistor - figure (see on page 55)
PIN
Designation
DBR+
+ Braking resistor
DBR-
- Braking resistor
Braking operation of Compax3HxxxV4
Controller type
H050V4
Capacitance / storable energy 2600 µF
400V / 480V
602 / 419 Ws
Minimum braking- resistance 24 Ω
Maximum continuous current
11 A
H090V4
H155V4
3150 µF
5000 µF
5000 µF
729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
15 Ω
17 A
Minimum line cross section:
2.5mm2
Maximum line length:
2m
Maximum output voltage:
830VDC
3.6.8.2
H125V4
8Ω
31 A
8Ω
31 A
Power supply voltage DC C3H
Connection of power voltage DC -figure (see on page 55)
PIN
DC+
DC-
Description
+ DC high voltage supply
- DC high voltage supply
Warning!
Do not connect any braking resistor on DC+/DC- .
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
61
Compax3 device description
3.6.8.3
C3I30T11 / C3I31T11
Connection of the power voltage of 2 C3H 3AC
devices
In order to improve the conditions during brake operation, the DC power voltage of
2 servo axes may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one servo axis may be utilized by a second servo axis, depending 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! In case of non-compliance with the following instructions, the
device may be destroyed!
You can only connect two similar servo axes (same power supply; same rated
currents)
 Connected servo axes must always be fed separately via the AC power supply.
 If the external pre-fuse of one of the servo axes takes action, the second servo
axis must also be disconnected automatically.

Please connect as follows:
Servo axis 1 DC+ with servo axis 2 DC+
Servo axis 1 DC- with servo axis 2 DC- figure (see on page 55)
62
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.7
Communication interfaces
In this chapter you can read about:
RS232/RS485 interface (plug X10) .................................................................................. 63
Communication Compax3M............................................................................................. 64
Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23, X24 .................................. 66
3.7.1.
RS232/RS485 interface (plug X10)
Interface selectable by contact functions assignment of X10/1:
X10/1=0V RS232
X10/1=5V RS485
PIN X10
RS232 (Sub D)
1
2
3
4
5
6
7
8
9
(Enable RS232) 0V
RxD
TxD
DTR
GND
DSR
RTS
CTS
+5V
RS485 2-wire
PIN X10
RS485 2-wire Sub D
Pin 1 and 9 externally jumpered
1
2
3
4
5
6
7
8
9
Enable RS485 (+5V)
res.
TxD_RxD/
res.
GND
res.
TxD_RxD
res.
+5V
RS485 4-wire
PIN X10
RS485 4-wire Sub D
Pin 1 and 9 externally jumpered
1
2
3
4
5
6
7
8
9
Enable RS485 (+5V)
RxD
TxD/
res.
GND
res.
TxD
RxD/
+5V
USB - RS232/RS485 converter
The following USB - RS232 converters were tested:
 ATEN UC 232A
 USB GMUS-03 (available under several company names)
 USB / RS485: Moxa Uport 1130
http://www.moxa.com/product/UPort_1130.htm
 Ethernet/RS232/RS485: NetCom 113 http://www.vscom.de/666.htm
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
63
Compax3 device description
3.7.2.
C3I30T11 / C3I31T11
Communication Compax3M
In this chapter you can read about:
PC - PSUP (Mains module)............................................................................................. 64
Communication in the axis combination (connector X30, X31) ........................................ 64
Adjusting the basic address ............................................................................................ 65
Setting the axis function .................................................................................................. 65
3.7.2.1
PC - PSUP (Mains module)
Connector X3
USB2.0
Connect your PC to the USB sleeve X3 of the mains module via an USB cable
(SSK33/03).
3.7.2.2
Communication in the axis combination (connector
X30, X31)
The communication in the axis combination is implemented via a SSK28 cable and
double RJ45 sleeves on the device top.
Beginning with the PSUP (mains module) the connection is always made from X30
to X31 of the next device. On the first device (X31) and the last device (X30) in the
multi-axis combination, a bus termination plug (BUS07/01) is required.
Orientation to the back
side
PSUP (Mains module)
X30
out
X31
in
res.
factory use
Compax3M (axis)
X30
out
X31
in
res.
factory use
Orientation to the front
plate
64
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.7.2.3
Adjusting the basic address
On the mains module, the basic address of the device combination is set in steps
of 16 with the aid of the first three dip switches.
The mains module contains the set basic address while the axes placed at the right
in the combination contain the following addresses.
Switch S1
Address setting
Basic addresses
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 axis = basic address+1
The addresses of the axis controllers are newly assigned after PowerOn.
Example:
Basic address = 48; mains module with 6 axis controllers in the combination
1. Axis right: Address = 49
2. Axis right: Address = 50
...
6. Axis right: Address = 54
3.7.2.4
Setting the axis function
Switch S10
Function settings for T30 and T40
The value of switch S10 on the axis controller is stored in object O110.1
C3plus.Switch_DeviceFunction and can be evaluated with the aid of a program.
This helps realize a more simple function selection.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
65
Compax3 device description
3.7.3.
C3I30T11 / C3I31T11
Ethernet Powerlink (Option I30) / EtherCAT (option I31) X23,
X24
RJ45 (X23)
RJ45 (X24)
Pin
1
2
3
4
5
6
in
Tx +
Tx Rx +
Rx -
out
Tx +
Tx Rx +
factory use
factory use
Rx -
7
-
factory use
8
-
factory use
Wiring with Ethernet Crossover cable Cat5e (from X24 to X23 of the next device
without termination); for this, we offer our SSK28 (see on page 352, see on page
392) interface cable.
Meaning of the RJ45 LEDs (only for Ethernet Powerlink, I30)
Green LED (top): connection established (RPT_LINK/RX)
Yellow LED (bottom): Traffic (exchange of data) (Transmit / Receive Data)
(RPT_ERR)
3.7.3.1
Set Ethernet Powerlink (option I30) bus address
Address setting
Values:
1: 20; 2: 21; 3: 22; ... 7: 26; 8: 27
Settings:
left: OFF
right: ON
(The address is set to 0 in the illustration)
Range of values: 1 ... 239
3.7.3.2
Set Ethernet Powerlink (option I30) bus address
Automatic address assignment with EtherCAT
3.7.3.3
Meaning of the Bus LEDs (Ethernet Powerlink)
Red LED (right): Ethernet Powerlink error
LED is influenced by the transitions of the NMT - status diagram (for further details,
please refer to the Ethernet Powerlink Specification
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0ds-v-1-0-0.pdf)
Error LED
Transition
off => on
NMT_CT11,NMT_GT6,NMT_MT6
on => off
NMT_CT6, NMT_GT2, NMT_CT3, NMT_MT5
Green LED (left): Ethernet Powerlink Status
LED indicates the states of the NMT - status diagram (for further details, please
refer to the Ethernet Powerlink Specification
66
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
http://divapps.parker.com/divapps/eme/EME/downloads/compax3/EPL/epl2.0ds-v-1-0-0.pdf)
Status LED
off
off
NMT_GS_OFF, NMT_GS_INITIALISATION,
NMT_CS_NOT_ACTIVE / NMT_MS_NOT_ACTIVE
flickering
flickering
NMT_CS_BASIC_ETHERNET
single flash
Single
flash
NMT_CS_PRE_OPERATIONAL_1 /
NMT_MS_PRE_OPERATIONAL_1
double flash
Double
flash
NMT_CS_PRE_OPERATIONAL_2 /
NMT_MS_PRE_OPERATIONAL_2
triple flash
Triple
flash
NMT_CS_READY_TO_OPERATE /
NMT_MS_READY_TO_OPERATE
on
on
NMT_CS_OPERATIONAL / NMT_MS_OPERATIONAL
blinking
flashing
NMT_CS_STOPPED
3.7.3.4
Status
Meaning of the Bus LEDs (EtherCAT)
Red LED (right): EtherCAT error
LED is influenced by the transitions of the status diagram
Error LED
Error
Description
Off
No Error
Flickering
Boot error
Blinking
Invalid configuration
Single Flash
Unsolicited change of
status
Slave changed the status independently
Double Flash
Application Watchdog
Timeout
Watchdog
On
PDI Watchdog Timeout
Error during initialization
Green LED (left): EtherCAT Status
LED shows the states of the status diagram
Status LED
Status
Description
Off
INITIALIZATION
Initialization
Blinking
PRE-OPERATIONAL
Ready
Single Flash
SAFE-OPERATIONAL
Master reads values
On
OPERATIONAL
Operation
Status diagram
Power On
Initialisation
1
2
Pre-Operational
4
3
7
Operational
SafeOperational
5
6
8
9
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67
Compax3 device description
C3I30T11 / C3I31T11
Transition Action
1
Start mailbox communication
2
Stop mailbox communication
3
Start input update
4
Stop input update
5
Start output update
6
Stop output update
7
Stop output update, stop input update
8
Stop input update, stop mailbox communication
9
Stop output update, stop input update, stop mailbox communication
Meaning of the LED states
50 ms
on
flickering
off
on
blinking
(ERR)
200
ms
200
ms
200
ms
200
ms
off
on
blinking
(RUN)
off
on
single flash
(ERR)
1000
ms
200
ms
200
ms
off
on
single flash
(RUN)
1000
ms
200
ms
200
ms
off
on
double flash
(ERR)
200
ms
200
ms
200
ms
off
68
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
1000
ms
Compax3 device description
Parker EME
3.8
Signal interfaces
In this chapter you can read about:
Resolver / feedback (plug X13) ........................................................................................ 69
Analogue / encoder (plug X11) ........................................................................................ 70
Digital inputs/outputs (plug X12) ...................................................................................... 71
3.8.1.
Resolver / feedback (plug X13)
PIN X13
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Feedback /X13 High Density /Sub D
(depending on the Feedback module)
Resolver (F10)
SinCos (F11)
EnDat 2.1 (F12)
factory use
factory use
factory use
factory use
GND
GND
REF-Resolver+
Vcc (+8V)
+5V (for temperature sensor)
factory use
factory use
SINSINSIN+
SIN+
factory use
factory use
Tmot*
Tmot*
COSCOSCOS+
COS+
factory use
DATAfbk
factory use
DATAfbk/
REF-ResolverGND (Vcc)
Sense -*
Sense +*
factory use
Vcc (+5V) * max. 350mA load
CLKfbk
SIN- / A- (Encoder)
SIN+ / A+ (Encoder)
CLKfbk/
Tmot*
COS- / B- (Encoder)
COS+ / B+ (Encoder)
DATAfbk
DATAfbk/
GND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Resolver cables (see on page 366) can be found in the accessories chapter of the
device description.
SinCos© cables (see on page 367) can be found in the accessories chapter of the
device description.
The EnDat cable GBK38 (see on page 368) can be found in the accessories
chapter of the device description.
PIN X13
Feedback /X13 High Density /Sub D
Direct drives (F12)
1
Sense -*
2
Sense +*
3
4
5
6
7
8
9
10
11
12
13
14
15
Hall1 (digital)
Vcc (+5V)* max. 350 mA load
+5 V (for temperature sensors und Hallsensoren)
Hall2 (digital)
SIN-, A- (Encoder) or analog Hall sensor
SIN+, A+, (Encoder) or analog Hall sensor
Hall3 (digital)
Tmot*
COS-, B- (Encoder) or analog Hall sensor
COS+, B+ (Encoder) or analog Hall sensor
N+
NGND (Vcc)
*X13 Pin10 Tmot may not be connected at the same time as X15 (on Compaxx3M).
Note on F12:
*+5V (Pin 4) is measured and controlled directly at the end of the line via Sense+
and Sense-.
Maximum cable length: 100m
Caution!


Pin 4 and Pin 5 must under no circumstances be connected!
Plug in or pull out feedback connector only in switched off state (24VDC switched
off).
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
69
Compax3 device description
3.8.2.
C3I30T11 / C3I31T11
Analogue / encoder (plug X11)
PIN X11
Reference
High Density Sub D
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
+24V (output) max. 70mA
Ain1 -; analog input - (14Bits; max. +/-10V)
D/A monitor channel 1 (±10V, 8-bit resolution)
D/A monitor channel 0 (±10V, 8-bit resolution)
+5 V (output for encoder) max. 150 mA
A/ (Input / -simulation)
- Input: steps RS422 (5V - level)
A/ (Input / -simulation)
+ Input: steps RS422 (5V - level)
B Input / -simulation)
+ Input: direction RS422 (5V - level)
Ain0 +: analog input + (14Bits; max. +/-10V)
Ain1 +: analog input + (14Bits; max. +/-10V)
Ain0 -: analog input- (14Bits; max. +/-10V)
B/ input / -simulation)
- Input: direction RS422 (5V - level)
N/ input / -simulation)
factory use
N input / -simulation)
factory use
Encoders
SSI
ClockClock+
DATADATA+
GND
Technical Data X11 (see on page 407)
3.8.2.1
Output
Wiring of analog interfaces
Input
Compax3
Compax3
2.2KΩ
10nF
X11/4
X11/3
332Ω
Ain+
X11/9
10KΩ
10KΩ
Ain-
+/-10V/1mA
(max: 3mA)
X11/11
2.2KΩ
10nF
2.5V
X11/15
Perform an offset adjustment (see on page 250)!
Structure image of the internal signal processing of the analog inputs,
Ain1 (X11/10 and X11/2) has the same wiring!
3.8.2.2
Connections of the encoder interface
Compax3
+5V
1KΩ
ABN
121Ω
10nF
RS422
Transceiver
ABN
1KΩ
GND
The input connection is available in triple (for A & /A, B & /B, N & /N)
70
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Compax3 device description
Parker EME
3.8.3.
Digital inputs/outputs (plug X12)
Pin
X12
1
2
Input/output
High density/Sub D
O
O0
+24 V DC output (max. 400mA)
No Error
3
O1
Position / speed / gear synchronization
Only for "fixed
attained (max. 100 mA)
4
O2
5
O3
Power stage without current (max.)
100 mA)
Axis energized with a setpoint of 0
(max. 100 mA)
6
I0="1":
Quit (positive edge) / Axis enable
I0="0"
Axis disable with delay
7
8
9
I1
I2
I3
no Stop
JOG +
JOG -
10
I4
Reg input
11
I
24V input for the digital outputs Pins 2 to 5
12
13
14
15
I5
I6
I7
O
Limit switch 1
Limit switch 2
Machine zero initiator
GND24V
assignment"
Functions are
available, if "Fixed
assignment" was
selected for the I/O
assignment in the
configuration wizard
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be
connected)
Input-/Output extension
Optimization
window display
The display of the digital inputs in the optimization window of the C3 ServoManager
does not correspond to the physical status (24Volt=on, 0Volt=off) but to the logic
status: if the function of an input or output is inverted (e.g. limit switch, negatively
switching), the corresponding display (LED symbol in the optimization window) is
OFF with 24Volts at the input and ON with 0 Volts at the input.
In operation via Ethernet Powerlink / EtherCATthe inputs I0 ... I3 as well as the
outputs O0 ... O3 can be freely assigned as an option.
Configurable via the C3 ServoManager (configuration: Operating mode / I/O
assignment)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
71
Compax3 device description
3.8.3.1
C3I30T11 / C3I31T11
Connection of the digital Outputs/Inputs
Wiring of digital outputs
Status of digital inputs
Compax3
24V
F1
Compax3
SPS/PLC
F2 X12/1
SPS/
PLC
X12/1
X12/11
F1
F2
22K Ω
24V
100K Ω
X12/6
X12/2
22K Ω
10nF
18.2K Ω
22KΩ
10K Ω
X12/15
0V
0V
X12/15
The circuit example is valid for all digital outputs!
The circuit example is valid for all digital inputs!
The outputs are short circuit proof; a short circuit
generates an error.

Signal level:
> 9.15V = "1" (38.2% of the control voltage applied)
 < 8.05V = "0" (33.5% of the control voltage applied)
F1: Delayed action fuse
F2: Quick action electronic fuse; can be reset by switching the 24 VDC supply off and on again.
3.8.3.2
Logic proximity switch types
Type
1
2
3
4
Transistor switch
PNP
PNP
NPN
NPN
Logic
(N.O.)
(N.C)
(N.O.)
(N.C)
“active high"
“active low"
“active low"
“active high"
Description of logic Compax3 sees a
logical “1” upon
activation
Compax3 sees a
logical “0” upon
activation"
Compax3 sees a
logical “0” upon
activation"
Compax3 sees a
logical “1” upon
activation
Fail safe logic
no
yes
Only conditional 1)
no
Instruction for pull
up resistor in the
initiator
-
-
Rmin=3k3
Rmin=3k3
Rmax=10k
Rmax=10k
2)
2)
Connections
Initiator
Compax3
Initiator
X12/1 (+24 VDC)
X12/1 (+24 VDC)
X12/X (Input)
X12/X (Input)
X12/15 (GND)
X12/15 (GND)
1)
When the connection between transistor emitter of the initiator and X12/15
(GND24V of the Compax3 )is lost, it can not be guaranteed, that the Compax3
detects a logical „0".
2)
The INSOR NPN types INHE5212 and INHE5213 manufactured by Schönbuch
Electronic do correspond to this specification.
72
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Compax3 device description
Parker EME
3.9
Installation and dimensions Compax3
In this chapter you can read about:
Mounting and dimensions Compax3S .............................................................................. 73
Mounting and dimensions PSUP/C3M ............................................................................. 77
Mounting and dimensions C3H ........................................................................................ 79
3.9.1.
Mounting and dimensions Compax3S
3.9.1.1
Mounting and dimensions Compax3S0xxV2
Mounting:
3 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient
convection:
 At the side: 15mm
 At the top and below: at least 100mm
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
73
Compax3 device description
3.9.1.2
C3I30T11 / C3I31T11
Mounting and dimensions Compax3S100V2 and
S0xxV4
Mounting:
3 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient
convection:
 At the side: 15mm
 At the top and below: at least 100mm
74
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.9.1.3
Mounting and dimensions Compax3S150V2 and
S150V4
Mounting:
4 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient
convection:
 At the side: 15mm
 At the top and below: at least 100mm
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
75
Compax3 device description
C3I30T11 / C3I31T11
3.9.1.4
Mounting and dimensions Compax3S300V4
Mounting:
4 socket head screws M5
Stated in mm
Please respect an appropriate mounting gap in order to ensure sufficient
convection:
 At the side: 15mm
 At the top and below: at least 100mm
Compax3S300V4 is force-ventilated via a fan integrated into the heat
dissipator!
76
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.9.2.
Mounting and dimensions PSUP/C3M
Ventilation:
During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make 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 that all devices
are sufficiently fixed.
3.9.2.1
Mounting and dimensions PSUP10/C3M050D6,
C3M100D6, C3M150D6
The devices are force-ventilated via a ventilator fan fixed to the lower part of
the heat dissipator!
Mounting spacing: At the top and below: at least 100mm
Information on
PSUP10D6/C3M050D6, C3M100D6, C3M150D6
Mounting:
2 socket head screws M5
50,5mm
263mm
90°
400mm
360mm
50mm
46mm
Tolerances: DIN ISO 2768-f
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
77
Compax3 device description
3.9.2.2
Information on
C3I30T11 / C3I31T11
Mounting and dimensions
PSUP20/PSUP30/C3M300D6
PSUP20/PSUP30/C3M300D6
Mounting:
4 socket head screws M5
101mm
50,5mm
50,5mm
263mm
90°
400mm
360mm
100mm
96mm
Tolerances: DIN ISO 2768-f
3.9.2.3
With upper mounting, the housing design may be
different
Mounting:
3 socket head screws M5
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192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.9.3.
Mounting and dimensions C3H
The devices must be mounted vertically on a level surface in the control cabinet.
Dimensions:
(1): Electronics
(2): Head dissipator
C3H050V4
C3H090V4
C3H1xxV4
H
H1
D
W
W1
453mm
440mm
245mm
252mm
150mm
668.6mm
630mm
312mm
257mm
150mm
720mm
700mm
355mm
257mm
150mm
Mounting:4 screws M6
Ventilation:
During operation, the device radiates heat (power loss). Please provide for a
sufficient mounting distance below and above the device in order to ensure free
circulation of the cooling air. Please do also respect the recommended distances of
other devices. Make sure that the mounting plate is not exhibited to other
temperature influences than that of the devices mounted on this very plate.
If two or more devices are combined, the mounting distances are added.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
79
Compax3 device description
C3I30T11 / C3I31T11
3.9.3.1
Mounting distances, air currents Compax3H050V4
I
K
J
L
M
in mm
C3H050V4
3.9.3.2
I
I
J
K
L
M
15
5
25
70
70
Mounting distances, air currents Compax3H090V4
J
K
L
M
in mm
C3H090V4
80
I
J
K
L
M
0
0
25
70
70
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.9.3.3
I
Mounting distances, air currents Compax3H1xxV4
J
K
L
M
in mm
C3H1xxV4
I
J
K
L
M
0
0
25
70
70
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
81
Compax3 device description
3.10
C3I30T11 / C3I31T11
Safety function - STO (=safe torque off)
In this chapter you can read about:
General Description ......................................................................................................... 82
STO (= safe torque off) with Compax3S .......................................................................... 85
STO (= safe torque off) with Compax3m (Option S1) ....................................................... 97
3.10.1.
General Description
In this chapter you can read about:
Important terms and explanations ................................................................................... 82
Intended use ................................................................................................................... 83
Advantages of using the "safe torque off" safety function. ............................................... 83
Devices with the STO (=safe torque off) safety function .................................................. 84
The present documentation assumes a basic knowledge of our drive controllers as
well as an understanding of safety-oriented machine design. References to
standards and other regulations are only rudimentarily expressed.
For complementary information, we recommend the respective technical literature.
3.10.1.1
Term
Safety category 3 in accordance
with EN ISO 13849-1
"Safe torque off"
or abbreviated:
STO=Safe torque off
Start inhibitor
Important terms and explanations
Explanation
Definition according to standard:
Circuit with safety function against individual errors.
Some, but not all errors are detected.
An accumulation of errors may lead to a loss of the safety function.
The remaining risk is accepted.
The determination of the safety category required for an application (risk analysis) lies within the
responsibility of the machine manufacturer.
It can take place according to the method described in EN ISO 13849-1, appendix A.
With the "safe torque off", the energy supply of the drive is safely interrupted according to EN
1037, paragraph 4.1.
The drive is not to be able to produce a torque and thus dangerous movements (see EN 1037,
paragraph 5.3.1.3).
The standstill position must not be monitored.
If an external force effect, e.g. a drop of hanging loads, is possible with the "safe torque off",
additional measures to safely prevent those must be provided (e.g. additional mechanical brakes).
The following measures are appropriate for a "safe torque off":
Contactor between mains and drive system (mains contactor)
Contactor between power section and motor (motor contactor)
Safe blocking of the power semiconductor control (start inhibitor)
Safe blocking of the power semiconductor control.
With the aid of this function, you can obtain a "safe torque off".
Stop categories according to EN60204-1 (9.2.2)
Stop
category
Safety function
Requirement
System
behavior
Remark
0
Safe torque off
(STO)
Stopping by immediately
switching off the energy
supply of the machine drive
elements
Uncontrolled
stop
1
Safe stop 1
(SS1)
Controlled
stop
2
Safe stop 2
(SS2)
Stop where the energy of the
machine drive elements is
maintained in order to reach a
stop. The energy supply is
only interrupted, if the
standstill is attained.
Stop where the energy to the
machine drive elements is
maintained.
Uncontrolled stop is the stopping of a machine
movement by switching off the energy of the machine
drive elements.
Available brakes and/or other mechanical stopping
components are applied.
Controlled stop is the stopping of a machine movement
by for instance resetting the electrical command signal
to zero, as soon as the stop signal has been detected
by the controller, the electrical energy for the machine
drive elements remains however during the stopping
procedure.
This category is not covered.
82
Controlled
stop
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 device description
Parker EME
3.10.1.2
Intended use
The Compax3 drive controller supports the "safe torque off" (STO) safety function,
with protection against unexpected startup according to the requirements of EN
ISO 13849-1, category 3 to PLe and EN 1037.
Together with the external safety control device, the "safe stop 1" (SS1) safety
function according to the requirements of EN ISO 13849-1 category 3 can be used.
As the function is however realized with the aid of an individually settable time
delay on the safety switching device, you must take into account that, due to an
error in the drive system during the active braking phase, the axis trundles to a stop
unguided or may even accelerate actively in the worst case until the expiry of the
preset switch-off time.
According to a risk evaluation which must be carried out according to the machine
standard 98/37/EG and 2006/42/EG or EN ISO 12100, EN ISO 13849-1 and EN
ISO 14121-1, the machine manufacturer must project the safety system for the
entire machine including all integrated components. This does also include the
electrical drives.
Qualified personnel
Projecting, installation and setup require a detailed understanding of this
description.
Standards and accident prevention regulation associated with the application must
be known and respected as well as risks, protective and emergency measures.
3.10.1.3
Advantages of using the "safe torque off" safety
function.
Safety category 3 in accordance with EN ISO 13849-1
Requirements
performance feature
Reduced switching
overhead
Use in the production
process
High operating cycles,
high reliability, low wear
Use in the production
process
Use of the safe torque off function
Simple wiring, certified application examples
Grouping of drive controllers on a mains contactor
is possible.
Extremely high operating cycles thanks to almost
wear-free technology (low-voltage relay and
electronic switch). The "safe torque off" status is
attained due to the use of wear-free electronic
switches (IGBTs).
Drive controller remains performance- and controloriented in connected state.
No significant waiting times due to restart.
High reaction speed, fast
restart
Emergency-stop function
According to the German version of the standard:
Permitted without control of mechanical power
switching elements 1)
Conventional solution: Use of external switching
elements
Two safety-oriented power contactors in series
connection are required.
This performance feature cannot be reached with
conventional technology.
When using power contactors in the supply, a long
waiting time for the energy discharge of the DC link
circuit is required.
When using two power contactors on the motor side,
the reaction times may increase, you must however
take into consideration other disadvantages:
a) Securing that switching takes only place in
powerless state (Direct current! Constant electric arcs
must be prevented).
b) Increased overhead for EMC conform wiring.
Switch-off via mechanical switching elements is
required
1) According to the preface of the German version of the EN 60204-1/11.98,
electronic equipment for emergency-stop devices are also permitted, if they comply
with the safety categories as described in EN ISO 13849-1.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
83
Compax3 device description
3.10.1.4
C3I30T11 / C3I31T11
Devices with the STO (=safe torque off) safety
function
Safety function - STO (=safe torque off:
Compax3 technology function
I10T10, I11T11, I12T11
I11T30, I20T30, I21T30, I22T30, I30T30, I31T30, I32T30,
I11T40, I20T40, I21T40, I22T40, I30T40, I31T40, I32T40
 I20T11, I21T11, I22T11, I30T11, I31T11, I32T11
 C10T11, C10T30, C10T40,
C13T11, C13T30, C13T40,
C20T11, C20T30, C20T40


with the device power / series
S025V2, S063V2, S100V2, S150V2, S015V4, S038V4, S075V4, S150V4,
S300V4
M050D6, M100D6, M150D6, M300D6,
and is only valid with the stated conditions of utilization.
84
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Parker EME
3.10.2.
STO (= safe torque off) with Compax3S
In this chapter you can read about:
STO Principle (= Safe Torque Off) with Compax3S ......................................................... 85
Conditions of utilization STO (=safe torque off) Safety function ....................................... 87
Notes on the STO function .............................................................................................. 87
STO application example (= safe torque off) ................................................................... 89
Technical Characteristics STO Compax3S ..................................................................... 96
3.10.2.1
STO Principle (= Safe Torque Off) with Compax3S
To ensure safe protection against a motor starting up unexpectedly, the flow of
current to the motor and thus to the power output stage must be prevented.
This is accomplished for Compax3S 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 controller by
means of a digital input or with a fieldbus interface (depending on the Compax3
device type) (deactivation of the energize input).
Channel 2:
The power supply for optocouplers and drivers of power output stage signals is
disconnected by a safety relay activated by the enable input "ENAin"(X4/3) and
equipped with force-directed contacts. This prevents control signals from being
transferred to the power output stage.
The STO (= Safe Torque Off) safety function in accordance with EN ISO
13849-1: 2008 PLd or PLe, Kat.3 is only possible when using both channels
via an external safety switching device
Please note the application examples!
Circuit diagram illustrating working principle:
Channel 1
Channel 2
Controller
Feedback
Energize
ENAin
(Enable)
Compax3
X4/3
Feedback
power
supply
X4/4 X4/5
L1
L2 L3
X1/1 X1/2 X1/3
safety relay
Feedback
power
supply
motor
controller
Notes
 In normal operation of Compax3, 24VDC of power is supplied to the "Enable"
input (X4/3). The control of the drive takes then place via the digital inputs/outputs
or via the fieldbus.
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STO delay times
Input Channel 1
(Energize)
Speed
Feedback
Channel 1
t_deceleration
(configurable in Compax3)
Input Channel 2
(ENAin)
t_delay_time
(configurable in UE410)
Feedback
Channel 2
t_delay_relay_ch2
The deceleration time t_deceleration depends on the configuration of the
Compax3. It must be configured so that oscillation free bringing to standstill is
possible, depending on the mechanical load. The delay time t_delay_time must be
set in the safety control device UE410 so that t_delay_time > t_deceleration.
Only after the elapsing of the relay delay t_delay_relay_ch2, the STO function is
completely activated. The relay delay time t_deay_relay_ch2 is 15 ms.
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3.10.2.2
Conditions of utilization STO (=safe torque off) Safety
function
STO can only be implemented in Compax3 with a corresponding safety switching
device considering the application examples.
 Safety functions must be tested 100%.
 The Compax3S and the safety switching device used must be mounted in a
protected way (IP54 mounting cabinet).
 Only qualified staff members are permitted to install the STO (=safe torque off)
function and place it in service.
 For all applications in which the first channel of the “Safe torque off” is
implemented by means of a PLC, care must be taken that the part of the program
that is responsible for current flowing to or not flowing to the drive is programmed
with the greatest possible care. The Safe Torque off application example of
Compax3 with fieldbus should be considered.
The designer and operator responsible for the system and machine must refer
programmers who are involved to these safety-related points.
 Terminal X4/2 (GND 24 V and at the same time the reference point for the safety
relay bobbin) must be connected with the PE protective lead. This is the only way
to ensure protection against incorrect operation through earth faults (EN60204-1
Section 9.4.3)!
 All conditions necessary for CE-conform operation must be observed.
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
If the setting range for the specified Emergency power-off module is not sufficient,
the Emergency power-off module must be replaced by another equivalent
module.
 All safety-related external leads (for example the control lead for the safety relay
and feedback contact) must absolutely be laid so they are protected, for example
in a cable duct. Short circuits and crossed wires must be reliably excluded!
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads!

3.10.2.3
Notes on the STO function
It should be noted in connection with the STO (= safe torque off) application
example illustrated here that after the Emergency stop switch has been activated,
no galvanic isolation in accordance with EN 60204-1 Section 5.5 is guaranteed.
This means that the entire system must be disconnected from the mains power
supply with an additional main switch or mains power contactor for repair jobs.
Please note in this regard that even after the power is disconnected, dangerous
electrical voltages may still be present in the Compax3 drive for about 10
minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system or mains failure occurs
during the active braking phase, the axis may trundle to a stop unguided or might
even actively accelerate until the expiry of the defined switch-off time.
 Please note that the control of the drive via Energize (Energize input or fieldbus
interface) is not executed in all operating conditions. The following restrictions
apply when the set-up window of the C3 ServoManager is used:
 If the setup mode is switched on, the fieldbus interface and the energize input
are blocked.
 the energize input can be ignored if the input simulator is activated (depending
on the settings).

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Note on error switch-off
If the "safe torque off" function of Compax3 is required or used for
a machine or system, the two errors:
 “Motor_Stalled” (Motor stalled) and
 “Tracking” (following error)
are not to be switched off (see on page 142, see on page 154).
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3.10.2.4
STO application example (= safe torque off)
In this chapter you can read about:
Circuit layout overview..................................................................................................... 89
Safe torque off layout with bus......................................................................................... 93
The application example described here corresponds to Stop Category 1 as
defined by EN60204-1.
Together with the external safety switching device, the "Safe Stop 1”(SS1) safety
function can also be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for
example by setting the delay time on the Emergency power-off module as well as
on the Compax3 (delay time for “switch to currentless”) to 0. The Compax3M will
then be turned off immediately in 2 channels and will therefore not be able to
generate any more torque. Please take into consideration that the motor will not
brake and a coasting down of the motor may result in hazards. If this is the case,
the STO function in stop category 0 is not permitted.
Circuit layout overview
2 Compax3 devices (the circuit example is also valid for one or multiple devices,
if it is adapted accordingly)
 1 Emergency Power-off module (UE410-MU3T5 manufactured by Sick)
With adjustable delayed deactivation of the Compax3 enable input ENAin.
The time must be set so that all axes are at a standstill before the Compax3
controllers are deactivated.
 The operating instructions of the UE410-MU3T5 safety switching device must be
observed.
 1 emergency power-off switch
 Hazardous area accessible via a safety door with safety door switch S6.
 1 pushbutton per Compax3
 For the Energize input on Compax3, a debouncing time > 3 ms must be
configured
 1 relay per Compax3
The relay must be dimensioned so that it has a lifetime of at least 20 years, taking
the cycle time into consideration. If this is not the case, the relays must be
exchanged for new relays after expiration of the lifetime.

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Circuit:
+24V
Compax3S
X3
motor
S4
Gefahrenbereich
Danger Zone
Energize *
X12.4
Controller
Feedback
K1
motor
Enable
X4.3
Feedback
X4.4
Feedback
X4.5
Schutztür geschlossen
Safety door closed
S6
Compax3S
S6
X3
S5
Energize *
X12.4
Controller
Feedback
K2
Enable
X4.3
Feedback
X4.4
Feedback
X4.5
Not-Stop
Emergency
switch off
Q4
K1
EN
I4
Q3
Delay
Time
3
4
I3
5
I2
K2
S2
A1
7
1
8
0
S3
S1
6
2
I1
9
X1
X2
FUNCTION
S2
A2
UE410-MU
GND24V
Energize = I0 (X12/6) Ackn = I2 (X12/8)
Instead of the safety switching device manufactured by Sick mentioned above, you
may use other safety switching devices.
The safety switching device must however provide the following features:
1 normally open contact is required for switching off channel 1
(as an alternative, a safe semiconductor output is possible)
 1 off-delayed normally open safety contact is required for switching off channel 2
(as an alternative, a safe semiconductor output with adjustable delay time for the
high_to_low_edge is possible).
 1 one-channel monitoring circuit where the feedback contacts of channels 1 and
2 can be integrated for simultaneous monitoring, is required.
At the same time it must be possible to integrate a one-channel start button for
activation of the safety switching device into the circuit.
A new start may only be successful, if it is ensured, that channels 1 and 2 are
switched off.
 1 two-channel connection for emergency power off and/or safety door contacts
with cross fault monitoring is required.
 The safety switching device must feature performance PL e. The I/Os must at
least correspond to category 3.

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Switches and buttons:
1 N/C (S4, S5) per Guide Device to a currentless state
device:
Caution!
S6:
closed when the safety door is closed
S2:
Activate safety switching device
Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on
outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
Safe torque off description
In this chapter you can read about:
Basic functions: ............................................................................................................... 95
Access to the hazardous area ......................................................................................... 96
In this chapter you can read about:
Safe torque off basic function .......................................................................................... 91
Access to the hazardous area ......................................................................................... 92
Safe torque off basic function
Compax3 devices disabled by:
Channel 1: Energize input to “0” by safety switching device output Q3
Channel 2: Enable input ENAin to “0” by safety switching device output Q4
Activate safety switching device
Before the Compax3 can be placed into operation, the safety switching device
must be activated by a pulse to Input S2.
Prerequisite:
 S2 closed
 Safety door closed
 K1 and K2 energized
 K1: receives current if Compax3 Device 1 is currentless (output = "1" in
currentless state) = Channel 1 feedback
 K2: receives current if Compax3 device 2 is currentless (output = “1” in the
currentless state) = channel 1 feedback
 The feedback contact of all Compax3 devices must be closed (channel 2).
Energize Compax3 (Motor and power output stage)
With the safety switching device, the Compax3 devices are enabled via the
energize input and the Enable input ENAin. (If an error is still present in the
Compax3, it must be acknowledged - the ackn function depends on the Compax3
device type)
 The motors are energized with current.
Summary: Compax3 is only energized if the feedback functions are capable of
functioning via two channels.

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Access to the hazardous area
Actuate emergency power-off switch
Due to the interruption on two channels at the emergency power-off switch, the
safety switching device is deactivated - output Q3 is immediately “0”.
Channel 1: Via the Energize input, the Compax3 devices receive the command to
guide the drive to a currentless state (using the ramp configured in the C3
ServoManager for "drive disable").
Channel 1 feedback 1: The "Controller Feedback" Compax3 outputs supply
current to Relays K1 and K2.
Channel 2: After the delay time set in the safety switching device, (this time must
be set so that all drives are stopped after it has elapsed) the output Q4 = “0”, which
in turn deactivates the Enable inputs ENAin of the Compax3 devices.
Channel 2 feedback: Via the series circuit of all feedback contacts, the “Safe
Torque-off” status (all Compax3 devices without current) is reported.
Only if the drives are all at a standstill, the safety door may be opened and the
hazardous area may be accessed.
If the safety door is opened during operation and the emergency-power-off switch
was not triggered before, the Compax3 drives will also trigger the stop ramp.
Caution! The drives may still move.
If danger to life and limb of a person entering cannot be excluded,
the machine must be protected by additional measures (e.g. a safety
door locking).
Technical Characteristics STO Compax3S
Safety technology Compax3S
Safe torque-off in accordance with EN
ISO 13849: 2008, Category 3, PL d/e
Certified.
Test mark IFA 1003004
For implementation of the “protection
against unexpected start-up” function
described in EN1037.
 Please note the circuitry examples (see
on page 82).

Compax3S STO (=safe torque off)
Nominal voltage of the
inputs
Required isolation of the
24V control voltage
Protection of the STO
control voltage
Grouping of safety level
24 V
Grounded protective extra low voltage, PELV
1A
STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7
A MTTFd=15 of the external PLC and STO cycles/year
< 500 000 are assumed.
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Safe torque off layout with bus
2 Compax3 devices (the circuit example is also valid for one or multiple devices,
if it is adapted accordingly)
 1 Emergency Power-off module (UE410-MU3T5 manufactured by Sick)
With adjustable delayed deactivation of the Compax3 enable input ENAin.
The time must be set so that all axes are at a standstill before the Compax3
controllers are deactivated.
 The operating instructions of the UE410-MU3T5 safety switching device must be
observed.
 1 emergency power-off switch
 Hazardous area accessible via a safety door with safety door switch S6.
 1 pushbutton per Compax3

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Circuit:
control: Control word (see on page 320)
status: Status word (see on page 322)
+24V
SPS
PLC
Compax3S
Fieldbus
X3
status.6
status
Controller
Feedback
1
&
status.3
Energize
status
Enable
X4.3
Feedback
X4.4
Feedback
X4.5
status.6
1
status.3
control
S4
&
S5
&
control
Zustandswechsel in:
Change state to:
0 1
motor
1 0
motor
Gefahrenbereich
Danger Zone
Compax3S
Fieldbus
X3
Controller
Feedback
Schutztür geschlossen
Safety door closed
Energize
Enable
X4.3
Feedback
X4.4
Feedback
X4.5
"Operation
Enable"
"Switch On
Disabled"
S6
S6
Not-Stop
Emergency
switch off
Q4
EN
I4
Q3
Delay
Time
3
4
I3
5
I2
A1
S2
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X1
X2
FUNCTION
A2
94
8
0
S2
GND24V
7
1
S3
S1
6
2
I1
UE410-MU
Compax3 device description
Parker EME
Instead of the safety switching device manufactured by Sick mentioned above, you
may use other safety switching devices.
The safety switching device must however provide the following features:
 1 normally open contact is required for switching off channel 1
(as an alternative, a safe semiconductor output is possible)
 1 off-delayed normally open safety contact is required for switching off channel 2
(as an alternative, a safe semiconductor output with adjustable delay time for the
high_to_low_edge is possible).
 1 one-channel monitoring circuit where the feedback contacts of channels 1 and
2 can be integrated for simultaneous monitoring, is required.
At the same time it must be possible to integrate a one-channel start button for
activation of the safety switching device into the circuit.
A new start may only be successful, if it is ensured, that channels 1 and 2 are
switched off.
 1 two-channel connection for emergency power off and/or safety door contacts
with cross fault monitoring is required.
 The safety switching device must feature performance PL e. The I/Os must at
least correspond to category 3.
Switches and buttons:
1 N/C (S4, S5) per Guide Device to a currentless state
device:
Caution!
S6:
closed when the safety door is closed
S2:
Activate safety switching device
Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on
outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
Safe torque off description
Basic functions:
Compax3 devices disabled by:
Channel 1: Energize deactivated by PLC and safety switching device output Q3.
Channel 2: Enable input to “0” by safety switching device output Q4.
Activate safety switching device
Before the Compax3 can be placed into operation, the safety switching device
must be activated by a pulse to Input S2.
Prerequisite:
 S2 closed
 Safety door closed: only then the safety door monitor will enable the safety
switching device on two channels
 Feedback activated via PLC (Controller feedback channel 1: motor not energized)
 The feedback contact of all Compax3 devices must be closed (channel 2).
Energize Compax3 (Motor and power output stage)
The PLC enables the Compax3 devices by means of the control word and the
safety switching device enables the Compax3 devices by means of the Enable
input. (If an error is still present on the Compax3, it must be acknowledged
before)
 The motors are energized with current.
Summary: Compax3 is only energized if the feedback functions are capable of
functioning via two channels.

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Access to the hazardous area
Actuate emergency power-off switch
Due to the interruption on two channels at the emergency stop switch, the safety
switching device is deactivated - output Q is immediately “0”.
The PLC evaluates this and responds as follows:
Channel 1: The Compax3 devices receive via the control word the command to
guide the drive to currentless state (vi the ramp for "deenergizing" configured in the
C3 ServoManager).
Channel 1 feedback: The Compax3 feedback via the status word is evaluated by
the PLC and passed on to the safety switching device via the Compax3 Feedback
(X4.4 and X4.5).
Channel 2: After the delay time set in the safety switching device, (this time must
be set so that all drives are stopped after it has elapsed) the output Q4 = “0”, which
in turn deactivates the Enable inputs ENAin of the Compax3 devices.
Channel 2 feedback: Via the series circuit of all feedback contacts, the “Safe
Torque-off” status (all Compax3 devices without current) is reported.
Only if the drives are all at a standstill, the safety door may be opened and the
hazardous area may be accessed.
If the safety door is opened during operation and the emergency-power-off switch
was not triggered before, the Compax3 drives will also trigger the stop ramp.
Caution! The drives may still move.
If danger to life and limb of a person entering cannot be excluded,
the machine must be protected by additional measures (e.g. a safety
door locking).
3.10.2.5
Technical Characteristics STO Compax3S
Safety technology Compax3S
Safe torque-off in accordance with EN
ISO 13849: 2008, Category 3, PL d/e
Certified.
Test mark IFA 1003004
For implementation of the “protection
against unexpected start-up” function
described in EN1037.
 Please note the circuitry examples (see
on page 82).

Compax3S STO (=safe torque off)
Nominal voltage of the
inputs
Required isolation of the
24V control voltage
Protection of the STO
control voltage
Grouping of safety level
24 V
Grounded protective extra low voltage, PELV
1A
STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7
A MTTFd=15 of the external PLC and STO cycles/year
< 500 000 are assumed.
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3.10.3.
STO (= safe torque off) with Compax3m (Option S1)
In this chapter you can read about:
Safety switching circuits .................................................................................................. 97
Safety notes for the STO function in the Compax3M ....................................................... 98
Conditions of utilization for the STO function with Compax3M ......................................... 98
STO delay times ............................................................................................................. 99
Compax3M STO application description ........................................................................100
STO function test ...........................................................................................................104
Technical details of the Compax3M S1 option................................................................106
3.10.3.1
Safety switching circuits
The current flow in the motor windings is controlled by a power semiconductor
bridge (6-fold IGBT). A processor circuit and PWM circuit will switch the IGBT with
rotary field orientation. Between control logic and power module, optocouplers are
used for potential separation.
On the Compax3M drive controller with S1 option, the X14 (STO) connector can be
found on the front plate. 2 optocouplers are controlled on two channels via the
STO1/ and STO2/ terminals of this connector. When requesting the STO via an
external safety switching device, the two auxiliary voltage supply channels of the
power stage control circuits are switched off on two channels. Therefore the power
transistors (IGBTs) for the motor current can not longer be switched on.
The hardware monitor detects the failure of the optocoupler circuit of a channel by
always checking both channels for similarity. If the hardware monitor detects a
discrepancy for a defined time (ax. 20s), the error will be stored in the hardware
memory. The processor signals this error externally via the 0x5493 error code. An
activation of the coupler supply can then only take place via a hardware reset
(switching off and on again) of the device.
+5V
X14.1
STO1/
X14.2
STO-GND
X14.3
STO2/
X14.4
STO-GND
Hardware
Monitor
Controller
Software
PWM
Compax3M ...S1
*
6 IGBT
Driver
* Potential separation with optocoupler.
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3.10.3.2
C3I30T11 / C3I31T11
Safety notes for the STO function in the Compax3M
It should be noted in connection with the STO application examples illustrated
here that after the Emergency stop switch has been activated, no galvanic
isolation in accordance with EN 60204-1 Section 5.5 is guaranteed. This means
that the entire system must be disconnected from the mains power supply with an
additional main switch or mains power contactor for repair jobs. Please note in
this regard that even after the power is disconnected, dangerous electrical
voltages may still be present in the Compax3 drive for about 10 minutes.
 During the active braking phase of Stop category 1 (controlled bringing to a stop
with safely monitored delay time according to EN60204-1) or safe stop 1, faulty
function must be expected. If an error in the drive system occurs during the active
braking phase, the axis may trundle to an unguided stop or might even actively
accelerate until the expiry of the defined switch-off time.
 For synchronous motors operated in the field weakening range, the operation of
the STO function may lead to over speed and destructive, life-threatening over
voltages as well as explosions in the servo drive. Therefore, NEVER use the STO
function with synchronous drives in the field-weakening range.
 It is important to note that if the drive is being activated (Energize) by the USB /
RS485 interface, it may not be possible to execute switch-off by a controlled
braking ramp. For example, this is true when the set-up window of the C3
ServoManager is used. If set-up mode is turned on or with the input simulator, the
digital I/O interface and fieldbus interface are automatically disabled.

Maintenance
When using the S1 option, a protocol describing the orderly working of the safety
function must be made upon the setup and in defined maintenance intervals (see
protocol proposal).
3.10.3.3
Conditions of utilization for the STO function with
Compax3M
The STO safety function must be tested and protocoled as described (see on
page 104). The safety function must be requested at least once a week. In safety
door applications, the weekly testing interval must not be observed, as you can
assume that the safety doors will be opened several times during the operation of
the machine.
 The Compax3M with integrated STO safety function as well as the utilized safety
switching devices must be mounted protected (IP54 control cabinet).
 Only qualified staff members are permitted to install the STO function and place it
in service.
 The X9/2 (GND24V) terminal on the PSUPxx mains module must be connected
to the PE protective lead. This is the only way to ensure protection against
incorrect operation through earth faults (EN60204-1 Section 9.4.3)!
 When using an external safety switching device with adjustable delay time, (as
illustrated in the STO application example), it must be ensured that the delay time
cannot be adjusted by persons not authorized to do so (for example by applying a
lead seal). With the UE410-MU3T5 safety switching device, this is not necessary,
if the anti manipulation measures are respected.
 The adjustable delay time on the safety switching device must be set to a value
greater than the duration of the braking ramp controlled by the Compax3 with
maximum load and maximum speed.
 All conditions necessary for CE-conform operation must be observed.
 If there are external forces operating on the drive axes, additional measures are
required (for example additional brakes). Please note in particular the effects of
gravity on suspended loads! This must be respected above all for vertical axes
without self-locking mechanical devices or weight balance.
 When using synchronous motors, a short movement over a small angle is
possible, if two errors occur simultaneously in the power section. This depends
on the number of pole pairs of the motor (rotary types: 2 poles = 180°, 4 poles =
90°, 6 poles = 60°, 8 poles = 45 °, Linear motors: 180° electrically).

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3.10.3.4
STO delay times
Input
Energize
Speed
t_deceleration
(Configurable in Drive)
Input
STO1/, STO2/
t_delay_time
(Configurable in UE410)
Torqueless
Motor
t_delay_STO ≤3ms
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Compax3 device description
C3I30T11 / C3I31T11
3.10.3.5
Compax3M STO application description
In this chapter you can read about:
STO function with safety switching device via Compax3M inputs .................................. 100
STO function with safety switching device for T11 applications with fieldbusses ............ 101
Emergency stop and protective door monitoring without external safety switching device.103
STO function with safety switching device via Compax3M inputs
+24V
Compax3M
X3
motor
S4
Gefahrenbereich
Danger Zone
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
motor
Schutztür geschlossen
Safety door closed
S1
Compax3M
S1
X3
S3
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
Not-Stop
Emergency
switch off
Q4
EN
I4
Q3
Delay
Time
3
4
I3
5
I2
S1
6
7
2
A1
8
1
9
0
S3
I1
X1
X2
S2
FUNCTION
S2
A2
UE410-MU
GND24V
Recommendation Energize = I0 (X12/6) (debounceable digital input)
The acknowledgement S2 via the safety control UE410-MU3T5 is only necessary,
if after the disabling of the STO function, a danger to any person or to the machine
could arise by automatic starting. During the Configuration des Compax3M (see
on page 137)you must see to a debouncing time >3ms being configured for the
Energize input.
The operating instructions of the UE410-MU3T5 safety control must be observed.
The Compax3M devices and the UE410-MU3T5 safety control must be mounted in
the same control cabinet.
1 N.C. (S3, S4) per device Guide Device to a currentless state
S1 closed when the safety door is closed
S2 Activate safety switching device
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Parker EME
STO function with safety switching device for T11 applications with
fieldbusses
In this chapter you can read about:
Energize and deenergize circuitry .................................................................................. 101
Function description for fieldbus applications with T11 devices: ..................................... 102
Energize and deenergize circuitry
+24V
Compax3M
X3
motor
Gefahrenbereich
Danger Zone
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
motor
Schutztür geschlossen
Safety door closed
S1
Compax3M
S1
X3
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
*
&
*
Not-Stop
Emergency
switch off
&
S3
S4
Q4
EN
I4
Q3
Delay
Time
3
4
I3
5
I2
A1
7
1
8
0
S3
S2
S1
6
2
I1
9
X1
X2
FUNCTION
S2
A2
UE410-MU
GND24V
* With Profibus I20T11:
Status change in:
0 -> 1
SB1 (speed)
SC1 (positioning)
1 -> 0
SA2
* for T11 devices with CANopen, DeviceNet, Ethernet Powerlink or Ethercat:
Status change in:
0 -> 1
Operation enable
1 -> 0
Switch on disabled
The operating instructions of the UE410-MU3T5 safety control must be observed.
The Compax3M devices and the UE410-MU3T5 safety control must be mounted in
the same control cabinet.
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Compax3 device description
Caution!
C3I30T11 / C3I31T11
Module UET410-MU3T5 modulates regularly test switching signals (OSSD) on
outputs Q3 and Q4.
We recommend to use a filter > 3 ms for signal Q3 in the PLC.
Function description for fieldbus applications with T11 devices:
When opening the safety door or after actuating the emergency power-off switch, it
is ensured via output Q3 and the external control that the Compax3M servo drives
will enter the following state immediately:
 "SA2"
(for Profibus) or
(braking ramp followed by
 "Switched On Disabled"
software switch-off)
for fieldbusses based on the CANopen profile
In the programmable Compax3 devices (T30, T40), this switch-off is realized with
the MC_power function module. Then after the delay time set on the UE410MU3T5 safety control, the STO function in the drives is triggered via the Q4 output.
The servo drives are afterwards in safe torqueless state. The delay time must be
set on the safety control so that the braking ramp in the drives has run off and the
drives are at standstill when the delay time has elapsed.
The application example described here corresponds to Stop Category 1 as
defined by EN60204-1. Together with the external safety switching device, the
"Safe Stop 1” safety function can be implemented.
A Stop Category 0 in accordance with EN 60204-1 can be implemented, for
example by setting the delay time on the safety switching device to 0. The
Compax3M will then be turned off immediately in 2 channels and will therefore not
be able to generate any more torque. Please take into consideration that the motor
will not brake and a coasting down of the motor may result in hazards. If this is the
case, the STO function in stop category 0 is not permitted.
The acknowledement via the safety control UE410-MU3T5 is only necessary, if
after the disabling of the STO function, a danger to any person or to the machine
could arise due to automatic startup.
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Parker EME
Emergency stop and protective door monitoring without external
safety switching device.
With Compax3M, a 2-channel protective door monitoring switch or a 2 channel
emergency power-off switch can be directly connected. The figure below visualizes
an application with 2 channel protective door monitoring switch.
The Compax3M drive modules with PSUPxx mains rectifier must be located in a
protected area (IP54 control cabinet). Outside this protected area, the line guiding
to the external switches must be separated channelwise or must be especially
protected (blinded).
It is also permitted to use one acknowledgement switch for both servo drives at a
time. In both cases the acknowledgement does only correspond to category B,
therefore this acknowledgement should not be used if there is any possibility of
stepping in the dangerous area. In this case, an external acknowledgement device
must be used.
+24V
Compax3M
X3
S4
motor
Gefahrenbereich
Danger Zone
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
motor
Schutztür geschlossen
Safety door closed
S1
Compax3M
S1
X3
S3
Energize
STO1/
X14.1
STO-GND
X14.2
STO2/
X14.3
STO-GND
X14.4
GND24V
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Compax3 device description
C3I30T11 / C3I31T11
3.10.3.6
STO function test
The STO function must be checked in the event of:
 Commissioning
 After each exchange of any equipment within the system
 After each intervention into the system wiring
 In defined maintenance intervals (at least once per week) and after a longer
standstill of the machine
If the STO function was triggered by opening a protective door and if this door is
opened several times a week, the weekly testing interval is not required.
The check must be made by qualified personnel adhering to all necessary safety
precautions.
The following testing steps must be performed:
STO
Test
Action, activity
1
24V DC voltage on
Expected reaction and effect
terminal X14.1 and X14.3
2
Switch on power and 24V supply voltage
No error must be present
3
Configuring the device
No error must be present
4
Testing active STO on terminal X14.1
and X14.3:
Error message 0x5492 must be
present 1)
Remove 24V DC on terminal X14.1 and
X14.3 at the same time
5
Re-apply 24V DC voltage on terminals
X14.1 and X14.3 and then acknowledge
error
6
Then switch off and on again 24V voltage No error must be present
supply
No error must be present
1) In order to automate the test, it is sufficient here to monitor the general error
output with an external logic.
A manual check of the torqueless drive is here also sufficient.
The triggering of the STO can also be made by actuating the emergency stop
switch. During the automated test, the STO can also be triggered via the contacts
of an external relay
Following the test steps
The performance of the individual test steps of the STO function must be logged. A
protocol specimen can be found in the following section.
Depending on the machine version, additional or other test steps may be required.
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Parker EME
STO test protocol specimen
General information:
Project/machine:
Servo axis:
Name of the tester:
STO function test:
Test specification according to the
Compax3 release:
STO function test steps 1-6: o successfully tested
Acknowledgement safety switching device: o successfully tested
o is not used
Safe stop 1: o successfully tested
o is not used
Initial acceptance on:
Repeat check on:
Signature of the tester
Signature of the tester
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Compax3 device description
3.10.3.7
C3I30T11 / C3I31T11
Technical details of the Compax3M S1 option
Safety technology Compax3M
Safe torque-off in accordance with EN
ISO 13849-1: 2007, Category 3, PL=e
Certified.
Test mark MFS 09029

Please respect the stated safety
technology on the type designation
plate (see on page 13) and the circuitry
examples (see on page 97)
Compax3M S1 Option: Signal inputs for connector X14
Nominal voltage of the
inputs
Required isolation of the
24V control voltage
Protection of the STO
control voltage
Number of inputs
Signal inputs via
optocoupler
24V
Grounded protective extra low voltage, PELV
1A
2
Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
STO1/
Low = STO activated
High = STO deactivated
Reaction time max. 3ms
STO2/
Low = STO activated
High = STO deactivated
Reaction time max. 3ms
Switch-off time with
unequal input statuses
(max. reaction time)
Grouping of safety level
20 seconds
Category 3
PL=e
(according to table 4 in EN ISO 13849-1 this
corresponds to SIL 3)
PFHd=4.29E-8
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Setting up Compax3
Parker EME
4. Setting up Compax3
In this chapter you can read about:
Configuration .................................................................................................................107
Configuring the signal Source ........................................................................................157
Load control ...................................................................................................................161
Optimization................................................................................................................... 166
4.1
Configuration
In this chapter you can read about:
Test commissioning of a Compax3 axis ......................................................................... 109
Selection of the supply voltage used .............................................................................. 109
Motor selection .............................................................................................................. 109
Optimize motor reference point and switching frequency of the motor current................ 110
Ballast resistor ............................................................................................................... 113
General drive ................................................................................................................. 113
Defining the reference system ....................................................................................... 114
Defining jerk / ramps ...................................................................................................... 138
Limit and monitoring settings ......................................................................................... 140
Encoder simulation ........................................................................................................ 143
I/O Assignment .............................................................................................................. 144
Position mode in reset operation.................................................................................... 145
Reg-related positioning / defining ignore zone ............................................................... 146
Write into set table ......................................................................................................... 147
Motion functions ............................................................................................................ 148
Error response............................................................................................................... 154
Configuration name / comments .................................................................................... 155
Dynamic positioning ...................................................................................................... 155
The general proceeding in order to operate an empty-running motor is described
here (see on page 109).
Configurations sequence:
Installation of the C3
ServoManager
The Compax3 ServoManager can be installed directly from the Compax3
DVD. Click on the corresponding hyperlink resp. start the installation
program "C3Mgr_Setup_V.....exe" and follow the instructions.
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Setting up Compax3
C3I30T11 / C3I31T11
PC requirements
Recommendation:
Operating system:
Browser:
Processor:
RAM memory:
Hard disk:
Drive:
Monitor:
MS Windows XP SP2 / MS Windows 2000 as from SP4 / (MS Vista)
MS Internet Explorer 6.x
Intel Pentium 4 / Intel Core 2 Duo / AMD Athlon class as from
>=2GHz
>= 1024MB
>= 20GB available memory
DVD drive
Resolution 1024x768 or higher
Graphics card:
Interface:
on onboard graphics (for performance reasons)
USB
Minimum requirements:
Operating system:
Browser:
Processor:
RAM memory:
Hard disk:
Drive:
Monitor:
Graphics card:
Interface:
MS Windows XP SP2 / MS Windows 2000 as from SP4
MS Internet Explorer 6.x
>=1.5GHz
512MB
10GB available memory
DVD drive
Resolution 1024x768 or higher
on onboard graphics (for performance reasons)
USB
Note:
 For the installation of the software you need administrator authorization on the
target computer.
 Several applications running in parallel, reduce the performance and operability.
 Especially customer applications, exchanging standard system components
(drivers) in order to improve their own performance, may have a strong influence
on the communication performance or even render normal use impossible.
 Operation under virtual machines such as Vware Workstation 6/ MS Virtual PC is
not possible.
 Onboard graphics card solutions reduce the system performance by up to 20%
and cannot be recommended.
 Operation with notebooks in current-saving mode may lead, in individual cases,
to communication problems.
Connection
between PC and
Compax3
Your PC is connected with Compax3 via a RS232 cable (SSK1 (see on page
389)).
Cable SSK1 (see on page 389) (COM 1/2-interface on the PC to X10 on the
Compax3 or via adapter SSK32/20 on programming interface of Compax3H).
Start the Compax3 ServoManager and make the setting for the selected interface
in the "Options Communication settings RS232/RS485..." menu.
Device Selection
Configuration
In the menu tree under device selection you can read the device type of the
connected device (Online Device Identification) or select a device type (Device
Selection Wizard).
Then you can double click on "Configuration" to start the configuration wizard. The
wizard will lead you through all input windows of the configuration.
Input quantities will be described in the following chapters, in the same order in which you are queried about them by the configuration
wizard.
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Parker EME
4.1.1.
Test commissioning of a Compax3 axis
In the device online help, we show you at this place an animation of a test
setup with the aim to move an unloaded motor.
Simple and independent of the Compax3 device variant*
Without overhead for configuration
 Without special knowledge in programming


* for device specific functions, please refer to the corresponding device description.
Due to continuous 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 the operation of Compax3.
This influences the choice of motors available.
4.1.3.
Motor selection
The selection of motors can be broken down into:
 Motors that were purchased in Europe and
 Motors that were purchased in the USA.
 You will find non-standard motors under "Additional motors" and
 under "User-defined motors" you can select motors set up with the C3
MotorManager.
For motors with holding brake SMHA or MHA brake delay times can be entered.
For this see Brake delay times (see on page 291).
Pleas note the following equivalence that applies regarding terms concerning
linear motors:
Rotary motors / linear motors
Revolutions ≡ Pitch
 Rotation speed (velocity)≡ Speed
 Torque ≡ Power
 Moment of inertia ≡ Load


Notes on direct drives (see on page 354) (Linear and Torque - Motors)
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109
Setting up Compax3
4.1.4.
C3I30T11 / C3I31T11
Optimize motor reference point and switching frequency of
the motor current
Optimization of the
motor reference
point
The motor reference point is defined by the reference current and the reference
(rotational) speed.
Standard settings are:
 Reference current = nominal current
 Reference (rotational) speed = nominal (rotational) speed
These settings are suitable for most cases.
The motors can, however, be operated with different reference points for special
applications.
By reducing the reference (rotational) speed, the reference current can be
increased. This results in more torque with a reduced speed.
 For applications where the reference current is only required cyclically with long
enough breaks in between, you may use a reference current higher than I0. The
limit value is however reference current = max. 1.33*I0. The reference (rotational)
speed must 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 of too high temperature) or even cause damage to the motor.
Optimization of the
switching frequency
The switching frequency of the power output stage is preset to optimize the
operation of most motors.
It may, however, be useful to increase the switching frequency especially with
direct drives in order to reduce the noise of the motors. Please note that the power
output stage must be operated with reduced nominal currents in the case of
increased switching frequencies.
The switching frequency may only be increased.
Caution!
By increasing the motor current switching frequency, the nominal current and the
peak current are reduced.
This must already be observed in the planning stage of the plant!
The preset motor current switching frequency depends on the performance variant
of the Compax3 device.
The respective Compax3 devices can be set as follows:
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Setting up Compax3
Parker EME
Resulting nominal and peak currents depending on the switching
frequency
Compax3S0xxV2 at 1*230VAC/240VAC
Switching
frequency*
16kHz
32kHz
S025V2
S063V2
Inom
Ipeak (<5s)
2.5Arms
5.5Arms
6,3Arms
12,6Arms
Inom
2.5Arms
5.5Arms
Ipeak (<5s)
5.5Arms
12,6Arms
Compax3S1xxV2 at 3*230VAC/240VAC
Switching
frequency*
8kHz
16kHz
32kHz
S100V2
S150V2
Inom
-
15Arms
Ipeak (<5s)
-
30Arms
Inom
10Arms
12.5Arms
Ipeak (<5s)
20Arms
25Arms
Inom
8Arms
10Arms
Ipeak (<5s)
16Arms
20Arms
Compax3S0xxV4 at 3*400VAC
Switching
frequency*
8kHz
16kHz
32kHz
S015V4 S038V4
S075V4
S150V4
S300V4
-
-
-
15Arms
30Arms
Ipeak (<5s) -
-
-
30Arms
60Arms
1.5Arms
3.8Arms
7.5Arms
10.0Arms
26Arms
Ipeak (<5s) 4.5Arms
9.0Arms
15.0Arms
20.0Arms
52Arms
Inom
1.5Arms
2.5Arms
3.7Arms
5.0Arms
14Arms
Ipeak (<5s) 3.0Arms
5.0Arms
10.0Arms
10.0Arms
28Arms
S075V4
S150V4
S300V4
-
-
13.9Arms
30Arms
30Arms
60Arms
1.5Arms
3.8Arms
6.5Arms
8.0Arms
21.5Arms
Ipeak (<5s) 4.5Arms
7.5Arms
15.0Arms
16.0Arms
43Arms
Inom
1.0Arms
2.0Arms
2.7Arms
3.5Arms
10Arms
Ipeak (<5s) 2.0Arms
4.0Arms
8.0Arms
7.0Arms
20Arms
Inom
Inom
Compax3S0xxV4 at 3*480VAC
Switching
frequency*
8kHz
16kHz
32kHz
S015V4 S038V4
Inom
Ipeak (<5s) Inom
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
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Setting up Compax3
C3I30T11 / C3I31T11
Resulting nominal and peak currents depending on the switching
frequency
Compax3HxxxV4 at 3*400VAC
Switching
frequency*
8kHz
16kHz
H050V4 H090V4 H125V4 H155V4
Inom
50Arms
90Arms
125Arms
155Arms
Ipeak (<5s)
75Arms
135Arms
187.5Ar
232.5Ar
ms
ms
82Arms
100Arms
123Arms
150Arms
49Arms
59Arms
Inom
33Arms
75Arms
Ipeak (<5s)
49.5Arms 112.5Ar
ms
32kHz
Inom
19Arms
45Arms
Ipeak (<5s)
28.5Arms 67.5Arms 73.5Arms 88.5Arms
Compax3HxxxV4 at 3*480VAC
Switching
frequency*
8kHz
H050V4 H090V4 H125V4 H155V4
Inom
43Arms
85Arms
Ipeak (<5s)
64.5Arms 127.5Ar
110Arms
132Arms
165Arms
198Arms
70Arms
84Arms
ms
16kHz
32kHz
Inom
27Arms
70Arms
Ipeak (<5s)
40.5Arms 105Arms
105Arms
126Arms
Inom
16Arms
40Arms
40Arms
48Arms
Ipeak (<5s)
24Arms
60Arms
60Arms
72Arms
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
Resulting nominal and peak currents depending on the switching
frequency
Compax3MxxxD6 at 3*400VAC
Switching
frequency*
8kHz
16kHz
32kHz
M100D
6
10Arms
M150D6
M300D6
Inom
M050D
6
5Arms
15Arms
30Arms
Ipeak (<5s)
10Arms
20Arms
30Arms
60Arms
Inom
3.8Arms
7.5Arms
10Arms
20Arms
Ipeak (<5s)
7.5Arms
15Arms
20Arms
40Arms
Inom
2.5Arms
3.8Arms
5Arms
11Arms
Ipeak (<5s)
5Arms
7.5Arms
10Arms
22Arms
M100D
6
8Arms
M150D6
M300D6
Inom
M050D
6
4Arms
12.5Arms
25Arms
Ipeak (<5s)
8Arms
16Arms
25Arms
50Arms
Inom
3Arms
5.5Arms
8Arms
15Arms
Ipeak (<5s)
6Arms
11Arms
16Arms
30Arms
Inom
2Arms
2.5Arms
4Arms
8.5Arms
Ipeak (<5s)
4Arms
5Arms
8Arms
17Arms
Compax3MxxxD6 at 3*480VAC
Switching
frequency*
8kHz
16kHz
32kHz
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
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Parker EME
4.1.5.
Ballast resistor
If the regenerative brake output exceeds the amount of energy that can be
stored by the servo controller (see on page 408), then an error will be
generated. To ensure safe operation, it is then necessary to either
 reduce the accelerations resp. the decelerations,
 or to use an external ballast resistor (see on page 371).
Please select the connected ballast resistor or enter the characteristic values of
your ballast resistor directly.
Please note that with resistance values greater than specified, the power
output from the servo drive can no longer be dissipated in the braking
resistor.
4.1.6.
General drive
External moment of inertia / load
The external moment of inertia is required for adjusting the servo controller. The
more accurately the moment of inertia of the system is known, the better is the
stability and the shorter 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.
If you do not know the moment of inertia, click on "Unknown: using default values".
You have then the possibility to determine the moment of inertia by means of
automatic load identification (see on page 247).
Minimum moment of inertia / minimum load
Maximum moment of inertia / maximum load
Enter minimum = maximum moment of inertia when the load does not vary.
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Setting up Compax3
4.1.7.
C3I30T11 / C3I31T11
Defining the reference system
The reference system for positioning is defined by:
 a unit,
 the travel distance per motor revolution,
 a machine zero point with true zero,
 positive and negative end limits.
4.1.7.1
Unit
Measure reference
You can select from among the following for the unit:
 mm,
 increments *
 angle degrees or
 Inch.
The unit of measure is always [mm] for linear motors.
*
The unit "increments" is valid only for position values!
Speed, acceleration and jerk are specified in this case in revolutions/s,
revolutions/s2 and revolutions/s3 (resp. pitch/s, pitch/s2, pitch/s3 for linear motors).
Travel distance per
motor revolution /
pitch
The measure reference to the motor is created with the value:
Input as numerator
and denominator
You can enter the "travel distance per motor revolution" as 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 avoid long-term drifts.
Example 1:
"travel distance per motor revolution / pitch" in the selected unit.
Rotary table control
144°
7
M
114
70
4
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Parker EME
Unit: Grade
Gear transmission ratio 70:4 => 4 load revolutions = 70 motor revolutions
Travel distance per motor revolution = 4/70 * 360° = 20.571 428 5 ...° (number
cannot be represented exactly)
Instead of this number, you have the option of entering it exactly as a numerator
and denominator:
Travel distance per motor revolution = 144/7
This will not result in any drift in continuous operation mode or in reset mode, even
with relatively long motion in one direction.
Example 2:
Conveyor belt
M
7
10mm
4
7
4
Unit: mm
Gear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutions
Number of pinions: 12
Tooth separation: 10mm
Travel path per motor revolution = 4/7 * 12 * 10mm = 68.571 428 5 ... mm (this
number cannot be expressed exactly)
Instead of this number, you have the option of entering it exactly as a numerator
and denominator:
Travel distance per motor revolution = 480/7 mm
For "travel distance per motor revolution" that can be represented exactly, enter 1
as the denominator.
Travel distance per motor revolution /-pitch
Numerator
Unit: Unit
Range: depends on the unit selected
Resolution: 0.000 000 1 (7 decimal places)
Unit
Division
Increments*
10 ... 1 000 000
mm
0.010 000 0 ... 2000.000 000 0
Grade
0.010 000 0 ... 720.000 000 0
Inch
0.010 000 .. 2000.000 000
Standard value: depends
on the unit selected
Standard value
1024
1.000 000 0
360.000 000 0
1.000 000
Denominator
Unit: Integer value
Range: 1 ... 1 000 000
Standard value: 1
*
The unit "increments" is valid only for position values!
Speed, acceleration and jerk are specified in this case in revolutions/s,
revolutions/s2 and revolutions/s3 (resp. pitch/s, pitch/s2, pitch/s3 for linear motors).
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Invert Motor Rotation/Direction Polarity
Unit: Range: no / yes
Standard value: no
Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motor
is reversed in the case of equal setpoint.
Reset mode
Reset mode is available for applications in which the positioning range repeats;
some examples are: Rotary table applications, belt conveyor. ...
After the reset travel distance (exactly specifiable as numerator and denominator
(see on page 114)) the position values in Compax3 are reset to 0.
Example:
Conveyor belt (from the "Conveyor belt" example) with reset path
300 mm
M
7
10mm
4
7
4
A reset path of 300 mm can be entered directly with numerator = 300 mm and
denominator = 1.
Reset mode is not possible for linear motors.
Reset distance
Numerator
Unit: Unit
Range: depends on the unit selected
Unit
Increments
mm
Grade
Division
10 ... 1 000 000
1 ... 2000
1 ... 720
Standard value: depends
on the unit selected
Standard value
0
0
0
Range: 1 ... 1 000 000
Standard value: 0
Denominator
Unit: Integer value
Turn off reset mode
Reset mode is turned off for numerator = 0 and denominator = 0.
116
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4.1.7.2
Machine Zero
In this chapter you can read about:
Positioning after homing run .......................................................................................... 118
Absolute encoder .......................................................................................................... 119
Operation with MultiTurn emulation ............................................................................... 119
Machine zero modes overview ...................................................................................... 120
Homing modes with home switch (on X12/14) ............................................................... 122
Machine zero modes without home switch..................................................................... 128
Adjusting the machine zero proximity switch.................................................................. 133
Machine zero speed and acceleration ........................................................................... 133
The Compax3 machine zero modes are adapted to the CANopen profile for Motion
Control CiADS402.
Position reference
point
Essentially, you can select between operation with or without machine reference.
The reference point for positioning is determined by using the machine reference
and the machine reference offset.
Machine reference run
In a homing run the drive normally (see on page 118) moves to the position value
0 immediately after finding the home switch. The position value 0 is defined via the
homing offset.
A machine reference run is required each time after turning on the system for
operation with machine reference.
Please note:
During homing run the software end limits are not monitored.
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Setting up Compax3
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Positioning after homing run
The positioning made after the home switch has been found can be switched off.
For this enter in the “machine zero” window in the configuration wizard “no” under
“approach MN point after MN run”.
Example Homing (MN) mode 20 (Home on homing (MN) switch) with T40 by
homing offset 0
With positioning after homing run The motor stands then on 0:
Without positioning after homing run The position reached is not exactly on
0, as the drive brakes when detecting the home and stops:
If the homing mode is active, there will always be a homing run with the first start
after each configuration download (with the aid of the C3 ServoManager) Homing
run (see on page 147).
118
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Absolute encoder
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 switching on the
Compax3. This means that a machine zero run is not necessary after the switching
on (feedback may not be shifted by the absolute range while switched off).
In this case the reference only needs to be established once
 at initial commissioning time
 after an exchange of motor / feedback system
 after a mechanical modification and
 after an exchange of device (Compax3); does not apply for the "Store absolute
position in feedback" function.
 after a configuration download
by carrying out a machine zero run.
The homing mode 35 "MN at the current position (see on page 128)" is
appropriate for this, because it is therewith possible to operate without proximity
switch, but any other homing mode is possible too - if the hardware prerequisites
are fulfilled.
When you have once re-established the reference, reset the machine zero run
mode to "without machine zero run".
Operation with MultiTurn emulation
You can simulate the function of a Multiturn over the entire travel distance by the
aid of a Multiturn emulation. A resolver or a SinCos© / EnDat Singleturn feedback is
sufficient as a feedback signal from the motor.
It differs from the physical Multiturn in the way that the motor may not be moved by
more than half a turn if Compax3 (24VDC) is switched off - unless the absolute
position is lost.
Besides that, the Multiturn emulation offers the same function as the physical
Multiturn feedback.
You can switch on the Multiturn emulation directly in the wizard.
You can assign the maximum permissible motor angle via the Multiturn validity
window
If Compax3 states after switching on that this value is not exceeded, then das
"Referenziert" gesetzt (Zustandswort Bit 12 oder Ausgang M.A8) is applied.
Compax3 restores nevertheless the absolute position, the motor angle is correct,
the absolute position may however not be correct, if the motor was moved by more
than the validity window while currentless.
Attention:
Machine reference
run
In this case, the drive is considered “not referenced” and the software end limit
monitoring is inactive!
For a unique machine zero run the same conditions apply as for the use of an
absolute encoder (Multiturn).
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Machine zero modes overview
Selection of the machine zero modes (MN-M)
Machine home switch
on X12/14:
MN-M 3 ... 14, 19 ... 30
Without motor reference point without direction reversal switches: MN-M 19, 20 (see on page
122), MN-M 21, 22 (see on page 123)
MN-M 19 ...30
with reversal switches: MN-M 23, 24, 25, 26 (see on page 124),
MN-M 27, 28, 29, 30 (see on page 124)
without direction reversal switches: MN-M 3, 4 (see on page
With motor reference point
125), MN-M 5, 6 (see on page 126)
MN-M 3 ... 14
(possibly an initiator
adjustment (see on page
133) is required)
Without machine zero
initiator on X12/14:
MN-M 1, 2, 17, 18, 33 ..
35, 128, 129, 130 ... 133
with reversal switches: MN-M 7, 8, 9, 10 (see on page 127),
MN-M 11,12,13, 14 (see on page 127)
MN-M 35: on the actual position (see on page 128)
MN-M 128, 129: by moving to block (see on page 128)
With limit switch as machine zero: MN-M 17, 18 (see on page
Without motor reference point 129)
MN-M 17, 18, 35, 128, 129
Only motor reference: MN-M 33, 34 (see on page 130), MN-M
130, 131 (see on page 130)
With limit switch as machine zero: MN-M 1, 2 (see on page
132), MN-M 132, 133 (see on page 132)
Definition of terms / explanations:
Motor zero point
Machine zero initiator:
Direction reversal
switches:
120
Zero pulse of the feedback
Motor feedback systems such as resolvers or SinCos© / EnDat give
one pulse per revolution.
Some motor feedback systems of direct drives do also have a zero
pulse, which is generated once or in defined intervals.
By interpreting the motor zero point (generally in connection with the
machine zero initiator) the machine zero can be defined more
exactly.
For creating the mechanical reference
Has a defined position within or on the edge of the travel range.
Initiators on the edge of the travel range, which are used only with a
machine zero run in order to detect the end of the travel range.
In some cases, the function “direction reversal via Stromschwelle” is
also possible, then you will need no initiator, Compax3 detects the
end of the travel range via the threshold. Please observe the
respective notes.
During operation, the direction reversal switches are often used as
limit switches.
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Parker EME
Example axis with the initiator signals
4
-
1
2
+
3
5
6
7
8
9
10
11
12
13
14
1:
2:
3:
4:
5:
6:
7:
8:
9:
10:
11:
12:
13:
14:
Direction reversal / end switch on the negative end of the travel range
(the assignment of the reversal / end switch inputs (see on page 137) to travel range
side can be changed).
Machine zero initiator (can, in this example, be released to 2 sides)
Direction reversal / end switch on the positive end of the travel range
(the assignment of the reversal / end switch inputs (see on page 137) to travel range
side can be changed).
Positive direction of movement
Signals of the motor zero point (zero pulse of the motor feedback)
Signal of the machine zero initiator
(without inversion of the initiator logic (see on page 137)).
Signal of the direction reversal resp. end switch on the positive end of the travel range
(without inversion of the initiator logic).
Signal of the direction reversal / resp. end switch on the negative end of the travel range
(without inversion of the initiator logic).
Signal of the machine zero initiator
(with inversion of the initiator logic (see on page 137)).
Signal of the direction reversal resp. end switch on the positive end of the travel range
(with inversion of the initiator logic).
Signal of the direction reversal / end switch on the negative end of the travel range
(with inversion of the initiator logic).
Logic state of the home switch (independent of the inversion)
Logic state of the direction reversal resp. end switch on the positive end of the travel
range (independent of the inversion)
Logic state of the direction reversal resp. end switch on the negative end of the travel
range (independent of the inversion)
The following principle images of the individual machine zero modes always refer
to the logic state (12, 13, 14) of the switches.
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Homing modes with home switch (on X12/14)
In this chapter you can read about:
Without motor reference point ........................................................................................ 122
With motor reference point............................................................................................. 125
Without motor reference point
In this chapter you can read about:
Without direction reversal switches ................................................................................ 122
With direction reversal switches ..................................................................................... 123
Without direction reversal switches
MN-M 19,20: MN-Initiator = 1 on the positive side
The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the positive travel direction.
Without motor zero
point, without
direction reversal
switches
MN-M 19: The negative edge of the MN proximity switch is taken directly as MN
(the motor zero point remains without consideration).
MN-M 20: The positive edge of the MN proximity switch is used directly as MN (the
motor zero point remains without consideration).
19
19
20
20
1
1: logic state
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MN-M 21,22: MN Initiator = 1 on the negative side
The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the negative travel direction.
Without motor zero
point, without
direction reversal
switches
MN-M 21: The negative edge of the MN proximity switch is taken directly as MN
(the motor zero point remains without consideration).
MN-M 22: The positive edge of the MN proximity switch is used directly as MN (the
motor zero point remains without consideration).
21
21
22
22
1
1: logic state
With direction reversal switches
Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
The assignment of the direction reversal switches (see on page 137) can be
changed.
Function Reversal via Stromschwelle
If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Stromschwelle”.
The drive drives against the mechanical end stop.
When the adjustable Stromschwelle is reached, the drive is decelerated and
changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:
 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
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MN-M 23...26: Direction reversal switches on the positive side
Without motor zero point, with direction reversal switches
24
23
26
25
23
26
24
23
25
25
24
26
1
2
1: Logic state of the home switch
2: Logic state of the direction reversal switch
MN-M 27...30: Direction reversal switches on the negative side
Without motor zero point, with direction reversal switches
28
30
27
29
27
30
29
28
29
30
1
2
1: Logic state of the home switch
2: Logic state of the direction reversal switch
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28
Setting up Compax3
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With motor reference point
In this chapter you can read about:
Without direction reversal switches ................................................................................ 125
With direction reversal switches ..................................................................................... 126
Without direction reversal switches
MN-M 3,4: MN-Initiator = 1 on the positive side
The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the positive travel direction.
With motor zero
point, without
direction reversal
switches
MN-M 3: The 1st motor zero point at MN initiator = "0" is used as MN.
MN-M 4: The 1st motor reference point with MN initiator = "1" is used as the MN.
3
3
4
4
1
2
1: Motor zero point
2: Logic state of the home switch
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Setting up Compax3
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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 range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).
When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the negative travel direction.
With motor zero
point, without
direction reversal
switches
MN-M 5: The 1st. motor zero point with MN proximity switch = "0" is used as MN.
MN-M 6: The 1st motor reference point with MN initiator = "1" is used as the MN.
5
5
6
6
1
2
1: Motor zero point
2: Logic state of the home switch
With direction reversal switches
Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
The assignment of the direction reversal switches (see on page 137) can be
changed.
Function Reversal via Stromschwelle
If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Stromschwelle”.
The drive drives against the mechanical end stop.
When the adjustable Stromschwelle is reached, the drive is decelerated and
changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:
 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
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MN-M 7...10: Direction reversal switches on the positive side
With motor zero
point, with direction
reversal switches
Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
8
7
10
9
10
7
8
7
9
9
8
10
1
2
3
1: Motor zero point
2: Logic state of the home switch
3: Logic state of the direction reversal switch
MN-M 11...14: With direction reversal switches on the negative side
With motor zero
point, with direction
reversal switches
Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
12
14
11
13
11
14
13
12
13
14
11
12
1
2
3
1: Motor zero point
2: Logic state of the home switch
3: Logic state of the direction reversal switch
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Setting up Compax3
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Machine zero modes without home switch
In this chapter you can read about:
Without motor reference point ........................................................................................ 128
With motor reference point............................................................................................. 130
Without motor reference point
MN-M 35: MN (machine zero) at the current position
The current position when the MN run is activated is used as an MN.
35
Please note:
Due to encoder noise it is possible that a value <> 0 is set when teaching to 0.
If end limits = 0, an end limit error may occur during homing run.
MN-M 128/129: Stromschwelle while moving to block
Without a MN (machine zero) initiator, an end of travel region (block) is used as
MN (machine zero).
For this the Stromschwelle is evaluated if the drive pushes against the end of the
travel region. When the adjusted current is exceeded, the Homing is set. During the
homing run (MN), the error reaction "following error" is deactivated.
Please observe:
The machine zero offset must be set so that the zero point (reference point) for
positioning lies within the travel range.
MN-M 128: Travel in the positive direction to the end of the travel region
MN-M 129: Travel in the negative direction to the end of the travel region
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:
 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
128
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MN-M 17,18: Limit switch as machine zero
17
1
18
1
1: Logic state of the direction reversal switch
Function Reversal via Stromschwelle
If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Stromschwelle”.
The drive drives against the mechanical end stop.
When the adjustable Stromschwelle is reached, the drive is decelerated and
changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:
 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
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Setting up Compax3
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With motor reference point
In this chapter you can read about:
Machine zero only from motor reference ........................................................................ 130
With direction reversal switches ..................................................................................... 131
Machine zero only from motor reference
MN-M 33,34: MN at motor zero point
The motor reference point is now evaluated (no MN initiator):
Without home
switch
MN-M 33: For a MN run, starting from the current position, the next motor zero
point in the negative travel direction is taken as the MN.
MN-M 34: For a MN run, starting from the current position, the next motor zero
point in the positive travel direction is taken as the MN.
33
34
1
1: Motor zero point
MN-M 130, 131: Acquire absolute position via distance coding
Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
1: Signals of the distance coding
130
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With direction reversal switches
Machine zero modes with a home switch which is activated in the middle of the
travel range and can be deactivated to both sides.
The assignment of the direction reversal switches (see on page 137) can be
changed.
Function Reversal via Stromschwelle
If no direction reversal switches are available, the reversal of direction can also be
performed during the machine zero run via the function “direction reversal via
Stromschwelle”.
The drive drives against the mechanical end stop.
When the adjustable Stromschwelle is reached, the drive is decelerated and
changes the direction of movement.
Caution!
Wrong settings can cause hazard for man and machine.
It is therefore essential to respect the following:
 Choose a low machine zero speed.
 Set the machine zero acceleration to a high value, so that the drive changes
direction quickly, the value must, however, not be so high that the limit threshold
is already reached by accelerating or decelerating (without mechanical limitation).
 The mechanical limitation as well as the load drain must be set so that they can
absorb the resulting kinetic energy.
 With a bad feedback signal or high controller gain (fast controller or high inertia or
mass) the machine zero might not be detected.
In this case it is necessary to use the control signal filter (O2100.20) or the
velocity filter (O2100.10).
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MN-M 1,2: Limit switch as machine zero
End switch on the negative side
1
1
2
1: Motor zero point
2: Logic state of the direction reversal switch
End switch on the positive side:
2
1
2
1: Motor zero point
2: Logic state of the direction reversal switch
MN-M 132, 133: Determine absolute position via distance coding with
direction reversal switches
Only for motor feedback with distance coding (the absolute position can be
determined via the distance value).
Compax3 determines the absolute position from the distance of two signals and
then stops the movement (does not automatically move to position 0).
133
133
132
1
2
1: Signals of the distance coding
2: Logic state of the direction reversal switches
132
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Setting up Compax3
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Adjusting the machine zero proximity switch
This is helpful in some cases with homing modes that work with the home switch
and motor reference point.
If the motor reference point happens to coincide with the 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 point).
Via status value “Distance MN sensor - motor zero”, (O1130.13) you can check if
the distance between machine home sensor and motor zero point is too short.
1
2
-
+
1: Motor zero point
2: Logic state of the home switch
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:
Range: -180 ... 180
Standard value: 0
Motor angle in degrees
Move the machine reference initiator using software
As an aid you can use the status value “distance MN sensor - motor zero” in the
“Positions” chapter under “status values“
Machine reference offset
1
0
1: Machine reference offset
The machine reference offset is used to determine the actual reference point for
positioning.
That is: Zero point = Machine zero + Machine zero offset
Note: If the machine zero proximity switch is at the positive end of the travel range,
the machine zero offset must be = 0 or negative.
A change in the machine reference offset does not take effect until the next
machine reference run.
Machine zero speed and acceleration
With these values you can define the motion profile of the machine zero run.
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4.1.7.3
Travel Limit Settings
Software end limits
The error reaction when reaching the software end limits can be set:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
If "no reaction" was set, no software limits must be entered.
Software end limits:
The travel range is defined via the negative and positive end limits.
1
0
2
1: negative end limit
2: positive end limit
Software end limit in absolute operating mode
The positioning is restricted to the range between the travel limits.
A positioning order aiming at a target outside the travel range is not executed.
1
2
Gearing, ...
V
Jog
1: negative end limit
2: positive end limit
The reference is the position reference point that was defined with the machine
reference and the machine reference offset.
Software end limits in reset mode
The reset mode does not support software end limits
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Software end limit in continuous mode
Each individual positioning is confined within the travel limits.
A positioning order aiming at a target outside the software end limits is not
executed.
The reference is the respective current position.
Error when
disregarding the
software end limits
A software end limit error is triggered, if the position value exceeds an end limit.
For this, the position setpoint value is evaluated in energized state; in currentless
state, the actual position value is evaluated.
Hysteresis in disabled state:
If the axis stands currentless at an end limit, another error may be reported due to
position jitter after acknowledging the end limit error. To avoid this, a hysteresis
surrounding the end limits was integrated (size corresponds to the size of the
positioning window).
Only if the distance between axis and the end limits was larger than the positioning
window, another end limit error will be detected
Error codes (see on page 348) of the end limit errors:
0x7323
Error when disregarding the positive software end limit.
0x7324
Error when disregarding the negative software end limit.
Activating / deactivating the end limit error:
In the C3 ServoManager under configuration: End limits, the error can be
(de)activated.
For IEC-programmable devices with the "C3_ErrorMask" module.
Behavior after the
system is turned on
The end limits are not active after switching on. The end limits do not refer to the
position reference point until after a machine reference run.
During homing run the end limits are not monitored.
With a Multiturn encoder or with active Multiturn emulation, the limit is valid
immediately after switching on.
Behavior outside the
travel range
1. If the software end limit errors are deactivated, all movements are
possible.
2. If the software end limit errors are activated:
After disregarding the software end limits, an error is triggered. First of all, this error
must be acknowledged.
Then a direction block is activated: only motion commands in the direction of the
travel range are executed. These will not trigger another error.
Motion commands inciting a movement in the opposite direction of the travel range
are blocked and will trigger another error.
Error
Error
2
1
1: negative end limit
2: positive end limit
Notes on special feedback systems (Feedback F12)
During automatic commutation, the end limit monitoring is deactivated!
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Setting up Compax3
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Behavior with software end limits of a referenced axis
JOG +/-
MoveAbs,
MoveRel,
RegSearch,
RegMove
Gearing
Velocity
Position within
target outside
Position outside
Position outside
target outside and aiming in the target within and aiming in the
opposite direction of the travel direction of the travel range
range
Positioning up to the end
limits
 No Error
 No positioning
 Error

Positioning up to the end
limits
 Error
 Positioning up to the end
limits
 Error









No positioning
No Error

Positioning
No positioning
Error

Positioning
No positioning
Error


No positioning
Error
No positioning
Error

Positioning
Hardware end limits
The error reaction when reaching the hardware end limits can be set:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
Hardware end limits are realized with the aid of end switches.
These are connected to X12/12 (input 5) and X12/13 (input 6) and can be
(de)activated separately in the C3 ServoManager under Configuration: End limits.
After a limit switch has been detected, the drive decelerates with the ramp values
set for errors (error code 0x54A0 at X12/12 active, 0x54A1 at X12/13 active) and
the motor is switched to currentless.
Please make sure that after the detection of the end switch there is enough travel
path left up to the limit stop.
3
4
1
2
V
1: Limit switch E5 (X12/12)
2: Limit switch E6 (X12/13)
3: Limit switch position E5 (X12/12)
4: Limit switch position E6 (X12/13)
The assignment of the end switches (see on page 137) can be changed!
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Please note:
Limit switch /
direction reversal
switch
Behavior in the case
of an active limit
switch
The limit switches must be positioned so that they cannot be released towards the
side to be limited.
Limit switches functioning as direction reversal switches during homing run, will not
trigger a limit switch error.
The error can be acknowledged with activated limit switch.
The drive can then be moved out of the end switch range with a normal positioning.
The direction of the movement is verified in the event of fixed I/O assignment.
Only the direction towards the travel range is allowed.
Debouncing: Limit switch, machine zero and input 0
A majority gate is used for debouncing.
The signal is sampled every 0.5ms
The debounce time determines the number of scans the majority gate will perform.
If the level of more than half of the signals was changed, the internal status will
change.
The debounce time can be set in the configuration wizard within the range of 0 ...
20ms.
The value 0 deactivates the debouncing.
If the debouncing time is stated, the input I0 can be debounced as well (checkbox
below).
4.1.7.4
Change assignment direction reversal / limit switches
If this function is not activated, the direction reversal / end switches are assigned
as follows:
Direction reversal / limit switch on I5 (X12/12): negative side of the travel range
Direction reversal /limit switch on I6 (X12/13): positive side of the travel range
Change assignment
of direction reversal
/ limit switch is
activated
If this function is activated, the direction reversal / limit switches are assigned as
follows:
Direction reversal / limit switch on I5 (X12/12): positive side of the travel range
Direction reversal / limit switch on I6 (X12/13): negative side of the travel range
4.1.7.5
Change initiator logic
The initiator logic of the limit switches (this does also apply for the direction
reversal switches) and the machine zero initiator can be changed separately.
 Limit switch E5 low active
 Limit switch E6 low active
 Home switch E7 low active
In the basic settings the inversion is deactivated, so that the signals are “high
active”.
With this setting the inputs I5 to I7 can even be switched within their logic, if they
are not used as direction reversal/limit switches or machine zero.
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4.1.8.
C3I30T11 / C3I31T11
Defining jerk / ramps
In this chapter you can read about:
Speed for positioning and velocity control ......................................................................138
Acceleration for positioning and velocity control .............................................................138
Acceleration / deceleration for positioning ......................................................................138
Jerk limit for positioning..................................................................................................138
Ramp upon error and de-energize .................................................................................140
Jerk for STOP, MANUAL and error ................................................................................140
4.1.8.1
Speed for positioning and velocity control
Standard speed for all positionings and motion functions.
The value can be changed during operation via the bus or via the motion sets.
This setting is not relevant for the "rotation speed" operating mode.
4.1.8.2
Acceleration for positioning and velocity control
Standard acceleration for all positionings and motion functions.
The value can be changed during operation via the bus or via the motion sets.
4.1.8.3
Acceleration / deceleration for positioning
Standard deceleration for all positionings and motion functions.
The value can be changed during operation via the bus or via the motion sets.
If "0" is entered, the acceleration value is accepted as deceleration.
4.1.8.4
Jerk limit for positioning
Standard jerk for all positionings and motion functions.
The value can be changed during operation via the bus or via the motion sets.
In the operating modes:
 Speed control
 Velocity and
 Gearing
the jerk is not limited.
Description of jerk
Jerk
The jerk (marked with “4” in the drawing below) describes the change in
acceleration (derivation of the acceleration)
The maximum change in acceleration is limited via the jerk limitation.
A motion process generally starts from a standstill, accelerates constantly at the
specified acceleration to then move at the selected speed to the target position.
The drive is brought to a stop before the target position with the delay that 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 from the set value to 0).
This change in speed is limited by the maximum jerk.
Without jerk
according to
VDI2143
138
According to VDI2143 the jerk is defined (other than here) as the jump in
acceleration (infinite value of the jerk function).
This means that positionings with Compax3 are without jerk according to VDI2143,
as the value of the jerk function is limited.
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Motion sequence
1
t
2
t
3
t
4
t
1: Position
2: Speed
3: Acceleration
4: Jerk
High changes in acceleration (high jerks) often have negative effects on the
mechanical systems involved. There is a danger that mechanical resonance points
will be excited or that impacts will be caused by existing mechanical slack points.
You can reduce these problems to a minimum by specifying the maximum jerk.
Jerk
Unit: Unit/s3
Range: 0 ... 10 000 000
Standard value:
1 000 000
STOP delay
After a STOP signal, the drive applies the brakes with the delay that is set (2).
Please observe:
The configured STOP ramp is limited. The STOP ramp will not be smaller than the
deceleration set in the last motion set.
NO STOP: control.3 = "0" (Quick Stop: Transition 11 of the State machine (see on
page 318))
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4.1.8.5
Ramp upon error and de-energize
Ramp (delay) upon error and "De-energize"
3: Deceleration on error (status.3 = "1"), Disable Voltage (control.1 = "0" transition
9 of the status machine) and Enable Operation (CW.3 = "0" transition 5 of the
status machine).
Please observe:
The configured error ramp is limited. The error ramp will not be smaller than the
deceleration set in the last motion set.
Manual acceleration/deceleration and speed control
You can set the motion profile for moving with JOG+ or JOG- here.
-
-
-
1: Manual acceleration / Deceleration
2: Manual speed control
+: Manual+ (control.4 ="1")
-: Manual- (control.5 ="1")
Only in "Manual operating mode” (Ethernet Powerlink-No.EPL No. 0x6060 (object
1100.5) = -1)
4.1.8.6
Jerk for STOP, MANUAL and error
The jerk set here applies for:
 the STOP ramp
 Manual motion
 The ramp for the machine reference run
Description of jerk (see on page 138)
Jerk
Unit: Unit/s3
4.1.9.
Range: 0 ... 10 000 000
Standard value:
1 000 000
Limit and monitoring settings
In this chapter you can read about:
Current (Torque) Limit ....................................................................................................141
Positioning window - Position reached ...........................................................................141
Following error limit ........................................................................................................142
Maximum operating speed .............................................................................................142
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4.1.9.1
Current (Torque) Limit
The current required by the speed controller is limited to the current limit.
4.1.9.2
Positioning window - Position reached
Position reached indicates 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 position 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 position window time,
the position window time is started again.
When the actual position leaves the position window with Position reached = "1",
Position reached is immediately reset to "0".
Position monitoring is active even if the position leaves the position window
because of measures taken externally.
3
1: Position Window
2: In Position Window Time
3: Setpoint position reached (state / status word 1 Bit 10 = "1") and O1 (X12/3)
Linkage to the setpoint value
The signal “position reached” can be linked to the setpoint value.
In addition, the internal setpoint value generation is evaluated.
It applies: The positioning window is only evaluated with a constant internal
setpoint value.
Position reached
with:
Gearing
RegSearch /
RegMove
Velocity
STOP
Signal “position reached” monitors synchronicity.
Signal §position reached” is set if
 RegSearch was terminated without a reg being found
or
 Reg was found and RegMove executed.
Signal “position reached” turns into “velocity reached”.
Signal “position reached” shows that the drive is at a standstill.
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4.1.9.3
Following error limit
The error reaction upon a following error can be set:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
The following error is a dynamic error.
The dynamic difference between the setpoint position and the actual position
during a positioning is called the following error. Do not confuse this with the static
difference which is always 0; the target position is always reached exactly.
The change of position over time can be specified exactly using the parameters
jerk, acceleration and speed. The integrated Setpoint value generator calculates
the course of the target position. Because of the delay in the feedback loop, the
actual position does not follow the target position exactly. This difference is referred
to as the following error.
Disadvantages
caused by a
following error
When working with a number of servo drives (for example Master controller and
slave controller), following errors lead to problems due to the dynamic position
differences, and a large following error can lead to positioning overshoot.
Error message
If the following error exceeds the specified following error limit, the “following error
time” then expires. If the following error is even greater than the following error limit
at the end of the following error time, an error is reported.
If the following error falls short of the following error limit, a new following error time
is then started.
Minimizing the
following error
The following error can be minimized with the help of the extended (advanced)
control parameters, in particular with the feed forward parameters.
1: Following error limit
2: Following Error Time
ERROR: Malfunction (state - / status word 1 Bit 3) and O0 (X12/2)
ACKN: Control word 1 Bit 7 or I0 (X12/6)
4.1.9.4
Maximum operating speed
The speed limitation is deduced from the maximum operating speed. In order to
ensure control margins, the speed is limited to a higher value.
The speed setpoint value is actively limited to 1.1 times the given value.
If the speed actual value exceeds the preset maximum speed by 21% (=”switching
off limit speed”), error 0x7310 is triggered.
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4.1.10.
Encoder simulation
You can make use of a permanently integrated encoder simulation feature to make
the actual position value available to additional servo drives or other automation
components.
Caution!
The encoder simulation is not possible at the same time as the encoder
input<ohne_SSI_t> resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.

Simulated Encoder Output Resolution
Unit: Increments per
Range: 4 - 16384
revolution / pitch
Any resolution can be set
Limit frequency: 620kHz (track A or B) i.e. , with:
Increments per revolution
max. Velocity
1024
4096
36000 rpm
9000 rpm
16384
2250 rpm
4.1.10.1
Standard value: 1024
Encoder bypass with Feedback module F12 (for
direct drives)
If the feedback module F12 is used, the encoder signals can be placed directly
(Bypass) to the encoder interface (X11: same assignment as encoder simulation)
for further use. Sine/Cosine signals are directly converted into encoder signals,
however no additional zero pulse is generated; an available zero pulse will be
transmitted.
The advantage is, that the limit frequency is 5MHz instead of 620kHz (track A or
B).
The direction of rotation is only defined via the encoder wiring; a direction inversion
configured in the C3 ServoManager does not have any consequence.
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4.1.11.
C3I30T11 / C3I31T11
I/O Assignment
For intra-device inputs I0 .. I3 as well as the outputs O0 ... O3 you can choose
between fixed or free assignment (see below).
 Control via Ethernet Powerlink / EtherCAT does not require an M option (M10 /
M12).
 If an M option is available, 12 inputs/outputs (ports) are freely assignable. These
can be configured as inputs or outputs by groups of four and be activated resp.
read via Object 121.2 and Object 133.3.
 The signal inputs I4 ... I7 are fixedly assigned
If the respective functions are not needed, these inputs can also be used for
control.
I5 and I6 can, for example, be used as free inputs if the limit switch function is
deactivated.

Assignment of the intra-device inputs and outputs
Pin
X12
1
2
Input/output
High density/Sub D
O
O0
+24 V DC output (max. 400mA)
No Error
3
O1
Position / speed / gear synchronization
Only for "fixed
attained (max. 100 mA)
4
O2
5
O3
Power stage without current (max.)
100 mA)
Axis energized with a setpoint of 0
(max. 100 mA)
6
I0="1":
Quit (positive edge) / Axis enable
I0="0"
Axis disable with delay
7
8
9
I1
I2
I3
no Stop
JOG +
JOG -
10
I4
Reg input
11
I
24V input for the digital outputs Pins 2 to 5
12
13
14
15
I5
I6
I7
O
Limit switch 1
Limit switch 2
Machine zero initiator
GND24V
assignment"
Functions are
available, if "Fixed
assignment" was
selected for the I/O
assignment in the
configuration wizard
All inputs and outputs have 24V level.
Maximum capacitive loading of the outputs: 30nF (max. 2 Compax3 inputs can be
connected)
Input-/Output extension
Optimization
window display
The display of the digital inputs in the optimization window of the C3 ServoManager
does not correspond to the physical status (24Volt=on, 0Volt=off) but to the logic
status: if the function of an input or output is inverted (e.g. limit switch, negatively
switching), the corresponding display (LED symbol in the optimization window) is
OFF with 24Volts at the input and ON with 0 Volts at the input.
For intra-device inputs I0 .. I3 as well as the outputs O0 ... O3 you can choose
between fixed or free assignment.
With fixed assignment of the intra-device inputs I0 ... I3, the respective functions
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can either be triggered via the inputs or via Ethernet Powerlink / EtherCAT
It applies:
With "guiding via interface" (control word 1 bit 11 = "0")
 Enable Voltage: I0 ="1" UND Control word 1 Bit 1 ="1"
 Ackn is triggered via control word 1 bit 7 - ackn via I0 is not possible.
 Stop is active, if I1 = "0"
 Manual+ and Manual- Inputs I2, I3 do not have a function.
With " No guiding via interface" (control word 1 bit 11 = "1")
Control word is not effective:
 Energize motor / ackn: I0 ="1"
 Stop is active, if I1 = "0"
 Manual+ and Manual- via Inputs I2, I3.
Status word
 The status word is always updated
 O0 corresponds to status word 1 Bit 3
 O1 corresponds to status word 1 bit 10
 O3 corresponds to the status "operation enable"
4.1.12.
Position mode in reset operation
In this chapter you can read about:
Examples in the help file ................................................................................................145
In reset operation (activated by the configured reset distance), additional
positioning functions are possible for absolute positionings (can be set under
configuration in the “Positioning options / positioning profiles” window only in bus
mode “Positioning” or “Profile selection”):
All directions
Standard positioning mode
Positive direction
Positioning only in positive direction
Shortest path
Positioning on the shortest path
Negative direction
Positioning only in negative direction
Actual direction
Positioning by keeping the actual direction of travel
Dynamic positioning
In dynamic positioning, a decision concerning the positioning travel is not taken on
the basis of the actual position, but on the basis of the braking position resulting
from the motion parameters.
Please observe:
In the event of positioning specifications below zero and higher than or
equal to the reset distance, this function is deactivated.
The positioning target must for instance be in the range between 0..359.999999°
for a reset distance of 360°.
 The positioning functions are neither effective in test movements nor in an
automatic positioning after homing travel (if this was not deactivated in the
configuration).
 In the event of “shortest path”, the motion is not defined for a positioning by a
travel of half the reset distance.

4.1.12.1
Examples in the help file
In the help file you can find examples for the functioning of the individual
positioning modes.
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4.1.13.
C3I30T11 / C3I31T11
Reg-related positioning / defining ignore zone
These settings are only required in connection with the function “reg-related
positioning (see on page 149)“.
Within the reg window a reg signal will be ignored.
The reg window is defined by
Beginning of the ignore zone and
 End of the ignore zone
.

Beginning and end of the ignore zone are absolute values and therefore are also
valid with negative position values.
This reg window is valid for all reg position sets.
Allow higher deceleration for RegMove
If the deceleration set in the RegMove motion set is too high, the target position is
not reached. Compax3 reports error (see on page 152).
By allowing for a higher deceleration, Compax3 sets the jerk and the deceleration
so that the target is reached without direction reversal.
Function
Reg
Start
v
RegSearch
RegMove
StartIgnore
StopIgnore
Regf
POS
Start
RegSearch:
RegMove:
StartIgnore:
Start signal for reg positioning
Positioning for reg search
Positioning according to reg
Reg window: Beginning of the ignore zone
StopIgnore:
Reg:
Regf
Reg window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
POS:
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Parker EME
4.1.14.
Write into set table
The motion sets are stored in a set table.
The table rows define always one motion set, in the columns the respective motion
parameters of a motion set are stored.
Motion parameters
Machine reference run
Set 1
Set 2
...
Set 31
Exact description (see on page 316).
31 motion sets are possible.
The motion set to be executed is selected via Statuswort 2.
For the motion sets different motion functions with different motion parameters are
available:

Empty:
empty motion set

MoveAbs (see on page 148):
absolute positioning

MoveRel (see on page 148):
relative Positioning

Gearing (see on page 153):
electronic gearbox

RegSearch (see on page 149):
Registration mark-related positioning
(uses 2 motion sets: RegSearch and RegMove)

Velocity (see on page 154):
Velocity control

Stop:
Stop movement
For each motion set you can define programmable status bits (PSBs), which will
then be put out after the termination of the motion set.
Homing run
A start signal at address = 0 (motion set 0) triggers a machine zero run.
4.1.14.1
Programmable status bits (PSBs)
The successful execution of a motion set can be queried via the PSBs.
PSBs: Bit 12, 13 and 14 of status word 2.
Definition of the
pattern:
The settings for the PSBs are made in the respective motion set
You can set 3 assignments for the respective bits:
X: no change
0: Inactive
1: Active
Output / Bit is not influenced
Output / Bit is set to 0
Output / Bit is set to 1 resp. 24VDC
Storage of the PSBs (see on page 316).
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4.1.15.
C3I30T11 / C3I31T11
Motion functions
In this chapter you can read about:
MoveAbs and MoveRel ..................................................................................................148
Reg-related positioning (RegSearch, RegMove) ............................................................149
Electronic gearbox (Gearing) .........................................................................................153
Speed specification (Velocity) ........................................................................................154
Stop command (Stop) ....................................................................................................154
4.1.15.1
MoveAbs and MoveRel
A motion set defines a complete motion with all settable parameters.
1
t
2
t
3
t
4
5
t
1: Target position
2: Travel speed
3: Maximum Acceleration
4: Maximum deceleration
5: Maximum Jerk (see on page 138)
Motion functions
MoveAbs: Absolute positioning.
MoveRel: Relative positioning.
Target position /
distance
Target position of the chosen unit of measure.
Distance with MoveRel
Speed
Speed in length unit/s
Acceleration
Acceleration in unit/s2
Deceleration
Deceleration in unit/s2
Jerk
Jerk in unit/s3
You can optimize the motion profile data with the "ProfilViewer" (see on page
289) software tool!
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4.1.15.2
Reg-related positioning (RegSearch, RegMove)
For registration mark-related positioning, 2 motions are defined.
RegSearch
Search movements: Relative Positioning in order to search for an external signal of a reg
This may, for example, be a reg on a product.
RegMove
The external signal interrupts the search movement and the second movement by
the predefined offset follows without transition. The drive comes to a standstill at
the position of the mark signal + the configured offset.
Accuracy of the reg detection : <1µs
Please note:
The reg restriction window is the same for all reg motion sets!
Example 1: Reg comes after the reg restriction window
Start
Reg
v
RegSearch
RegMove
StartIgnore
t
StopIgnore
Regf
POS
1
active
active
2
Start
RegSearch:
RegMove:
StartIgnore:
StopIgnore:
Reg:
Regf:
POS:
1
2
Start signal for reg positioning (Control word 1 Bit 4)
Positioning for reg search
Positioning according to reg
Reg ignore window: (see on page 146) Beginning of the ignore zone
Reg ignore window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
Programmable status bits of RegSearch (only for positioning with set selection)
Programmable status bits of RegMove (only for positioning with set selection)
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Setting up Compax3
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Example 2: Reg within the reg restriction window
Start
Reg
v
RegSearch
StartIgnore
StopIgnore
t
Regf
POS
1
2
Start
RegSearch:
RegMove:
StartIgnore:
StopIgnore:
Reg:
Regf:
Start signal for reg positioning (Control word 1 Bit 4)
Positioning for reg search
Positioning according to reg
Reg ignore window: (see on page 146) Beginning of the ignore zone
Reg ignore window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
Programmable status bits of RegSearch (only for positioning with set selection)
Programmable status bits of RegMove (only for positioning with set selection)
POS:
1
2
The reg is ignored; the drive moves to the target position from the RegSearch
motion set.
Example 3: Reg is missing or comes after termination of the
RegSearch motion set
Start
v
RegSearch
StartIgnore
StopIgnore
Regf
POS
1
2
150
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Setting up Compax3
Parker EME
Start
RegSearch:
RegMove:
StartIgnore:
StopIgnore:
Reg:
Regf:
POS:
1
2
Start signal for reg positioning (Control word 1 Bit 4)
Positioning for reg search
Positioning according to reg
Reg ignore window: (see on page 146) Beginning of the ignore zone
Reg ignore window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
Programmable status bits of RegSearch (only for positioning with set selection)
Programmable status bits of RegMove (only for positioning with set selection)
The drive moves to the target position from the RegSearch motion set
Example 4: Reg comes before the reg restriction window
Start Reg
v
RegSearch
RegMove
StartIgnore
StopIgnore
t
Regf
POS
1
2
Start
RegSearch:
RegMove:
StartIgnore:
StopIgnore:
Reg:
Regf:
POS:
1
2
active
active
Start signal for reg positioning (Control word 1 Bit 4)
Positioning for reg search
Positioning according to reg
Reg ignore window: (see on page 146) Beginning of the ignore zone
Reg ignore window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
Programmable status bits of RegSearch (only for positioning with set selection)
Programmable status bits of RegMove (only for positioning with set selection)
As from the mark, the drive moves on relatively by the offset defined in RegMove
and then stops at that position (same behavior as in example 1).
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Setting up Compax3
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Example 5: The registration mark comes after the reg restriction
window, registration mark can, however, not be reached without
direction reversal
Start
Reg
v
RegSearch
RegMove
StartIgnore
t
StopIgnore
Regf
POS
1
active
2
active
Error
Start
RegSearch:
RegMove:
StartIgnore:
StopIgnore:
Reg:
Regf:
POS:
1
2
Error
Start signal for reg positioning (Control word 1 Bit 4)
Positioning for reg search
Positioning according to reg
Reg ignore window: (see on page 146) Beginning of the ignore zone
Reg ignore window: End of the ignore zone
Reg signal (I4 on X12/10)
Signal: Reg detected
(Status word 1 Bit 15)
Signal: Position reached
(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9)
Programmable status bits of RegSearch (only for positioning with set selection)
Programmable status bits of RegMove (only for positioning with set selection)
Output A0: X12/2 or Status word 1 Bit 3
Position reached can be activated for a short period, if the position window was not
linked to the command value.
With "Allow higher deceleration for RegMove (see on page 146)", Compax3 sets
the required deceleration.
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4.1.15.3
Electronic gearbox (Gearing)
The motion function “Gearing” (electronic gearbox) moves Compax3 synchronously
with a leading axis.
A 1:1 synchronism or any transmission ratio can be selected via the gear factor.
A negative sign - which means reversal of direction - is permitted.
Function Electronic gearbox (Gearing)
The position of a master axis can be detected via:
+/-10V analog input
 Step / direction input (X11/6, 7, 8, 12)
 the encoder input (X11/6, 7, 8, 12) or
 HEDA, if Compax3 is used as master drive.
The master signal detection is configured under synchronization.

Settings of the “Gearing” motion function
Gearing numerator /
Gearing
denominator:
Transmission ratio slave / master
The transmission ratio (gear factor) can be entered in “Gearing numerator” (at
“Gearing denominator” = 1).
You will obtain an exact image of a non-integral transmission ratio by entering the
value integrally as a fraction with numerator and denominator. This helps to avoid
long-term drifts
That is:
Sub
Master
Acceleration
=
Gearing
numerator
Gearing
denominator
Here you can define the acceleration for the drive to reach the desired
synchronism.
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Setting up Compax3
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Dynamic change of
the gear factor
You can switch dynamically between 2 gearing motion sets with different gear
factors.
The set acceleration counts as deceleration if the gear factor is reduced.
Dynamic switching between the gearing motion function and positioning functions
(MoveAbs, MoveRel, RegSearch) is possible.
Synchronicity:
With the "Gear reached" signal(Ausgang A1: X12/3 oder Zustandswort 1 Bit 9), the
reaching of the synchronicity is displayed.
The signal “Gear reached” is reset if the synchronicity is exited.
The programmable status bits (PSBs) are activated via the signal “Gear reached”.
Limiting effects
Note:
If the synchronicity is lost temporarily due to limitations, the resulting position
difference is made up afterwards.
Jerk is not limited.
4.1.15.4
Speed specification (Velocity)
This motion function is defined by velocity and acceleration.
An active motion set is interrupted by:
 Stop or
 Start of a different set.
As soon as the setpoint speed is reached, “speed reached” (Ausgang A1: X12/3
oder Zustandswort 1 Bit 9) as well as the defined status bits (PSBs) are activated.
Note:
Position control is active, i.e. the following error caused by limitations will be made
up.
Jerk is not limited.
4.1.15.5
Stop command (Stop)
The Stop set interrupts the current motion set (Stop with interruption).
This motion function is defined by the deceleration and the jerk of the drive when
coming to a standstill.
As soon as the drive is at standstill “position reached” (Ausgang A1: X12/3 oder
Zustandswort 1 Bit 9) as well as the defined status bits (PSBs) are activated.
Note:
4.1.16.
The stop command (as motion function) is not effective during the machine zero
run.
Error response
Under "configuring: Error reaction" you can change the error reaction for individual
errors (see on page 348) (the error no. which can be influenced is displayed).
Possible settings for the error reaction are:
No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)

Note on Compax3H:
The error reaction upon the "low voltage DC" error (0x3222) is fixed to
"downramp/deenergize" for Compax3H.
154
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4.1.17.
Configuration name / comments
Here you can name the current configuration as well as write a comment.
Then you can download the configuration settings or, in T30 or T40 devices,
perform a complete Download (with IEC program and curve).
Caution!
Deactivate the drive before downloading the configuration software!
Please note!
Incorrect configuration settings entail danger when activating the drive.
Therefore take special safety precautions to protect the travel range of
the system.
Mechanical limit values!
Observe the limit values of the mechanical components!
Ignoring the limit values can lead to destruction of the mechanical
components.
4.1.18.
Dynamic positioning
You can change over to a new motion set during a positioning process.
All motion parameters of the new data record become valid
Hint
Example:
The new motion set address must not equal 0.
MoveAbs (Target position POS1) is interrupted by a new MoveAbs with target
position (POS 5)
Pos 1
Pos 5
V1
t
V5
START
-1-
-5-
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Setting up Compax3
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The following dynamic transitions are supported:
Motion function in progress
MoveAbs, MoveRel, RegSearch,
RegMove, Velocity
Gearing
Stop
Prerequisite:
Possible dynamic change to the motion
function:
MoveAbs, MoveRel, Velocity, RegSearch, Gearing
MoveAbs, MoveRel, RegSearch, Gearing (other
gearing factor)
-
Prerequisite for dynamic positioning is:
Control word 1 Bit 5 = "1" (Change set immediately)
156
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4.2
Configuring the signal Source
In this chapter you can read about:
Signal source of the load feedback system .................................................................... 157
Select signal source for Gearing .................................................................................... 157
4.2.1.
Signal source of the load feedback system
Configuration of the load control (see on page 161) (Dual Loop Option)
4.2.2.
Select signal source for Gearing
In this chapter you can read about:
Signal source HEDA ......................................................................................................158
Encoder A/B 5V, step/direction or SSI feedback as signal source ..................................158
+/-10V analog speed setpoint value as signal source .....................................................160
Here the signal source is configured for the motion function “Gearing” (electronic
gearbox).
Available are:
Gearing input signal source
The HEDA real-time bus (M10 or M11 option) directly from a Compax3 master
axis
 an encoder signal A/B 5V
 a step/direction signal 5V or
 a velocity as analog value +/-10V

HEDA operating mode HEDA as Master
Under signal source gearing "not configured" must be set!
If an existing HEDA option (M10 or M11) is not used as signal source, you can
transmit the following signals for a slave axis via HEDA:
 Process - setpoint position (Object 2000.1)
 Process - actual position (Object 2200.2)
 Position as from external Setpoint value (Object 2020.1)
Signal read into the master via Analogkanal 0 (X11/9 und X11/11), Encoder input
or step/direction input .
Principle:
Compax3
Encoder
Master
HEDA
Compax3
Slave
HEDA
Compax3
Slave
Step / Direction
+/-10V
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Setting up Compax3
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Attention in the case of a configuration download with master-slave
coupling (electronic gearbox, cam)
Switch Compax3 to currentless before starting the configuration download:
Master and Slave axis
4.2.2.1
Signal source HEDA
Signal source is a Compax3 master axis in which the HEDA operating mode
“HEDA master” is set.
Please enter besides the desired error reaction an individual HEDA axis address in
the range from 1 ...32.
The dimensional reference to the master is established via the following settings:
 Travel distance per motor revolution ( or pitch for linear motors) master axis
numerator
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Travel per motor revolution (or pitch of linear motors) master axis denominator
If required the direction of rotation of the master axis read in can be changed.
4.2.2.2
Caution!
Encoder A/B 5V, step/direction or SSI feedback as
signal source
The encoder simulation is not possible at the same time as the encoder
input<ohne_SSI_t> resp. the step/direction input.
The same interface is used here.
 A direction reversal configured in the C3 ServoManager does not affect the
encoder simulation.
The direction of rotation of the encoder simulation can, however, be changed via
the feedback direction in the MotorManager.
The dimensional reference to the master is established via the following settings:
 Travel distance per motor revolution ( or pitch for linear motors) master axis
numerator
With denominator = 1 the value can be entered directly.
Long-term drift can be avoided by entering non-integral values integrally as a
fraction with numerator and denominator.
 Travel per motor revolution (or pitch of linear motors) master axis denominator
 Increments per revolution of the master axis
If required the direction of rotation of the master axis read in can be changed.

Example: Electronic gearbox with position detection via encoder
Reference to master
axis
158
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The reference to the master axis is established via the increments per revolution
and the travel path per revolution of the master axis (corresponds to the
circumference of the measuring wheel).
That is:
Master_I
MasterPos =
Travel Distance per Master Axis revolution
(M_Units/rev)
*
I_M
Travel Distance per Master Axis revolution Denominator
(1)
MasterPos: Master Position
Master_I: master increments read in
I_M: Increments per revolution of the master axis
External signal
source
Settings:
Encoder with 1024 increments per master revolution and a circumference of the
measuring wheel of 40mm.
Travel path per revolution of the master axis numerator = 40
Travel path per revolution of the master axis denominator = 1
Increments per revolution of the master axis = 1024
Configuration
wizard:
Reference system of Slave axis: Unit of measure [mm]
Travel path per revolution numerator = 1
Travel path per revolution denominator = 1
Gearing:
Gearing numerator = 2
Gearing denominator = 1
This results in the following interrelations:
If the measuring wheel moves by 40mm (1 master revolution), the slave axis will
move by 80mm.
Gearing
numerator
Slave unit = MasterPos *
(2)
Gearing
denominator
(1) set into (2) and with numerical values results with 1024 increments read in (=1
Master revolution):
1
Slave unit = 1024 *
1024
40mm
*
1
*
2
1
= 80mm
Master - Position = +40mm => Slave - Position = +80mm
Structure:
Master
Z1
N1
MasterPos
Gearing
numerator
Slave -
N2
Slave_U
Gearing
denominator
Units
Z2
to motor
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Load
Gearbox
159
Setting up Compax3
C3I30T11 / C3I31T11
Detailed structure image
with:
Z1
*
MD =
Travel Distance per Master Axis
revolution - Denominator
N1
Z2
SD =
N
2
Travel Distance per Master Axis
revolution (M_Units/rev)
*
Travel path per revolution slave axis
numerator
Travel path per revolution slave axis
denominator
MD:
Feed of the master axis
SD:
Feed of the slave axis
4.2.2.3
Entry in the “configuration
of the signal source”
wizard
Entry in the “configuration
of the signal source”
wizard
+/-10V analog speed setpoint value as signal source
Via Analogkanal 0 (X11/9 und X11/11) the speed of the master is read in.
From this value a position is internally derived, from which then the motion of the
drive is derived with reference to the transmission ratio.
Without limitation effect applies:
Velocity of the master * (Gearing numerator / gearing denominator) = velocity of
the slave
Signal processing of the analog input 0
Precise
interpolation
B
T
Analog 0
X11/9 +
X11/11-
Actual
value
monitoring
config
685.3
+
170.4
170.2
170.3
B: Continuative structure image (see on page 240)
The reference to the master is established with the velocity at 10V.
If required the direction of rotation of the master axis read in can be changed.
160
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Zeitraster Signalquelle Master
Averaging and a following filter (interpolation) can help to avoid steps caused by
discrete signals.
If the external signal is analog, there is no need to enter a value here (Value = 0).
For discrete signals e.g. from a PLC, the scanning time (or cycle time) of the signal
source is entered.
T
t
This function is only available if the analog interface +/-10V is used!
4.3
Load control
In this chapter you can read about:
Configuration of load control .......................................................................................... 162
Error: Position difference between load mounted and motor feedback too high ............. 164
Load control signal image .............................................................................................. 164
The load control can be activated via an additional feedback system for the
acquisition of the actual position of the load.
This helps for example compensate the slip between material and roller or nonlinearities of the mechanic parts.
The load position is set to the demand position.
Please note:
 This function is not available in the C3I10T10 and C3I11T11 devices.
 As a sensor signal, Encoder (see on page 414) with A/B track, Step/Direction
signal or SSI - sensor is supported.
 This controller structure improves the stationary precision at the load after the
decay of all control movements.
An increase of the dynamic precision (faster transient response) can in general
not be reached with the "load control" structure variant.
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Notes on the SSI sensor
With Multiturn: Number of sensor rotations with absolute reference
Word length: Gives the telegram length of the sensor.
 Baud rate/step: Max. transmission rate of the path measurement system.
 Gray code: Sensor gray code coded yes/no (if no binary coded).


Note:
The absolute position is not evaluated!
It is available in the objects 680.24 (load position) and 680.25 (master position)
(C3T30, C3T40).
General requirements for supported SSI feedbacks
Baud rate: 350k ... 5MBaud
Word length: 8 ... 32 Bit
 Binary or gray code (start value = 0)
 Initialization time after PowerOn: < 1.1s
 Signal layout:


The most significant bit must be transmitted the first!
Caution!Feedback systems, transmitting data containing error or status bits are
not supported!
 Examples of supported SSI feedback systems:
 IVO / GA241 SSI;
 Thalheim / ATD 6S A 4 Y1;
 Hübner Berlin / AMG75;
 Stegmann / ATM60 & ATM90;
 Inducoder / SingleTurn: EAS57 & Multiturn: EAMS57
4.3.1.
Configuration of load control
Configuration in the "configure signal source" wizard under "load
feedback system":
The selection of the feedback signal activates the acquisition and the signals are
available as status values (see on page 164).
 Rotatory or linear feedback systems are supported.
 Input values for rotatory feedback systems:
 Increments per feedback revolution (physical, without quadruplication)
 Direction reversal
Attention!With wrong sense of direction and active load control, you will get a
positive feedback; the motor will accelerate in an uncontrolled way
Solution: Before the load control is activated, the signals must be checked with
the aid of the status values (see on page 164) and secured against wrong

162
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Parker EME
sense of direction by configuring a "maximum difference to motor position”
(O410.6).
 Load travel per feedback revolution: Is used for establishing the measure
reference between load- and motor position.
The value can be configured very precisely by entering numerator and
denominator.
 Input values for linear feedback system
 Feedback resolution (physical, without quadruplication)
Position difference, which corresponds to a cycle duration of the feedback
signal.
 Direction reversal
Attention!With wrong sense of direction and active load control, you will get a
positive feedback; the motor will accelerate in an uncontrolled way
Solution: Before the load control is activated, the signals must be checked with
the aid of the status values (see on page 164) and secured against wrong
sense of direction by configuring a "maximum difference to motor position”
(O410.6).
 Scaling factor for an additional adaptation of the feedback signal (is normally
not required = 1)
 Maximum difference tot he motor position
Upon exceeding this value, Compax3 will report error 7385hex (see on page
164) (29573dec)
 Intervention limitation (=2201.13 in % of the reference velocity or reference
speed);
only active with position controller I component switched off (O2200.25=0)
You can use this specification in order to limit position correction intervention, i.e.
to limit the velocity correction factor resulting from the position difference. This
can be especially sensible during the acceleration phase, if the material slips
because of too high corrective velocities.
 Activate / Deactivate load control
Attention!
The load control is immediately active after the configuration download!
Please do only activate after checking the load position signal (scaling,
direction, value).
Alignment of the
load control:
There is an Alignment of the position values of motor and load under the
following operating conditions (Load position = Motor position):
 During a Machine zero run the load control is deactivated until the position value
0 (defined via the machine zero offset) was approached.
Then an alignment of the position values is performed and the load control is
activated.
 After switching on Compax3.
 When writing "1" into object 2201.2
 When activating the load control.
Continuous mode
In continuous operation (object 1111.8 <> 0) an alignment of the position values of
motor and load (load position = motor position) takes place upon each new
positioning command.
Application: e.g. roller feed
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Setting up Compax3
4.3.2.
C3I30T11 / C3I31T11
Error: Position difference between load mounted and motor
feedback too high
The (unfiltered) position difference between motor feedback and load feedback has
exceeded the "maximum difference to motor position" value (O410.6)
The load position in the position controller is deactivated.
In order to re-activate the function (after eliminating the cause of the error), you
have the following possibilities:
 Activate function in configuration and perform configuration download or enter
True (-1) into O2201.1
 Perform Ackn and/or Homing (function becomes effective after homing run).
Caution!
The position difference is aligned to zero when switched on again, i.e. the original
position reference is lost. Therefore it is advisable to approach the reference point
again in this case (Machine zero run or Homing).
4.3.3.
Load control signal image
681.21
681.20
speed
load
2201.12
680.6
target
position
speed
control
- -
current
control
motor
mechanics
off
2201.1
680.13
=0 (inactive)
-
+1 -1
load feedback
direction inversion
(configuration)
position
motor
position
load
=1 (active)
680.22
4.3.3.1
2201.11
680.20
680.23
Object for the load control (overview)
No.
Object name
Object
Format
PD
410.6
680.23
680.20
680.22
680.21
681.20
681.21
2201.2
C3.LimitPosition_LoadControlMaxPosDiff
C3.StatusPosition_LoadControlActual
C3.StatusPosition_LoadControlDeviation
C3.StatusPosition_LoadControlDeviationFiltered
C3.StatusPosition_LoadControlDeviationMax
C3.StatusSpeed_LoadControl
C3.StatusSpeed_LoadControlFiltered
C3Plus.LoadControl_Command
Position difference load-motor (error threshold)
Actual position of the load
Position difference load-motor (unfiltered)
Position difference load-motor (filtered)
Maximum position difference load-motor
Speed of the load feedback (unfiltered)
Speed of the load feedback (filtered)
Load control command mode
C4_3
C4_3
C4_3
C4_3
C4_3
C4_3
C4_3
I16
no
no
no
no
no
no
no
no
2201.1
C3Plus.LoadControl_Enable
Activate Load control
I16
no
2201.11
2201.3
2201.12
C3Plus.LoadControl_FilterDenominator
C3Plus.LoadControl_Status
C3Plus.LoadControl_VelocityFilter
Time constant of position difference filter
Load control status bits
Time constant of the load-speed filter for the
load feedback
U32
I16
I16
no
no
no
164
on
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Valid
begin
ning
VP
immed
iately
immed
iately
VP
VP
Setting up Compax3
Parker EME
4.3.3.2
Objects for load control
Detailed information on the topic of "objects for load control" can be found in the
online help of the device.
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Setting up Compax3
4.4
C3I30T11 / C3I31T11
Optimization
In this chapter you can read about:
Optimization window ...................................................................................................... 167
Scope ............................................................................................................................ 168
Controller optimization ................................................................................................... 176
Signal filtering with external command value ................................................................. 240
Input simulation ............................................................................................................. 243
Setup mode ................................................................................................................... 245
Load identification.......................................................................................................... 247
Alignment of the analog inputs ....................................................................................... 250
C3 ServoSignalAnalyzer ................................................................................................ 252
ProfileViewer for the optimization of the motion profile ................................................... 289
Turning the motor holding brake on and off.................................................................... 291


166
Select the entry "Optimization" in the tree.
Open the optimization window by clicking on the "Optimization Tool" button.
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Parker EME
4.4.1.
Optimization window
Layout and functions of the optimization window
Segmentation
Functions (TABs)
Window1:

Window 2:

Oscilloscope (see on page 168)
Optimization: Controller optimization
D/A Monitor (see on page 347): Output of status values via 2
analog outputs
 Scope Settings
 Status Display
 Compax3 Error History
 Status values
 Commissioning: Setup mode (see on page 245) with load
identification (see on page 247)
 Parameters for commissioning, test movements (relative &
absolute) and for load identification.

Window 3:
Window 4:
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4.4.2.
C3I30T11 / C3I31T11
Scope
In this chapter you can read about:
Monitor information ........................................................................................................168
User interface ................................................................................................................169
Example: Setting the Oscilloscope .................................................................................174
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 interface.
Special feature:
In the single mode you can close the ServoManager after the activation of the
measurement and disconnect the PC from Compax3 and upload the measurement
into the ServoManager later.
4.4.2.1
Monitor information
1: Display of the trigger information
2: Display of the operating mode and the zoom setting
 2a: Green indicates, that a measurement is active (a measurement can be
started or stopped by clicking here).
 2b: Active channel: The active channel can be changed sequentially by clicking
here (only with valid signal source).
3: Trigger point for Single and Normal operating mode
4: Channel information: Type of display and trigger setting
5: X-DIV: X deviation set
6: Single channel sources
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Cursor modes -functions
Depending on the operating mode, different cursor functions are available within
the osci monitor.
The functions can be changed sequentially by pressing on the right mouse button.
Cursor Symbol
Function
Set Marker 1
the measurement values of the active channel as well as the Y
difference to marker 2 are displayed
Set Marker 2
Delete and hide marker
Move offset of the active channel.
The yellow symbol indicates that the scrolling is active.
Set trigger level and pretrigger
In the ROLL operating mode, marker functions and set trigger level positions are
not available.
4.4.2.2
User interface
In this chapter you can read about:
Oscilloscope operating mode switch: ..........................................................................
Setting the time basis XDIV ........................................................................................
Settings for channels 1..4 ...........................................................................................
Trigger settings...........................................................................................................
Special functions ........................................................................................................
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1: Operating mode switch (see on page 170) (Single / Normal / Auto / Roll)
2: Setting the time basis (see on page 170)
3: Starting / Stopping the measurement (prerequisites are valid channel sources
and if necessary valid trigger settings.)
4: Setting channel (see on page 171) (Channels 1 ...4)
5: Special functions (see on page 172) (Color settings; memorizing settings and
measurement values)
6: Loading a measurement from Compax3: in the single mode you can close the
ServoManager after the activation of the measurement and disconnect the PC from
Compax3 and upload the measurement later.
7: Setting triggering (see on page 172)
8: Copy osci display to clipboard
9: Zoom of the osci display (1, 2, 4, 8, 16 fold) with the possibility to shift the zoom
window (<,>)
Oscilloscope operating mode switch:
Oscilloscope operating mode switch:
Selection of the desired operating mode: SINGLE, NORMAL; AUTO and ROLL by
clicking on this button.
Changing the operating mode is also permitted during a measurement. The current
measurement is interrupted and started again with the changed settings.
The following operating modes are possible:
Operating 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.
AUTO
No Trigger. Continuous measuring value recording with the
selected scanning time or XDIV setting
ROLL
Continuous measuring value recording of 1 .. 4 channels with
selectable scanning time and a memory depth of 2000 measuring
values per channel.
With SINGLE / NORMAL / AUTO, the measurement is made in Compax3 and is
then loaded into the PC and displayed.
With ROLL, the measuring values are loaded into the PC and displayed
continuously.
Setting the time basis XDIV
Setting the time basis XDIV
Depending on the selected operating mode, the time basis can be changed via the
arrow keys.
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For the operating modes SINGLE, NORMAL and AUTO, the following XDIV
time settings are possible:
XDIV
Mode
Scanning time Samples DIV/TOTAL
Measuring time
0.5ms
1
125us
4/40
5ms
1.0ms
2
125µs
8/80
10ms
2.0ms
3
125µs
16/160
20ms
5.0ms
4
125µs
40/400
50ms
10.0ms
5
125µs
80/800
100ms
20.0ms
6
250µs
80/800
200ms
50.0ms
7
625µs
80/800
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 operating ROLL, the following XDIV time settings are possible:
XDIV
Mode
Scanning time Samples DIV/TOTAL
2 ms
54
125us
200/2000
2ms
54
125µs
200/2000
4ms
55
125µs
200/2000
10ms
56
125µs
200/2000
20ms
57
125µs
200/2000
40ms
58
125µs
200/2000
100ms
59
250µs
200/2000
200ms
60
625µs
200/2000
Changing the time basis is also permitted during an OSCI measuring sequence.
This means, however, that the current measurement is interrupted and started
again with the changed settings.
Settings for channels 1..4
1: Select channel color
2: Open menu for channel-specific settings
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Resetting channel CH 1..4: All channel settings are deleted.
Please note: Channels can only be filled with sources one after the other. It is, for
example, not possible to start a measurement which has only a signal source for
channel 2!
 Select channel color:Here you can change the color of the channel.
 Show/hide channel:Hide/show display of the channel.
 Change logic display mask:Mask bits in logic display.
 Autoscale:Calculating YDIV and offset: The program calculates the best settings
for YDIV and channel offset in order to display the complete signal values
optimally.

3: Set signal source with object name, number and if necessary unit
 Define source: Draw the desired status object with the mouse (drag & drop) from
the "Status value" window (right at the bottom) into this area.
Multiple oscilloscope in Compax3M: select device in addition to the object.
4: Set Channel offset to 0
5: Select channel display (GND, DC, AC, DIG)
 DC:Display of the measurement values with constant component
 AC:Display of the measurement values without constant component
 DIG:Display of the individual bits of an INT signal source.
The displayed bits can be defined via the logic display mask.
 GND:A straight line is drawn on the zero line.
6: Set Y-amplification (YDIV)
Change of the Y amplification YDIV in the stages 1, 2, 5 over all decades.
Arrow upwards increases YDIV, arrow downwards diminishes YDIV.
The standard value is 1 per DIV.
The measurement value of the channel at the cursor cross is displayed.
Trigger settings
Select trigger channel: Buttons C1, C2, C3, C4
Select trigger mode: DC, AC, DG
Selecting the trigger edge: Rising_/ or falling \\_.
The pretrigger as well as the trigger level are set by clicking on the trigger cursor
(
) directly in the OSCI display.
Special functions
Menu with special oscilloscope functions such as memorizing or loading settings.
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Functions:
 Select background color:Adapt background color to personal requirements.
 Select grid color:Adapt grid color to personal requirements.
 Memorize OSCI settings in file: The settings can be memorized in a file on any
drive. The file ending is *.OSC.
 The format corresponds to an INI file and is presented in the appendix.
 Open OSCI settings from file:Loading a memorized set of settings. The file
ending is *.OSC.
 Memorizing OSCI settings in the project:Up to four sets of OSCI settings can
be memorized in the current C3 ServoManager project. .
 Open OSCI settings from project:If settings were memorized in the project,
they can be read in again.
 Memorize OSCI measurement in file:Corresponds to memorizing the setting;
the measurement values of the measurement are stored in addition. Thus it is
possible to memorize and read measurements completely with settings. The file
ending is *.OSM.
 Export measure samples to csv file:e.g. for reading into Excel.
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4.4.2.3
Example: Setting the Oscilloscope
SINGLE measurement with 2 channels and logic trigger on digital
inputs
The order of the steps is not mandatory, but provides a help for better
understanding.
As a rule, all settings can be changed during a measurement. This will lead to an
automatic interruption of the current measurement and to a re-start of the
measurement with the new settings:
Assumption: A test movement in the commissioning mode is active.
1.) Select OSCI operating mode
2.) Select Time basis XDIV
3.) Select channel 1 signal source digital inputs 120.2 from status tree with
the aid of Drag & Drop
4.) Select channel 2 (filtered actual speed) via "Drag and drop" from the
status tree
5.) Set trigger to channel 1 and DG.
Input of the mask in HEX
Triggering a rising edge to input I1.
BIT 0 (value 1) = I0
BIT 1 (value 2) = I1
BIT 2 (value 4) = I2 etc.
Trigger to input
I0
I1
I2
I3
I4
I5
I6
I7
Trigger mask in hex
1
2
4
8
10
20
40
80
The masks can also be combined so that the trigger is only active, if several inputs
are active. Example: Triggering to I2 and I5 and I6 -> 4h + 20h + 40h = 64h
The mask for input I1 is in this case 2.
Select rising edge.
NOTE: If the trigger mask DG (digital) is selected for a channel, the display mode
of the trigger channel is automatically set to DIG display.
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6.) Start measurement
7.) Set pretrigger in the OSCI window
Note: There is no level for the DIG trigger. The the event limit determines the mask
If a trigger event occurs, the measurement values are captured until the
measurement is completed.
Afterwards, the measurement values are read from the Compax3 and displayed.
The display mask of trigger channel 1 was not yet limited, therefore it shows all 16
bit tracks (b0...b15). In order to limit it to 8 bit tracks, you must call up the menu for
channel 1 via [CH1] and select "change logic of display mask [H].
Limit the display mask to 8 bit tracks with Mask FFh.
In the display the bit tracks b0 to b7 are now shown:
Example: Only b0 and b1 are to be displayed: Set display mask to 03
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4.4.3.
C3I30T11 / C3I31T11
Controller optimization
In this chapter you can read about:
Introduction ....................................................................................................................176
Configuration .................................................................................................................179
Automatic controller design ............................................................................................196
Setup and optimization of the control .............................................................................208
4.4.3.1
Introduction
In this chapter you can read about:
Basic structure of the control with Compax3 .................................................................. 176
Proceeding during configuration, setup and optimization ............................................... 176
Software for supporting the configuration, setup and optimization ................................. 177
Basic structure of the control with Compax3
Compax3 is an intelligent servo drive for different applications and dynamic motion
sequences.
Basic structure of a control with the Compax3e servo drive
As shown in the above figure, the programmed motion sequences are generated
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 following error as small as possible.
For the control, Compax3 requires on the one hand the actual position and on the
other hand the commutation position, which represents the reference between the
mechanic feedback position and the motor magnet.
Proceeding during configuration, setup and optimization
Applikations- und antriebsspezifische Eigenschaften
(Störgrößen)
Motorparameter
Konfiguration
Applikationsparameter
176
autom.
Reglerentwurf
Inbetriebnahme
+
Optimierung
Stabile
Regelung
Optimierte
Regelung
Applikations – Anforderungen (Ziele) z.B.
- Minimierter Schleppfehler während der gesamten
Positonierung (z.B. Kurvenbetrieb)
- Minimierter Schleppfehler in der Zielposition
- Überschwingfreies Einlaufen in die Zielposition
- Schnelles Einschwingen in die Zielposition
- ...
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Overview of the processes during configuration and setup of the Compax3
drive system
The controller default settings are calculated from the configured motor and
application parameters with the aid of the automatic controller design which runs in
the background.
These controller presettings provide normally for a stable and robust control. Due
to continually rising application requirements, this presetting is often not sufficient,
so that further optimization 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 first step the individual correlations and physical values, that are required for
the configuration and the prespecification of the control loops. In the following, the
manual will then describe the function blocks for the optimization implemented in
the servo drive as well as the setup tool.
Software for supporting the configuration, setup and optimization
In this chapter you can read about:
Application parameters .................................................................................................. 178
The entry of the motor and application parameters is made with the C3
ServoManager2 (C3Mgr2.exe):
The configuration requires:
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Application parameters
The wizard guided entry 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, the drive can be set up and be optimized if needs
be. For this, please open the optimization window of the ServoManager:
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4.4.3.2
Configuration
In this chapter you can read about:
Control path................................................................................................................... 179
Motor parameters relevant for the control ...................................................................... 180
Mass inertia ................................................................................................................... 180
Nominal point data ........................................................................................................ 180
Saturation values........................................................................................................... 182
Quality of different feedback systems ............................................................................ 182
Typical problems of a non optimized control .................................................................. 183
Feedback error compensation ....................................................................................... 184
Commutation settings .................................................................................................... 185
I²t - monitoring of the motor ........................................................................................... 185
Relevant application parameters ................................................................................... 188
Asynchronous motors .................................................................................................... 192
Control path
For the motors, the knowledge of the mathematical model is a prerequisite.
Mathematically idealized model of the control path:
motor
U
I
-
T=L/R
application
ML
KT
1/ R
MA
- MB
a
1
2π
n
Jges
JMot
UEMK
U:
UEMK:
T:
L:
R:
MA:
ML:
MB:
I:
KT:
Jmot:
Jext:
Jtotal:
a:
n:
KT
JExt
2π
Control voltage
electromagnetically generated voltage in the motor
electric time constant of the motor winding
Winding Inductance
Winding Resistance
Drive torque of the motor
Load torque
Acceleration torque
Actual current r.m.s. (torque-producing)
Torque constant
Motor mass moment of inertia
external mass moment of inertia
Total mass moment of inertia
Acceleration
Velocity
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Explanation:
The motor is controlled by the servo drive with control voltage U. During motion of
the motor, an internal back e.m.f. UEMC is induced. This antagonizes the control
voltage and is therefore deduced in the motor model. The difference is available for
the acceleration of the motor.
The first order delay component represents the delaying property of the motor
winding with the time constant T=L/R. According to Ohm's Law, a current I=U/R
results.
The drive torque of the motor is calculated by multiplying the current with the motor
torque constant KT. This is antagonized by the load torque of the machine.
The remaining acceleration torque accelerates the motor.
The resulting acceleration depends on the total mass moment of inertia (= motor +
load moment of inertia).
The integration of the acceleration (sum of the acceleration over time) results in the
velocity of the motor, which influences the amplitude of the induced EMC voltage.
Motor parameters relevant for the control
All motor parameters relevant for the control quality will be explained below.
Wizard guided entry of the motor parameters in the MotorManager.
Electromotoric countercheck EMC
A non-energized synchronous motor induces an induction voltage, the so-called
EMC voltage during an armature movement.
The EMC constant (motor EMC) states the value of the induced voltage subject to
velocity.
The EMC constant corresponds to the motor torque constant KT, which represents
the correlation between the torque-producing current and the drive torque, however
in a different unit.
The EMC voltage antagonizes the control voltage of the servo drive.
As the control voltage of the drive is not unlimited, it must be taken into
consideration that the drive may approach the voltage limit at high velocities and
therefore high EMC voltages.
The EMC constant is important with respect to the velocity control design.
The motor EMC is entered in the "motor characteristics" wizard window of the
MotorManager. You may choose between different units. Please note the
information on the motor type specification plate.
Mass inertia
The mass moment of inertia (moment of inertia) is also an important motor
parameter for the design of the velocity control loop. For the velocity control design,
this parameter is effective in correlation with the external mass moment of inertia of
the load. The external load is entered in the C3 ServoManager. With the "load
identification" function of the C3 ServoManager, the mass inertia can be
determined, if it is not yet known.
Nominal point data
In this chapter you can read about:
Motor characteristic line of a synchronous servo motor (torque via velocity) .................. 181
Calculation of the reference current from the characteristic line. .................................... 181
The nominal point data can be found in the velocity characteristic line of the motor.
The prespecified nominal point can be changed in the 2nd wizard page of the C3
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ServoManager configuration with the aid of "activate change of reference point" via
the reference velocity and the reference current.
Motor characteristic line of a synchronous servo motor (torque via velocity)
SMH 60 30 1.4 ...2ID...4: 3000rpm at 400VAC
3.5
[Nm]
3
2
S3 20%65°C DT
2.5
S3 50%65°C DT
2
S1 105°C DT
1.5
S1 65°C DT
1
1
0.5
0
0
500
1000
1500
2000
2500
[1/min]
3000
[Motorkennlinie.emf /.jpg]
1: Nominal point
2: Forbidden range
Calculation of the reference current from the characteristic line.
I=
M [Nm]
M [Nm]
• 85,5 =
EMK
KT
or for linear motors
I=
M [Nm]
2 M [Nm]
•
=
EMKυ
Kf
3
In the MotorManager, a motor can be defined for different operating modes (230V,
400V and 480V) without having to create several entities.
Additional parameters of a motor are:
Standstill current [mArms]
 Pulse current [in % of the nominal current]
The pulse current can be provided by the Compax3 for the duration of the pulse
current time (as far as the device current permits). The thermal pulse load of the
motor rises due to the pulse current. This pulse load is monitored by the i²t
monitoring in the Compax3.

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Saturation values
A motor may show a saturation behavior at higher currents due to iron saturation.
This results in the reduction of the winding inductance at higher currents. As the
inductance value of the winding enters directly into the P term of the current
controller, the saturation at higher currents will result in too fast current control.
This behavior can be counter steered with saturation values (entered in the "motor
characteristics" wizard window of the MotorManager).
Consideration of the saturation values with the aid of a linear characteristic
line
L 100%
Entered value of the nominal inductance
Lmin
Minimum winding inductance [% of the nominal inductance].
Value to which the inductance of the winding sinks at Ifinal.
lbeg
End of the saturation [% of the nominal inductance].
lfinal
Beginning of the saturation [% of the nominal inductance].
For the determination of the saturation values please see chapter 0 (see on page
240, see on page 240, see on page 241).
Quality of different feedback systems
In this chapter you can read about:
Interface ........................................................................................................................ 182
Resolution ..................................................................................................................... 183
Noise ............................................................................................................................. 183
The controller quality depends to a great extent on the signal quality of the position
feedback and its signal acquisition. It is therefore important to select a suitable
measurement system for the individual application.
In the rotary range, a resolver is mostly used for reasons of economics. The single
pole resolver provides one sine/cosine period per revolution. In very demanding
applications, the performance of the resolver is often not satisfactory, so that a
SinCos feedback with a higher resolution must be used. The typical resolution of a
SinCos feedback is 1024 periods/revolution.
Other position feedbacks which are often used in the linear range, differ with
respect to the reading principle. High-quality optical position measuring systems
offer the highest resolution and accuracy.
Interface
An additional distinctive feature is the electric interface between servo drive and
feedback. Analog sine/cosine signals or digital encoder signals (RS422 standard)
are used to transmit the incremental position information. Due to the high
interpolation rate (approx. 14 bits) of the Compax3 servo controller, an analog
sine/cosine signal is in most cases preferable to digital encoder signals.
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Resolution
The less precise the resolution, the higher the quantization noise on the velocity
signal.
Noise
The feedbacks have different levels of analog noise, which have a negative effect
on the control. The noise can be dampened with the aid of filters in the actual value
acquisition, however 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/revolution
Typical problems of a non optimized control
In this chapter you can read about:
Too high overshoot on velocity ...................................................................................... 183
Increased following error ............................................................................................... 183
Instable behavior ........................................................................................................... 184
Upon first setup of a control, the controller is normally not able to meet all
application requirements at once. Typical problems may be:
Too high overshoot on velocity
1)
Actual velocity
2)
Setpoint velocity
Increased following error
Increased following error when approaching the target position or the reduction of
the following error takes too long
1)
Following error
2)
Setpoint velocity
3)
Actual velocity
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Instable behavior
1)
Setpoint velocity
2)
Actual velocity
3)
Following error
Feedback error compensation
Feedbacks with sine/cosine tracks may have different errors. The feedback error
compensation supported by Compax3 eliminates offset and gain errors on both
tracks online.
The feedback error compensation is activated in the MotorManager:
"Feedback system" wizard under "feedback error compensation".
Without compensation
With compensation
top: Actual current value
Scale:
bottom: Actual speed value
Current = 50mA/Div
Speed = 0.2mm/s/Div
Time = 3.8ms/Div
Type of motor:
Parker LMDT 1200-1 ironless linear motor
Linear encoder:
Renishaw RGH 24B with 20µm resolution
Servo drive:
Compax3
In order to accept the changes in the MotorManager in the project, the individual
configuration pages must be clicked through. In order to make the changes made
in the MotorManager effective in the device, the configuration download in the
C3Manager must be executed.
In the event of formal errors, the feedback error compensation may however be
disadvantageous; therefore it is switched off as a default.
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Commutation settings
Another prerequisite for a good control quality is the correct motor commutation.
This comprises several settings.
 The commutation angle describes the relation of the feedback position with
respect to the motor pole pair position.
 Commutation direction reversal describes the correlation between the position of
the feedback and the commutation position.
 Feedback direction reversal describes the direction correlation between the
defined positive direction of the drive and the feedback position.
 If the commutation direction does not match the defined direction of rotation, this
will result in a subsequent error with the error message "following error" or "motor
stalled".
 A faulty commutation angle value results in increased current and following error.
Therefore the voltage limit is reached faster. If the value of the commutation error
exceeds 90°, the motor will spin due to the positive feedback effect.
These 3 settings can be automatically acquired with the MotorManager.
With the aid of the automatic commutation acquisition, the commutation settings
can be determined and plausibility checks can be made. You will be guided
through the individual wizard pages and the MotorManager will issue a prompt to
define the positive direction of the drive. The wizard pages supporting the user
depend on the feedback system as well as from the motor type (linear or rotary).
This function is activated in the MotorManager:
"Feedback system" wizard under "automatic commutation settings".
Hint
The motor should be operated without load (=> no load torque e.g. weight force of
a z-axis).
Additional setting of the commutation for incremental feedback:
This function is activated in the MotorManager:
"Feedback system" wizard under "feedback resolution".
In the event of an incremental feedback (Sine/cosine or RS424 encoder) the
commutation must be defined in addition, in order to find the position reference to
the winding.
 Automatic commutation with movement
 Commutation with digital hall sensors
I²t - monitoring of the motor
In this chapter you can read about:
Motor continuous usage ................................................................................................ 186
Motor pulse usage ......................................................................................................... 187
Reference point 2: Increased torque thanks to additional cooling................................... 188
With the I²t - monitoring, the motor is protected against overload or thermal
destruction. For this, knowledge on the load bearing capacity of the motor is
required. This information van be taken from the manufacturer documentation
(motor parameters). Compax3 monitored:
 Continuous usage of the motor (motor usage)
 Pulse usage of the motor (motor pulse usage)
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Motor continuous usage
In this chapter you can read about:
Linearized motor characteristic lien for different operating points ................................... 186
This kind of monitoring watches over the continually deliverable torque (continuous
current). This continuous current depends 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
3.5
[A]
3
2
S3 20%65°C DT
2.5
2
S3 50%65°C DT
S1 105°C DT
I0
1
S1 65°C DT
IN
1
0.5
0
0
500
1000
1500
2000
2500
[1/min]
I0:
Standstill current
1:
Nominal point
IN:
Nominal current (defined in the MotorManager)
nN:
Nominal Speed
2:
Forbidden range
3000
nN
For monitoring the continuous utilization, the linearized characteristic line between
I0 und IN / nN is used as a threshold.
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Reference point 1: higher velocity at reduced torque
3.5
[A]
3
2
S3 20%65°C DT
2.5
2
S3 50%65°C DT
S1 105°C DT
I0
S1 65°C DT
I1 1
rp1
0.5
0
0
500
1000
1500
2000
2500
[1/min]
3000
I0:
Standstill current
rp1:
Reference point 1 (defined in the C3 ServoManager)
I1:
Reference current to reference point 1
n1:
Reference velocity to reference point 1
2:
Forbidden range
n1
For monitoring the continuous usage, the linearized characteristic line between I0
and I1 / n1 is used as a threshold.
Motor pulse usage
This monitoring watches over the duration of the defined pulse current. The
permitted duration for the pulse current is defined by the pulse current time
constant.
If the acceleration current exceeds the nominal current for a defined time t1, a
sufficient break time t2 is required. If the current remains in average above the
nominal current, the "monitoring motor pulse usage" [0x7180] error is triggered.
Upon a high pulse usage, the error will occur almost without delay.
Current cycle:
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Reference point 2: Increased torque thanks to additional cooling
3.5
[A]
3
2
S3 20%65°C DT
2.5
rp2
I2 2
S1 105°C DT
I0
S3 50%65°C DT
S1 65°C DT
1
0.5
0
0
500
1000
I0:
Standstill current
1500
2000
[1/min]
2500
n2
3000
1:
Nominal point
rp2:
Reference point 2 (defined in the C3 ServoManager)
I2:
Reference current to reference point 2
n2:
Reference velocity to reference point 2
2:
Forbidden range
In order to monitor the continuous usage, the velocity-idenpendent current limit I2 is
used.
If a r.m.s. current over the valid straight flows continually in the motor, the I²t
monitoring will issue the "effective motor current monitoring" error message
[0x5F48]. The period of time until the error occurs depends on the thermal time
constant of the motor defined in the motor parameters. The electronic temperature
monitoring simulates approximately the temperature behavior of the motor. By
defining a reference point different from the motor nominal data, the I²t monitoring
of the motor can be adapted to changed thermal ambient conditions (e.g. air
stream caused by a ventilator fan).
Relevant application parameters
In this chapter you can read about:
Switching frequency of the motor current / motor reference point................................... 189
External Moment of Inertia ............................................................................................. 191
Limit and monitoring settings ......................................................................................... 191
Application parameters relevant for the control (C3 ServoManager)
Compax3 is configured with the aid of the C3 ServoManager. Here you can make
application dependant settings. Among these are also parameters, that are
relevant for the control. They will be explained below.
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Switching frequency of the motor current / motor reference point
In this chapter you can read about:
Following Error (Position Error) ...................................................................................... 189
Reduction of the current ripple ....................................................................................... 189
Motor parameters .......................................................................................................... 189
Changing the switching frequency and the reference point ............................................ 191
The higher the switching frequency, the better the quality of the current control. The
higher switching frequency reduces the dead time of the current control path as
well as the current control noise. Furthermore, thermal losses caused by current
ripple are reduced at higher switching frequencies.
Following Error (Position Error)
Too high following error (position error) during a movement
1)
Setpoint Position
2)
Position deviation = following error
3)
Effective position
Reduction of the current ripple
Reduction of the current ripple of the phase current due to the higher switching
frequency
1: Current ripple
2: Phase current
3: PWM control
Hint
Please note that a high switching frequency means also high switching losses in
the power output stage of the controller. For this reason, you must consider
derated data of the servo controller for the drive design with higher switching
frequencies.
Motor parameters
In this chapter you can read about:
Parker Motor.................................................................................................................. 190
Other motor ................................................................................................................... 190
Motor types supported ................................................................................................... 191
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Setting up Compax3
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Parker Motor
If a Parker motor is used for the application, the parameters are already contained
in the installed software. You can just select one of the available motors from the
first configuration page.
Other motor
When using a motor from a different manufacturer, you will have to enter the
relevant data. This process is supported by the MotorManager software tool, which
can be called up from the ServoManager:
After double clicking on "new", the individual motor parameters are queried by the
MotorManager.
Be careful to respect the units of the individual parameters when making
your entries!
Furthermore you can use the MotorManager to edit motors already available. In
addition, the import and export of motor data entities in XML format is supported.
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Motor types supported
Compax3 supports the following motor types:
 Permanently excited synchronous rotary motors
 Permanently excited synchronous linear motors
 Asynchronous rotary motors
In general, rotary and linear motors do have the same signal flow chart. The
difference consists solely in the basic physical values, which refer to circular
movement resp. the linear motion laws of physics. For this, the following analogies
can be established:
Rotary drive [unit]
Linear drive [unit]
Travel x
[rev]
Path x
[m]
Mass moment of inertia J
[kgm²]
Mass m
[kg]
Velocity n
Angular velocity ω
Torque constant Kt
[rps]
[1/s]
Velocity v
[m/s]
[Nm/Arms]
Force constant KF
[N/Arms]
Torque M
[Nm]
Force F
[N]
For reasons of clarity, we will in the following refer to the rotary motor, which
will represent both drive types.
An asynchronous motor is set up in the same way as a synchronous motor. The
only differences are varying motor parameters.
Changing the switching frequency and the reference point
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 displayed above.
Please activate "activate changing the reference point", then you may enter the
new reference velocity as well as the new reference current.
Motor reference point
A reference point differing from the nominal data may also be entered on the
wizard page displayed above.
Please activate "activate changing the reference point", then you may enter the
new reference velocity as well as the new reference current.
External Moment of Inertia
The external mass moment of inertia is set against the moment of inertia of the
rotor to form the total moment of inertia. The total moment of inertia is used for the
controller design.
If you do not know or have only a vague knowledge of the external mass moment
of inertia, the mass inertia can be determined via the load identification.
Configuration of an unknown external mass inertia:
The load identification is activated in the ServoManager:
Wizard "External moment of inertia" “unknown: Using default values”.
The correct values can be determined later via the load identification!
Limit and monitoring settings
On the "limit and monitoring settings" wizard page, you can set among others the
current and velocity limits in % of the nominal values. The nominal values are
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motor parameters resulting from the motor library or from shifting the reference
point on the "motor reference point" wizard page.
Limit and Monitoring Settings wizard page:
1: Current (Torque) Limit
2: Velocity limit
Asynchronous motors
In this chapter you can read about:
Type specification plate data ......................................................................................... 192
Replacement switching diagram - data for a phase........................................................ 192
Slip Frequency .............................................................................................................. 193
Saturation behavior ....................................................................................................... 194
Cut-off frequency for the field weakening range ............................................................. 194
Rotor time constant ....................................................................................................... 195
Determination of the commutation settings .................................................................... 195
Asynchronous motors: Extension of the controller structure ........................................... 195
Type specification plate data
On the 2nd. wizard page of the Compax3 MotorManager, the type specification
plate data must be entered.
Replacement switching diagram - data for a phase
This data can be obtained from the manufacturer or be determined by
measurement.
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U1:
R1:
X1σ=2πfL1σ:
Nominal phase voltage
Stator leg resistance
Leak reactance (for f=50Hz mains frequency)
L1σ:
Stator leakage inductance
Xh=2πfLH:
LΗ:
Main reactance (for f=50Hz mains frequency)
Main field inductance
X2σ'=2πfL2σ:
Referenced leak reactance (for f=50Hz mains frequency)
L2σ:
R2':
ImR:
Rotor leak inductance
Referenced carriage resistance
Magnetization Current
Slip Frequency
The slip frequency is stated in [Hz electrical] or in [‰] and can be determined as
follows
f2[mHz (electrical)]= (fs*60-Nnominal*P/2)/N
P
P 
2 ⋅ f ⋅1000 =  f − N
f 2 [mHz (el.)] =
 ⋅1000
S
S
Nenn ⋅
120 
f S ⋅ 60

P
f S ⋅ 60 − N Nenn ⋅
2 ⋅1000
f 2 [Pr omille] =
f S ⋅ 60
f S ⋅ 60 − N Nenn ⋅
f s ⋅ 60 ⋅ 2
N Nenn
Whereas P = value before the point of the term è
fs:
Synchronous nominal frequency (dimensioning base)
NNom:
Nominal speed in rpm
f2:
Slip frequency in mHz (electrical)
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Saturation behavior
The saturation of the main field inductance can be considered with the help of the
following characteristic.
Activate the "consider saturation values" checkbox.
LHmax/% v. LH
Pa[%]
(Lhmax)
z.B 160%
1)
100%
Pb[%] (Sbeg)
z.B. 70%
1)
100% (Send)
ImR/ % v. ImRN
Nominal point in the basic speed range
Lhmax: max. main field inductance
Sbeg:
Beginning of Saturation
Send:
End of Saturation
Cut-off frequency for the field weakening range
12000
60
10000
50
8000
40
6000
30
4000
20
1
2000
2
0
0
1000
2000
n/rpm
1: Basic speed range
2: Field weakening range
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3000
10
0
4000
P=f(n)
M=f(n)
Moment M/Nm
Power P/W
The statement of the cut-off speed defines the beginning of the field weakening
operation. From the cut-off speed on, the magnetization current and thus the force
constant of the motor are reduced inversely proportional to the speed; the motor is
operated in the field weakening range. In the field weakening range, the shaft
power produced remains constant.
Setting up Compax3
Parker EME
Rotor time constant
If the value of the rotor time constant is not known, it can be approximated
automatically.
Determination of the commutation settings
On the last wizard page of the Compax3 MotorManager, the commutation settings
(feedback direction reversal and commutation direction reversal) can be
determined automatically.
Asynchronous motors: Extension of the controller structure
Structure of the magnetization current controller and determination of the
slip frequency:
2240.2 Demand current r.m.s.
(torque-producing)
Kp, TN
KM
iq
-
2
/3
2240.4/7 Attenuation/bandwidth
magnetization current controller
Kp, TN
Kp, TN
e
jρ
-
2240.11
Reference speed
TR
2240.2 Demand value magnetization
current controller
id
Magnetization current controller
iq
688.19 Actual current r.m.s.
(torque producing)
2240.10
Rotor time constant TR
n
ε
2240.9
Slip frequency
imR
1
TR
ω2
Acquisition of actual value
imR
ε2
Determination of the slip frequency
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ρ
Setting up Compax3
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4.4.3.3
Automatic controller design
In this chapter you can read about:
Dynamics of a control .................................................................................................... 196
Cascade control ............................................................................................................ 202
Rigidity .......................................................................................................................... 203
Automated controller design .......................................................................................... 205
Controller coefficients .................................................................................................... 207
Dynamics of a control
In this chapter you can read about:
Structure of a control ..................................................................................................... 196
Oscillating plant ............................................................................................................. 196
Stability, attenuation ...................................................................................................... 196
Velocity, bandwidth ........................................................................................................ 197
Setpoint and disturbance behavior of a control loop ....................................................... 200
Response ...................................................................................................................... 202
Limitation behavior ........................................................................................................ 202
A change in the input value of a dynamic transmission element causes a change of
its output value. The change of the output value is however not immediately
effective, but takes a certain time, the transient response. The course of the
transient response is characteristic for certain kinds of transmission behavior.
For this reason, a complete description of the transmission properties of a control
comprises the stationary behavior (all setpoint, actual and disturbance values in
settled state), as well as the dynamic behavior.
Structure of a control
Z
W
Controller
-
-
Regler
Regelstrecke
X
Control Process
X
Regler / Control
Parameter
The basic task of a control is the generation and maintaining of a desired state or
sequence in spite of interfering disturbances. It is essential that the effects of the
disturbances are balanced with the correct force and at the correct time. In the
above figure, the setpoint value W represents the desired state and the disturbance
value Z represents the interfering disturbance. The actual value X represents the
generated and maintained state.
Oscillating plant
Oscillating control paths are control paths that respond with attenuated or
unattenuated oscillation to an abrupt change in the setpoint value. Part of this class
are for instance:
 Linear actuators with toothed belts, as a toothed belt represents an elasticity.
 A mechanic shaft with an external mass moment of inertia, as the shaft
represents an elasticity due to its torsional properties.
In general this kind of elasticity is due to a high ratio between JLoad/JMotor, as the
shaft is normally not designed for this high external load and which may lead to a
considerable distortion.
Stability, attenuation
In this chapter you can read about:
Stability problem in the high-frequency range: ............................................................... 197
Stability problem in the low-frequency range: ................................................................. 197
In general, two stability problems may occur in a servo drive control:
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Stability problem in the high-frequency range:
The "control structure" figure shows that the reverse effect in the control loop
(negative feedback) is a prerequisite for the functioning of a control system. Due to
the delay in signal transmission, the effect of the negative feedback is diminished
or even compensated. The reason is that the corrective measures of the controller
are also delayed in the event of delayed signal transmission. This results in a
typical oscillating course of the control variable. In the worst case, the deviation of
the control variable and the effect of the corrective measures get in phase, if the
delays reach a defined value. The negative 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 control loop is unstable. In the total gain of 1 the oscillation keeps
its amplitude and the control loop is within the limits of stability. The transient
response can be characterized by the attenuation and the transient time (velocity).
Step response of a stable controller and of a controller approaching the stability limit
Rugged
Rugged
Stability limit
Well attenuated
Poorly attenuated
not attenuated
W: Setpoint value
x: Actual value
Stability problem in the low-frequency range:
In this case the controller was set for a very inert control path, while the actual
control path is much more dynamic. The controller reacts to a disturbance variable
with a much too strong corrective measure so that the disturbance variable is
overcompensated and even an increasing oscillation may be the result. In this case
the mechanic system of the control path may be destroyed.
Velocity jerk response (low-frequency stability limit)
1: Setpoint speed value
2: Actual speed value
Velocity, bandwidth
In this chapter you can read about:
P-TE - Symbol ............................................................................................................... 198
Step response of a delay component ............................................................................. 198
Approximation of a well-attenuated control loop ............................................................. 198
Frequency response of the P-TE component (value and phase) .................................... 200
A well attenuated control loop can, under certain conditions, be approximated in
order to simplify the controller design with a first order delay component (P-TE
component) with the replacement time constant TE and the total gain Kp. A P-TE
component represents a first order delay component and is a simple dynamic basic
component.
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P-TE - Symbol
Κp,TE
W(t)
X(t)
Step response of a delay component
Step response of a first order delay component with Kp=1 and TE=2.0s
1.2
T
X ( t , TE)
S
1
P-TE
0.8
0.6
0.4
TE
0.2
0
0
1
2
3
4
5
6
7
t
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 figure. The time
of intersection of the tangent and the jerk function itself is by definition the delay
time constant (called filter time constant for filters) of a P-TE component. At this
point in time the value of the step response is approx. 63% of the final value. In
practice the step response corresponds, for instance, to the voltage charge curve
of a capacitor.
Approximation of a well-attenuated control loop
The approximation of a well-attenuated control loop is based on the sameness of
the control surface of the ideal first order delay component (P-T1 component) and
the approximated system (P-TE component).
The control surface is a measure for the velocity of a system and is defined in the
following figure. If the surface of the approximated system corresponds to the
surface of the ideal system, the approximated system can be described, up to a
certain frequency, with the transmission function of the P-T1 component.
198
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Determination of the control surface from the transmission behavior of a P-TE component.
1: Control surface of the approximated system
2: Control 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
of different frequencies (frequency response).
Input and output signals of a dynamic transmission component at a defined
frequency f=f1
The bode diagram represents the behavior of a dynamic system (in our case of the
P-TE component) against the input signal frequency with respect to amplitude and
phase.
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Frequency response of the P-TE component (value and phase)
1
f0 =
= 0,0795 Hz
2π ⋅ TE
is the
The cut-off frequency
frequency where the input signal is attenuated by 3dB (-3dB attenuation). The
phase shift between the output and the input is -45° at this frequency.
Precisely this cut-off frequency is called the bandwidth of a control loop.
Setpoint and disturbance behavior of a control loop
In this chapter you can read about:
Demand behavior .......................................................................................................... 200
Disturbance behavior ..................................................................................................... 201
Test functions ................................................................................................................ 201
Characteristics of a control loop setpoint response ........................................................ 201
The setpoint behavior is the behavior of the control loop for the setpoint variable W.
We assume that the disturbance variable Z=0.
The disturbance behavior describes the behavior of the control loop for disturbance
variable Z. In this case, we assume, in analogy to the setpoint behavior, that the
setpoint variable W=0.
Demand behavior
Z=0!
X
W
-
200
Controller
Regler
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Control Process
Regelstrecke
Setting up Compax3
Parker EME
W: Setpoint value
X: Actual value
Z: Disturbance variable
Disturbance behavior
X
Z
Control Process
Regelstrecke
Controller
Regler
W=0!
W: Setpoint value
X: Actual value
Z: Disturbance variable
In order to examine the disturbance and setpoint behavior, the Compax3 setup
software offers 4 jerk functions.
Test functions
Test functions for the analysis of disturbance and setpoint behavior of the control
loops
1: 4 jerk functions
The properties of the setpoint behavior of the velocity controller can be acquired
from the velocity jerk response.
Characteristics of a control loop setpoint response
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TSr:
Response time. (Time elapsing until the control variable reaches one of the
+-5% tolerance limits for the first time)
TS:
Settling time. (Time elapsing until the control variable ultimately enters the +5% range)
Vm:
maximum overshoot width
1
Tolerance range +-5%
2
Setpoint value
Response
The response of the controller is the behavior of the actual value with respect to the
calculated profile of the setpoint generator. The kinematic status variables, 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 minimization of the following error.
Compax3 servo controller structure
Setpoint generator
r
t
jw
aw
nw
Feed Foward Control
iw , j w
Vorsteuerung
aw, n w
a
t
t
xw
v
P-Position Controller
PID-Speed Controller
PI-Current Controller
P-Positionsregler
PID-Drehzahlregler
PI-Stromregler
s
i
t
Signal Acquistion
Setpoint position
n
x
Speed
Signalerfassung
Acceleration
Deceleration
Acceleration jerk
Deceleration jerk
x:
Position actual value
n:
Actual (rotational) speed
i:
xw:
aw:
Setpoint position value
Acceleration setpoint value
nw:
Velocity setpoint value
jw:
Actual current
value
Jerk setpoint value
Limitation behavior
Each control variable is limited by the control (actuating) element. If the control
variable demanded by the controller is within the linear range (without limitation),
the control loop shows the behavior defined by the design. If the controller
demands however a higher control variable than permitted by the limitation, the
control variable is limited and the controller slows down.
Hint
You should therefore make sure that the control variable (output) of the controller
does not remain within the limitation or only for a very short time.
Cascade control
In this chapter you can read about:
Structure of a cascade control ....................................................................................... 203
Cascade structure of Compax3...................................................................................... 203
In drive technology, a cascading structure with several controllers (normally 3) is
often used. This improves the control behavior. For this, additional sensors must be
fixed within the control path. You will get the structure of a cascade control.
202
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Structure of a cascade control
Z
W2
Controller1
W1
Regler 1
Controller 2
Process Part 1
Regler 2
Streckenteil 1
X1
Process Part 2
X2
Steckenteil 2
Process / Prozess
W1
Setpoint value (setpoint) for the superposed controller 2
W2
Setpoint value (setpoint) for the subordinate controller 1
X2:
Actual variable (actual value) for controller 2
X1:
Actual variable (actual value) for controller 1
The cascade control offers the following advantages:
Disturbances occurring within the control path, can be compensated in the
subordinate control loop. Therefore they must not pass through the entire control
path and are thus compensated earlier.
 The delay times within the path can be reduced for the superposed controller.
 The limitation of the intermediate variables can be made by the control variable
limitation of the superposed controller rather easily .
 The effects of the non-linearity for the superposed controllers can be reduced by
the subordinate control loops.
In the Compax3 servo drive, a triple cascade control is implemented with the
following controllers - position controller, velocity controller and current controller.

Cascade structure of Compax3
Xw
Position Controller
Speed Controller
Positionsregler
Drehzahlregelung
X
n
Current Controller
Stromregelung
Motor
i
Rigidity
In this chapter you can read about:
Static stiffness ............................................................................................................... 203
Dynamic stiffness .......................................................................................................... 204
Correlation between the terms introduced...................................................................... 205
The stiffness of a drive represents an important characteristic. The faster the
disturbance variable can be compensated in the velocity control path and the
smaller the oscillation caused, the higher the stiffness of the drive. With regard to
stiffness, we distinguish static and dynamic stiffness.
Static stiffness
The static stiffness of a direct drive is comparable with the spring rate D of a
mechanical spring, and indicates the excursion of the spring in the event of a
constant interference force. It is the ratio between the constant force FDmax of the
motor and a position difference. Due to the I term in the velocity controller, the
static stiffness is therefore infinitely high in theory, as the I term is integrated until
the control difference vanishes. In a digital control the static stiffness is above all
limited by the finite resolution of the position signal (the error must be at least one
quantization step, so that it can 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 system) as
well as measurement errors of the measurement system.
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C3I30T11 / C3I31T11
Dynamic stiffness
In this chapter you can read about:
Traditional generation of a disturbance torque/force jerk ................................................ 204
Electronic simulation of a disturbance torque jerk with the disturbance current jerk........ 204
Disturbance jerk response ............................................................................................. 205
The dynamic stiffness is described by the ratio between the change in load torque
or in load force and the resulting position deviation (following error):
− ∆M L
∆x
The higher this ratio (=dynamic stiffness), the higher the necessary change is load
torque in order to generate a defined following error.
The dynamic stiffness can be acquired from the disturbance jerk response.
Traditional generation of a disturbance torque/force jerk
FG
FM
m
In settled state of the control, the motor force FM corresponds exactly to the load
force FG=m×g.
If the cord is cut through, the load force is eliminated abruptly and the controller
must first of all settle to the new situation.
In order to simulate this load jerk electronically, a disturbance current jerk is fed to
the Compax3 as a variable proportional to the disturbance torque at the velocity
controller output.
Electronic simulation of a disturbance torque jerk with the disturbance
current jerk
1
Xw
X
1
KT
Position Controller
Speed Controller
Current Controller
Positionsregler
Drehzahlregelung
Stromregelung
n
Motor
i
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 stiffness. The settling behavior of the following error is furthermore a
measure for the attenuation and the bandwidth of the control.
204
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Parker EME
Disturbance jerk response
1: Compensation torque of the controller
2: Simulated disturbance torque
3: Actual speed
4: Following error
5: Settling Time
Correlation between the terms introduced
The introduced terms:
 Stability
 Damping
 Velocity
 Bandwidth
 Setpoint and disturbance behavior
 Control variable limitation
 Replacement time constant
 Rigidity
are related as follows:
 A well-attenuated control features a stable control behavior.
 The velocity of a control loop is a measure for the reaction rate of the controller to
the disturbance variable (disturbance behavior) as well as to the setpoint variable
(setpoint behavior).
 The faster the control, the higher its bandwidth.
 The term replacement time constant is an approximation and is only valid in a
defined scope1. In this scope, the control is always stable and well-attenuated.
 If the controller does not work in the linear range, but the control variable of the
controller is within the limitation, the control slows down and the control difference
rises.
 The stiffness represents the bandwidth of the velocity control. The higher the
stiffness value of the velocity control, the higher the bandwidth of the velocity
controller and the stiffer the drive.
Automated controller design
In this chapter you can read about:
Step response of the velocity loop depending on the optimization parameter "attenuation" and "stiffness"
...................................................................................................................................... 206
D-term ........................................................................................................................... 206
Position loop .................................................................................................................. 206
The controller design takes place after the configuration immediately before the
configuration download into the device. The controller coefficients are preassigned
according to the design method of cross-ratios so that a stable control is achieved.
The automatic, robust controller design calculates the P and I terms of the
individual controllers (current, velocity, position) on the basis of the configured
motor and application parameters.
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205
Setting up Compax3
Please observe:
C3I30T11 / C3I31T11
Faulty motor and application parameters may lead under certain circumstances to
instable controllers.
The controller parameters are not directly available for the optimization. Instead,
they can be changed with the aid of the following optimization parameters:
 Current loop bandwidth in %
Optimization of the current controller
 "Attenuation of current loop" in %
dynamics:
 "Stiffness" in %
Optimization of the velocity loop
 "Attenuation" in %
dynamics:
 Velocity loop - "D" term in %
The bandwidth parameter states the actually effective % of the calculated default
velocity. The default bandwidth of the current controller is fixed to approx.
fGR=531Hz. In reverse this signifies that each motor delivers the same step
response. The prerequisite is, of course, that you keep out of the control signal
limitation (voltage limitation). The attenuation characterizes the controller's
tendency to oscillate with respect to an excitation signal (see below). The stiffness
(of the velocity loop, corresponds to the bandwidth of the current loop) describes
the velocity of the velocity loop (see below).
Step response of the velocity loop depending on the optimization parameter
"attenuation" and "stiffness"
Attenuation = 100%
Stiffness = 100%
1: Setpoint value
2: Actual value (stiffness = 200%)
3: Actual value (stiffness = 100%)
4: Actual value (stiffness = 50%)
5: Actual value (attenuation = 500%)
6: Actual value (attenuation = 100%)
7: Actual value (attenuation = 50%)
D-term
The D-term parameter ( of the velocity loop) activates 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.
Position loop
The position controller is automatically adapted depending on the stiffness of the
velocity loop.
206
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Parker EME
Controller coefficients
In this chapter you can read about:
Velocity Loop P Term .................................................................................................... 207
D-term of the KD velocity controller ............................................................................... 207
P-term KV position loop ................................................................................................. 207
Dependence of the controller coefficients from the optimization objects
The controller coefficients are influenced by the optimization objects such as
"stiffness" and/or "attenuation". The dependency is displayed below.
I-term KI in the velocity loop
KI =
St [%]
100 ⋅ TEGD
⇒ K I ~ St
TEGD:
St
The replacement time constant of the closed velocity loop.
Rigidity
Velocity Loop P Term
K PV =
St [%] Tm[%]
100
30 + 0,14 ⋅ Dp[%]
⋅
⋅ TN ⋅
⋅
100 ⋅ TEGD 100
EMK [%]
20
⇒ K PV ~ St ∧ K PV ~ Tm / EMK ∧ K PV = fLIN (Dp )
TEGD:
The replacement time constant of the closed velocity loop.
TN:
The mechanical integration time constant of the motor.
fLIN():
Linear function (straight) between attenuation and KPV
Tm
Moment of Inertia
St
Rigidity
Dp
Damping
D-term of the KD velocity controller
Dterm[%]
⋅ K D _ 100%
100
⇒ K D ~ Dterm
KD =
KD_100% The defined 100% coefficient
:
Dterm
D term
P-term KV position loop
KV =
20
St [%]
⋅
⋅ TX
100 ⋅ TEGD 30 + 0,14 ⋅ Dp[%]
⇒ KV ~ St [%] ∧ KV = fLIN (1/ Dp[%])
TEGD:
TX:
St
Dp
fLIN():
The replacement time constant of the closed velocity loop.
The position integration time constant of the motor.
Rigidity
Damping
Linear function (straight) between 1/attenuation and KV
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Setting up Compax3
C3I30T11 / C3I31T11
4.4.3.4
Setup and optimization of the control
In this chapter you can read about:
Standard ....................................................................................................................... 208
Advanced ...................................................................................................................... 214
Commissioning window ................................................................................................. 229
Proceeding during controller optimization ...................................................................... 231
For the setup and optimization of the control loops, the 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
functionality. The switching can be made in the optimization window.
Switching between standard and advanced
Standard
In this chapter you can read about:
Standard cascade structure ........................................................................................... 209
Standard optimization parameters ................................................................................. 210
Control signal limitations ................................................................................................ 210
Feedforward channels ................................................................................................... 212
Control signal filter / filter of actual acceleration value .................................................... 214
208
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Parker EME
Standard cascade structure
2210.14
a‘
Manual or external
demant Velocity
2220.2
2010.5
t
688.13
2210
.19
a
Manual or external
demant current
2220.3
Demand jerk
2010.4
t
682.4
Demand acceleration
v
682.7 Acceleration feedforward
681.4
2010.2
Velocity feedforward
681.11
2010.1
680.4
p
Demand position
t
681.10
688.14
Velocity controller
2100.2 Stiffness
2100.3 Damping
2100.4 Inertia
Demand Velocity
Demand
velocity
Feedforwaed
current & jerk
688.18
demand current r.m.s.
2100.20 T
KI
Current Controller
2100.8 Bandwidth
2100.9 Attenuation
Kp,TN
2220.1
688.11
Voltage control signal
KPv
KPx
2210.1
680.6
Following error
T
Demand
velocity
Synchronous
681.6
Control deviation
of velocity
KPv
Motor
1
Asynchronous
imR*
Motor
688.19
Actual current r.m.s.
(torque producing)
2220.4
2100.7
2100.20
681.9
actual velocity
filtered
682.6
2210.2
actual velocity
Actual acceleration filtered
T
682.5 Actual acceleration unfiltered
2100.21
681.5 Actual velocity
unfiltered
Istwerterfassung
Actual Value Monitoring
t
The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2
Caution!
Changing objects O100.1 and O100.2 may cause the control to be deactivated!
Protect dangerous areas!
External command value
During external setpoint specification, please respect the structure images for
electronic cams or gearboxes for signal filtering with external setpoint
specification (see on page 240) !
Complementary structure for load control (see on page 164).
Compax3 controller structures (see on page 209, see on page 215, see on page
216).
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
209
Setting up Compax3
C3I30T11 / C3I31T11
Symbol
Description
Proportional term
signal is multiplied with Kp
Kp
T1
KI
Kp,TN
First order delay component (P-T1 term)
Integration block (I-block)
PI-block
Limitation block (signal limitation)
f
Notch filter (band elimination filter)
B
d
f
Addition block
blue
description
Optimization objects
(simple pointer line)
red
description
Status objects
(pointer line 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.
Control signal limitations
In this chapter you can read about:
Limitation of the setpoint velocity ................................................................................... 211
Limitation of the setpoint current .................................................................................... 211
Limitation of the control voltage ..................................................................................... 211
The cascade structure shows that a limitation block is available in the control signal
sector of each controller. The limitations of the position and velocity loops are
calculated from the set limitations in the configuration and the motor parameters of
the selected motor.
210
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Parker EME
Limitation of the setpoint velocity
Limitation of the setpoint velocity in the control signal sector of the position loop:
This limitation value is calculated from the maximum mechanical velocity of the
motor and the set value in the configuration in % of the nominal velocity. The
smaller of the two values is used for the limitation.
Example
MotorManager
maximum mechanical velocity of the motor:
nmax=3100rpm
Rated speed of the motor:
nN=2500rpm
C3 ServoManager
Max. Operating velocity:
nbmax=200% of nN
=> 5000rpm
Velocity limitation value =
MIN(nmax, nbmax*nN/100)=
3100rpm
Limitation of the setpoint current
Limitation of the setpoint current in the control signal sector of the velocity loop:
This limitation value is calculated from the device peak current, the pulse current of
the motor and the set value in the configuration in % of the nominal current. The
smaller of the three values is used for the current limitation.
Example
Device
C3 S063 V2 F10 T30 M00 device peak current:
IGmax=12.6Arms
MotorManager
Rated current of the motor:
IN=5.5Arms
Peak Current:
Iimp=300 %IN
=> 16.5Arms
C3 ServoManager
Current (Torque) Limit:
Ibmax=200% of IN
=> 11Arms
Current limitation value =
MIN(IGmax, Iimp*IN/100, Ibmax*IN/100)=
11Arms
Limitation of the control voltage
Limitation of the control voltage in the control signal sector of the current loop:
This limitation is fixed and cannot be influenced by the user. The limitation value
depends on the DC voltage of the device.
Please note!
In the event of highly dynamic motion cycles it is necessary to make sure not to
enter the control signal limitation (or, if so only for a very short time) as the drive is
then not in the position to follow the set dynamics due to the slow drive physics and
the limited control signal range.
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Setting up Compax3
C3I30T11 / C3I31T11
Feedforward channels
In this chapter you can read about:
Influence of the feedforward measures .......................................................................... 212
Motion cycle without feedforward control ....................................................................... 213
Motion cycle with feedforward measures ....................................................................... 213
The feedforward channels are used for the specific influence of the guiding
behavior of a control. The calculated and evaluated status variables are coupled
into the corresponding places within the controller cascade. In practice, the
feedforward control offers the following advantages:
 Minimal following error
 Improves the transient response
 Gives greater dynamic range with lower maximum current
The Compax3 servo drive disposes of four feedforward measures (see in the
standard cascade structure):
 Velocity Feed Forward
 Acceleration feed-forward
 Current feed-forward
 Jerk feed-forward
The above order represents at the same time the effectiveness of the individual
feedforward measures. The influence of the jerk feedforward may be, depending
on the profile and the motor, negligibly small.
Please note!
But the principle of feedforward control fails in limiting the motor current or the
motor speed during the acceleration phase!
Influence of the feedforward measures
Following error minimization by feedforward control / course of the setpoint
generator signals
xws:
nws:
aws:
rws:
212
Position setpoint value of the setpoint generator
Velocity setpoint - setpoint generator
Acceleration setpoint value setpoint generator
Jerk setpoint value setpoint generator
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Setting up Compax3
Parker EME
Motion cycle without feedforward control
Motion cycle with feedforward measures
Velocity feedforward
Velocity and acceleration feedforward
Velocity, acceleration and current feedforward
Velocity, acceleration , current and jerk feedforward
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Setting up Compax3
C3I30T11 / C3I31T11
Control signal filter / filter of actual acceleration value
The filters in the Compax3 firmware are implemented as P-T1 filters (first order
deceleration component see chapter 0 (see on page 240, see on page 240, see on
page 241).)
The two "control signal filter (velocity loop)" (Object 2100.20) and "acceleration
value filter" (Object 2100.21) are set in µs. The value range for these filters is 63...
8 300 000µs. Depending on the replacement time constant of the closed velocity
loop, we can make recommendations for the setting.
Setting recommendation for "control signal filter (velocity loop)":
O2100.20 ≤ O2210.17[µs] / 5
for O2210.17 ≥ 10 000µs
O2100.20 ≤ O2210.17[µs] / 3 - 1333µs
for 4000µs ≤ O2210.17 < 10 000µs
O2210.20 = 0
for O2210.17 < 4000µs
O2210.17: Object replacement time constant of the velocity loop in µs.
O2100.20: Object control signal filter (velocity loop) in µs.
Please note!
It cannot be excluded that the filter may have a destabilizing effect even though set
according to the above recommendation. In this case the filter time constant must
be reduced.
Advanced
In this chapter you can read about:
Extended cascade (structure variant 1).......................................................................... 215
Extended cascade structure (structure variant 2 with disturbance variable observer) ..... 216
Optimization parameter Advanced ................................................................................. 218
EMC feedforward........................................................................................................... 218
Motor parameters .......................................................................................................... 218
Filter "External Command Interface" .............................................................................. 218
Voltage decoupling ........................................................................................................ 219
Load control................................................................................................................... 219
Luenberg observer ........................................................................................................ 219
Commutation settings of the automatic commutation ..................................................... 221
Notch filter ..................................................................................................................... 225
Saturation behavior ....................................................................................................... 227
Control measures for drives involving friction ................................................................. 228
214
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Setting up Compax3
Parker EME
Extended cascade (structure variant 1)
2210.14
a‘
Manual or external
demant Velocity
2220.2
2010.5
t
688.13
2210
.19
a
Manual or external
demant current
2220.3
Demand jerk
2010.4
t
682.4
Demand acceleration
v
682.7 Acceleration feedforward
681.4
2010.2
Velocity feedforward
681.11
2010.1
680.4
p
Demand position
t
681.10
Demand
velocity
688.14
Velocity controller
2100.2 Stiffness
2100.3 Damping
2100.4 Inertia
2100.10 T
2100.20 T
Demand Velocity
KI
Feedforwaed
current & jerk
2220.1
2150.1-.6
688.18
demand current r.m.s.
KPv
KPx
2210.1
680.6
Following error
T
Demand
velocity
T
NotchFilter
fB
fB
Current Controller
2100.8 Bandwidth
2100.9 Attenuation
Kp,TN
2010
.20
688.11
Voltage control signal
d
d
f
Synchronous
681.6
Control deviation
of velocity
KPv
Motor
1
f
Asynchronous
imR*
Motor
688.19
Actual current r.m.s.
(torque producing)
2220.4
2100.7
2100.20
681.9
actual velocity
filtered
2100.10
682.6
2210.2
actual velocity
Actual acceleration filtered
T
Beobachter
Observer
T
2120.1>125 µs
2120.1<125 µs
2100.21
2100.11
2120.1>125 µs
2120.1<125 µs
682.5 Actual acceleration unfiltered
681.5 Actual velocity
unfiltered
Istwerterfassung
Actual Value Monitoring
t
The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2
Caution!
Changing objects O100.1 and O100.2 may cause the control to be deactivated!
Protect dangerous areas!
External command value
During external setpoint specification, please respect the structure images for
electronic cams or gearboxes for signal filtering with external setpoint
specification (see on page 240) !
Complementary structure for load control (see on page 164).
Compax3 controller structures (see on page 209, see on page 215, see on page
216).
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
215
Setting up Compax3
C3I30T11 / C3I31T11
Symbol
Description
Proportional term
signal is multiplied with Kp
Kp
First order delay component (P-T1 term)
T1
Integration block (I-block)
KI
PI-block
Kp,TN
Limitation block (signal limitation)
Notch filter (band elimination filter)
f
B
d
f
Addition block
blue
description
Optimization objects
(simple pointer line)
red
description
Status objects
(pointer line with vertical stroke)
Extended cascade structure (structure variant 2 with disturbance variable
observer)
2210.14
a‘
Manual or external
demant Velocity
2220.2
2010.5
t
688.13
2210
.19
a
Manual or external
demant current
2220.3
Demand jerk
2010.4
t
682.4
Demand acceleration
v
t
681.4
681.11
2010.1
680.4
p
Demand position
t
681.10
688.14
Velocity controller
2100.2 Stiffness
2100.3 Damping
2100.4 Inertia
2100.10 T
2100.20 T
Demand Velocity
Velocity feedforward
Demand
velocity
Feedforwaed
current & jerk
2220.1
2150.1-.6
688.18
demand current r.m.s.
KPv
KPx
2210.1
680.6
Following error
T
Demand
velocity
T
NotchFilter
fB
fB
Current Controller
2100.8 Bandwidth
2100.9 Attenuation
Kp,TN
2010
.20
688.11
Voltage control signal
d
d
f
Synchronous
681.6
Control deviation
of velocity
KPv
T
Motor
1
f
Asynchronous
imR*
Motor
688.19
Actual current r.m.s.
(torque producing)
2220.4
681.9
actual velocity
filtered
2100.10
682.6
2210.2
actual velocity
Actual acceleration filtered
2120.5
T
2120.1>125 µs
2120.1<125 µs
2100.21
216
Beobachter
Observer
T
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
2100.11
2120.1>125 µs
2120.1<125 µs
682.5 Actual acceleration unfiltered
681.5 Actual velocity
unfiltered
Istwerterfassung
Actual Value Monitoring
2100.7
2100.20
Setting up Compax3
Parker EME
The framed objects are coupling objects for Compax3 - Compax3 coupling via
HEDA.
Please note that the corresponding controller components must be deactivated for
the coupling:
When coupling the velocity (O2219.14): O100.1 or O100.2=1063 (see object
description)
When coupling via current (O2220.2): O100.1 or O100.2=1031 (see object
description)
O100.1 is only copied into O100.2 upon activation of the controller, the controller
can be influenced in active state with the aid of O100.2
Caution!
Changing objects O100.1 and O100.2 may cause the control to be deactivated!
Protect dangerous areas!
External command value
During external setpoint specification, please respect the structure images for
electronic cams or gearboxes for signal filtering with external setpoint
specification (see on page 240) !
Complementary structure for load control (see on page 164).
Compax3 controller structures (see on page 209, see on page 215, see on page
216).
Symbol
Description
Proportional term
signal is multiplied with Kp
Kp
T1
KI
Kp,TN
First order delay component (P-T1 term)
Integration block (I-block)
PI-block
Limitation block (signal limitation)
f
Notch filter (band elimination filter)
B
d
f
Addition block
blue
description
Optimization objects
(simple pointer line)
red
description
Status objects
(pointer line with vertical stroke)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
217
Setting up Compax3
C3I30T11 / C3I31T11
Optimization parameter Advanced
Current controller
The current controller works with a P component in the feedback; this results in
very low overshoot.
With the aid of object 2220.27 (Bit = “0”), it is possible to switch to P component in
the forward path.
EMC feedforward
The EMC feedforward compensates the electromagnetically generated back e.m.f.
of the motor UEMC. This signal is proportional to velocity and is deduced from the
setpoint velocity of the setpoint generator.
Motor parameters
Furthermore you can re-optimize the motor parameters inductance, resistance and
EMC (or Kt) in the advanced mode. The LdLqRatio parameter is the ratio of the
smallest and the highest inductance value of the winding, measured during one
motor revolution.
Filter "External Command Interface"
Signal filtering with external command value (see on page 240, see on page
240, see on page 241)
218
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Setting up Compax3
Parker EME
Voltage decoupling
In the current control path there is a velocity and current proportional voltage
disturbance variable, which must be compensated by the current loop. Due to
limited controller dynamics, this disturbance variable can not always be entirely
compensated by the current loop. The influence of this disturbance variable may
however be minimized by activating the voltage decoupling.
Load control
If a second position feedback is available for the acquisition of the load position,
the load control can be activated.
For more detailed information on the load control see device help for
T30/T40 devices in the setup chapter Compax3\\load control.
Luenberg observer
In this chapter you can read about:
Introduction observer ..................................................................................................... 219
Signal flow chart Luenberg observer .............................................................................. 220
Introduction observer
A high signal quality of the actual signal value is of high significance in the control
of the motor velocity n or the motor speed v. By means of oversampling and
transmitter error compensation, a high-quality position signal can be produced for
speed determination. As a rule the motor speed is determined by numeric
differentiation of the motor position. In this case the quantization noise QvD of the
digital speed signal depends on the quantisation Qx of the position signal and the
sampling time TAR of the digital control loop:
Quantization speed signal QvD
QvD =
Qx
TAR
The quantisation of the speed signal is inversely proportional to the sampling time
TAR. Hence the demands for the lowest possible sampling time and the minimum
quantization noise oppose each other in the determination of speed by numeric
differentiation. The noise superimposed by the digital speed signal may be reduced
by the low-pass filter, however this is always at the cost of the stability margin of
the digital control loop. An alternative method is to determine the speed by
integration of the acceleration. The dependence of the quantisation noise QvD of
the digital speed signal on the quantisation Qx of the position signal and the
sampling time TAR of the digital control loop is shown by the following correlation.
Quantization speed signal QvI
QvI = Qa ⋅ TAR
The observer technology offers the advantage that the velocity can be calculated
with the aid of integration. The idea of the observer principle is to connect a
mathematical model of the control path parallel to the section observed and with
the same transfer behavior. In this case, the controller also has the intermediate
variables (state variables) of the control path available. However in the presence of
model deviations (in structure or parameters), different signal values occur
between the model and the control path. For this reason, the technique cannot be
employed in this way in practice. However, the model contains the measurable
output signal of the control section as a redundant quantity. By comparing the two
variables, a tracking control can be used to adapt the model state variables to the
state variables of the control path. As the model deviations have become minor in
this case due to the simple mechanical drive train, the observer now has an
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Setting up Compax3
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efficient aid available to increase the signal quality. Increase in signal quality in the
observer means that the noise components decrease, and the dynamics improve
as the observed speed is feedforward-controlled undelayed by the current and is
not just calculated delayed from the position signal using simple differentiation.
Signal flow chart Luenberg observer
ML
I(t)
KT
MA
Regelstrecke / controlled system
- MB
1
2π ⋅ J G e s
a(t)
x(t)
n(t)
Beobachter / observer
Nachführregler / tracking controller
h0
-
h1
-MLB
KT
1
2π ⋅ J G e s a (t)
B
h2
nB(t)
xB(t)
Modell / model
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):
Position
Index b:
Observed signal quantities
h0…h2:
Controller coefficients of the tracking controller
The figure shows that an additional I element is connected for interference
compensation to correct external disturbance forces in the observer. Therefore the
speed and the acceleration observed are statically precise. The same applies to
the output of the integrator in the tracking controller which is a statically precise
determination of an external interference torque ML. For this reason, the I
component is not required in the speed controller for some applications, and the
entire control can be set up as a state cascade control. This increases the
bandwidth of the speed and position controlled member by factor 2. As a
consequence, the interference stiffness of the drive and the following error
behavior improve.
Here the quantization of the speed signal is proportional to the sampling time TAR,
hence there is no longer any conflict between the requirements for minimum
sampling time and minimum quantization noise. For the integral velocity
acquisition, the motor current variable, which is proportional to the acceleration,
can be used. This approach is particularly advantageous in direct drive
engineering; due to the absence of a mechanical drive train, there is a very good
220
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match between the mathematical model of the observer and the real physical
control section in the fundamental frequency range of the control. This applies in
particular to direct drive systems with fixed moving masses, as otherwise the
mismatch between model and the physical drive system has a destabilizing
influence on the transfer behavior of the speed control. A remedy is to increase the
observer dynamics, however this increases the noise of the observed signals.
Therefore in the case of variable moving masses a compromise has to be found
between the dynamics of the observer and the maximum stiffness of the drive.
Commutation settings of the automatic commutation
In this chapter you can read about:
Display of the commutation error in incremental feedback systems ............................... 222
Prerequisites for the automatic commutation ................................................................. 223
Course of the automatic commutation function .............................................................. 223
Other ............................................................................................................................. 225
Permanently excited synchronous motors can only be operated with an absolute
feedback system (at least for electric motor rotation). The reason is the necessary
commutation information (position assignment of the magnet field generated by the
motor to the motor magnets). Without the commutation information, there is
inevitably the possibility of a positive feedback between position and velocity loop
("running away" of the motor) or of bad motor efficiency (reduced force constant).
Digital hall sensors are the most common aid to prevent this. Due to the
mechanical design it is however impossible or very hard to integrate these sensors
in some motors. The Compax3 automatic commutation function (in the F12 direct
drive device) described below allows however to use incremental feedback
systems without hall sensors.
The functionality implemented in the servo drive establishes the necessary
reference between motor stator field and permanent magnetic field without
additional aids.
The incremental feedback devices are, in contrast to absolute feedback devices,
able to acquire relative distances. It is true that any position can be approached
from a starting point, there would be however no consistency between these
position values and a fixed virtual absolute system. Other than with an absolute
feedback, the correlation between rotor and stator is lost if the position acquisition
is switched off ("the position acquisition zero is lost"). When switching on, the
actual position is randomly taken as zero. A commutation angle error can therefore
absolutely not be excluded. Even a system adjusted before, would show an
angular error, for example after a current failure. Therefore the angular error
occurring randomly upon each new switching on must always be compensated in
an incremental system.
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Display of the commutation error in incremental feedback systems
∆ε = 0 (adjusted)
∆ε ≠ 0 (not adjusted)
Rotor was turned in switched-off state.
blue: ideal position
red:
unfavorable position
PM: magnetic flux of the permanent magnets
iS:
Current pointer
∆ε
Commutation error
I’:
ideal position
iq:
Quadrature current (torque forming)
The automatic commutation function (AK) in Compax3 uses the position dependent
sinusoidal torque course of permanently excited AC synchronous motors. If the
motor windings are energized with DC voltage for instance, the motor develops a
sinusoidal torque depending on the rotor position, which can be used for example
by evaluating the resulting movement in order to determine the correct motor
commutation.
The automatic commutation with movement in the Compax3 has the following
properties:
 The motor movement occurring during the commutation is, with correctly
parameterized function, very small. It is typically in the range smaller than 10°
electrical revolution (=10°/motor poles physically or 10°/360°*motor pitch for a
linear motor).
 The precision of the acquired commutation angle depends on the external
conditions, however lies normally in the range better than 5° electrical revolution.
 The time until the termination of the commutation acquisition is typically below
10s.
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Prerequisites for the automatic commutation
A movement of the motor must be permitted. The movement actually occurring
depends greatly on the motor (friction conditions) itself, as well as on the load
moved (inertia).
 Applications requiring a motor brake, i.e. applications where active load torques
are applied at the motor (e.g. vertical actuator, slope) are not permitted.
 Due to the function principle, high static friction or load torques will deteriorate the
result of automatic commutation.
 When performing automatic commutation, a motion of at least ±180° must be
electrically possible (no mechanic limitation)! The implemented automatic
commutation function with motion cannot be used for applications with limit or
reversal switches.
 With the exception of missing commutation information, the controller/motor
combination is configured and ready for operation (parameters correctly assigned
for the drive/linear motor). Feedback direction and effective direction of the field
of rotation must be identical (automatic commutation performed in the
MotorManager).

Course of the automatic commutation function
If "automatic commutation with movement" is selected as source of commutation,
the automatic commutation sequence runs once if the power stage is enabled. If
the power stage is enabled or disabled afterwards, the automatic commutation will
be left out. If an error occurs during the execution, the automatic commutation is
aborted. A new "attempt to enable" the power stage will trigger a new automatic
commutation.
Function principle of the automatic commutation with movement
The implemented method with movement is based on the sinusoidal dependence
of the provided motor currents and the resulting movement on the effective
commutation error. The acceleration performed by the motor (-> movement) in the
event of constantly maintained current is a measure for the actual change in the
commutation angle in the way that it disappears upon a change of exactly 0° and
is, for other angles, the acceleration and its direction in dependence of the sign and
value of the angular error (-180° .. 180°).
Acceleration torque depending on the commutation error.
∆ε:
Commutation error
Μ/Μµαξ
normalized acceleration torque
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1):
Motion threshold O2190.3
2):
Waiting for standstill
O2190.2:
Starting current
Searching for the torque maxima (phase 1)
If the sum of the actual and the estimated error angle is ±90° electrically, 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 threshold defined by O2190.3:
Illustration of the first phase
Latching of the motor (phase 2)
Here, the drive is brought to the position with the provided motor torque=0, where
the angular error is either +-180° or 0°.
Current rise in the second phase.
O2190.1:
Rising time of latching current
1)
Maximum current from controller or motor
2)
Monitoring on 5° electrical movement
3)
Monitoring on 60° electrical movement
Motion reduction:
It is possible, to considerably reduce the motor movement occurring during the fine
angle search with the aid of the "motion reduction" parameter (O2190.4).
Please respect also that the acquired commutation result may be slightly worse
than without this measure.
Hint
224
As a current well above the nominal motor current is provided here, there may be
saturation effects on iron core motors, which might lead to an instable current loop
(-> highly frequent "creaking noises" during the automatic commutation). This can
be avoided by activating the saturation characteristic line in the motor data.
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Test for positive feedback (phase 3)
Here it is verified, if the motor performs a motion in the expected positive direction
in the event of positive current in the torque maximum. The same motion threshold
(defined via O2190.3) as in phase 1 is valid. The test is repeated several times.
A current course in ramp form is specified (target: minimum motion). The break
between the tests varies with he current rise time O2191.1.
Illustration of the third phase
1):
Waiting for standstill
tp
Waiting for standstill
Other
During the sequence (time according to parameterization>>1s) the automatic
commutation is externally visualized by a LED blinking code (green permanent
and red blinking).
 Device errors will lead to an abort of the automatic commutation.
 During automatic commutation, no motion commands are accepted.
 The controller cascade entirely deactivated during automatic commutation, with
the exception of the current loop.
 In multi-axis applications, the axes to be automatically commutated must be
awaited (output of the MC_Power block must deliver "True")!
 The automatic commutation is only started if the drive is at standstill.
 After the occurring and acknowledgement of a feedback error or a configuration
change of the feedback system, the automatic commutation must be performed
again, as it might be that the position entrainment in the servo controller is
interrupted (commutation information is lost).

Notch filter
In this chapter you can read about:
Effect of the notch filter .................................................................................................. 225
Wrongly set notch filter .................................................................................................. 226
Frequency response of the notch filter. .......................................................................... 226
Parameterization by 3 objects. ....................................................................................... 226
Notch filters are small-band band elimination filters which slope in a wedge form
towards the center frequency. The attenuation of this center frequency is extremely
high in most cases. With the aid of the notch filters it is possible to purposefully
eliminate the effects of mechanical resonance frequencies. With this, the
mechanical resonance point is not activated itself, but the excitation of this point of
resonance is avoided by the control.
Effect of the notch filter
Resonance
Notch filter
Result
As can be seen in the figure, the notch filter is only useful in cases where the set
frequency of the notch filter is exactly the same as the disturbing frequency. The
notch filter as well as the resonance point are very narrowband. If the resonance
point does only minimally change (e.g. by changing the masses involved), it is not
sufficiently activated by the notch filter.
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Wrongly set notch filter
In the Compax3, two notch filters which are independent of each other are
implemented.
Frequency response of the notch filter.
Center frequency = 500Hz
Bandwidth = 50Hz
Depth = 0.99 (-40dB)
Parameterization by 3 objects.
In this chapter you can read about:
Frequency filter 1 (O2150.1) / frequency filter 2 (O2150.4) ............................................ 226
Bandwidth filter 1 (O2150.2) / bandwidth filter 2 (O2150.5) ............................................ 227
Depth filter 1 (O2150.3) / depth filter 2 (O2150.6) .......................................................... 227
Frequency filter 1 (O2150.1) / frequency filter 2 (O2150.4)
This defines the frequency at which the notch filter attenuation is highest. In
practice it shows that notch filters can only sensibly 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:
5000000
2π ⋅ O 2210.17[ µs ]
x = 1 or x = 4
O 2150.x ≥
Obj2210.17: Replacement time constant of the velocity loop in µs.
Note:
226
If this distance is too small, the stability of the control can be very negatively
influenced!
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Parker EME
Bandwidth filter 1 (O2150.2) / bandwidth filter 2 (O2150.5)
This defines the width of the notch filter.
The value refers to the entire frequency band, where the attenuation of the filter is
higher than (-)3dB.
In practice it shows that even if there is enough distance towards the control, it can
be negatively influenced by too high bandwidths (higher than 1/4 of the center
frequency).
O 2150.1 / 4
4
x = 2 or x = 5
O 2150.x ≤
Depth filter 1 (O2150.3) / depth filter 2 (O2150.6)
With this the size of the attenuation of the filter must be at the position of the center
frequency. One stands here for complete attenuation (-∞ dB) and zero for no
attenuation.
O 2150.x = 1 − 10
x = 3 or x = 6
 D [ dB ] 
−

 20 
D [dB]: The desired attenuation at the center frequency in dB
Saturation behavior
In this chapter you can read about:
Current jerk response .................................................................................................... 227
Current jerk response with the activated saturation characteristic line............................ 228
Saturation can be stated with the aid of current jerk responses at different current
height.
Current jerk response
Current jerk response of a motor to 2 different currents (1Arms / 2Arms)
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 saturation characteristic
line, which is used to linearly reduce the P-term of the current loop depending on
the current, helps against such a saturation behavior.
If you respect the saturation for the above example with the aid of the saturation
characteristic line, the tendency to oscillate of the current loop can again be
activated.
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Current jerk response with the activated saturation characteristic line
The parameterization of the characteristic line is made in the MotorManager.
Note:
In order to accept the changes in the MotorManager in the project, the
entire configuration must be confirmed.
 In order to make the changes from the MotorManager effective in the device, the
configuration download must be executed.

Control measures for drives involving friction
In this chapter you can read about:
Deadband following error ............................................................................................... 228
Friction compensation.................................................................................................... 229
Some drives, which involve much friction due to their guiding system, may show
permanent oscillation at standstill. The transition between static friction (standstill)
and kinetic friction (very low speed) is very steep. The controller can not longer
follow the friction characteristic line at this position. The I-term integrates until the
control variable pulls free the drive and the drive moves too far. This procedure is
repeated in the opposite direction and a control oscillation occurs (so-called limit
cycle). In order to eliminate this control oscillation, the following 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 following error in the position loop
2010.1 Velocity feed-forward
KVv
2200.20 Deadband –
Tracking Error
2200.24 Filter - Tracking Error
T1
KPx
-
680.6 Position Tracking error
680.5 Actual Position
The deadband does no longer supply a velocity setpoint value (zero) for the
subordinate velocity loop at small following error. The integrator of the velocity loop
stops integrating and the system comes to a standstill.
In order to prevent that the velocity loop is excited by the noise on the following
error, the following error should be filtered before the deadband, which will lead,
however, to delays in the position loop. The deadband to be set depends on the
friction behavior (amplitude of the limit cycle) and on the noise on the following
error (the noise must remain within the deadband).
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Friction compensation
The activation of the friction compensation (end of the velocity loop)
f(nSG, n, O2200.24, Obj. 2200.20)
Filter tracking error
688.14 Current &
jerk feed-forward RMS
2100.2 Stiffness
2100.3 Damping
KI
-
T
-
K pv
681.6 Speed
Tracking error
681.10 Setpoint Speed
Kpv
2100.7 Velocity loop - "D" term
KD
The friction compensation helps the control to surmount static friction at low
setpoint speeds. The non linear characteristic line is partly compensated by this
and a smaller deadband can be chosen, which will increase the position accuracy.
The amplitude of the friction compensation depends on the application and must be
calculated if needed. If the value is set too high, corrective movements may result
and the tendency to oscillate is increased.
Commissioning window
In this chapter you can read about:
Load identification.......................................................................................................... 229
Setpoint generation ....................................................................................................... 229
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 inertia, it can be determined. For this, you
click on the corresponding button (see setup window no. 13). After the following
parameter entry, the identification can be started via the same button.
 For more detailed information on the load identification, see the device help,
chapter "load identification".
 This measurement requires the correct EMC or torque constant value Kt.
Setpoint generation
In this chapter you can read about:
Internal setpoint generation ........................................................................................... 229
External setpoint generation .......................................................................................... 231
The setpoints for the control loops are provided in two different ways - internally or
externally. The setpoint generation depends on the technology option of the device.
Internal setpoint generation
The internal setpoint generation can be used for the technology options >T10. In
this case, the internal setpoint generator generates the entire motion profile with
position, velocity, acceleration and jerk.
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Motion profile at jerk-controlled setpoint generation
xW
Position
nW
Velocity
aW
Acceleration
jW
Jerk
The drive cannot move randomly through hard profiles, as certain physical limits
exist for the acceleration ability due to the motor physics and the limitation of the
control variable. You must therefore make sure that the set movement corresponds
to the real physics of the motor and of the servo drive.
As a support you can take the following physical correlation.
The calculation of the physically possible acceleration
rotary drives
a[rps ²] =
MA:
ML:
Jtotal:
a:
Linear drives
M A [Nm] − M L [Nm]
2π ⋅ J ges [kgm ²]
Drive torque of the motor
Load torque of the motor
entire mass moment of inertia
possible acceleration
[ s ²] = F m[N ] −[kgF []N ]
am
A
L
ges
FA:
FL:
mtotal:
Drive force of a linear motor
Load force of a linear motor
Total mass of a linear motor
The generation of the setpoint profile is jerk-controlled and jerk-limited by the
specification of the jerk.
In practice, jerk-limited setpoint generation is important if the items to be moved
must be handled gently. In addition, the service life of the mechanical guiding
system will be extended. A separate setting of jerk and slope of the deceleration
phase also permits overshoot-free positioning in the target position. For this
reason, it is common practice to use higher values for acceleration and jerk in the
acceleration phase than in the deceleration phase. In consequence a higher cycle
rate can be achieved.
An additional important reason for the jerk limitation is the excitation of higher
frequencies due to the too high jerk in the power density spectrum of the velocity
function.
Jerk=1000°/s3
Time function:
230
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Setting up Compax3
Parker EME
Time function and power density spectrum of Compax3 setpoint generator
with different jerk settings
Power density over the frequency
The profile can be simply calculated and displayed for control purposes.
External setpoint generation
During external setpoint generation, the necessary feedforward signals are
calculated from the external setpoint with the aid of numerical differentiation and
final filtering.
Hint
For more detailed information on the external setpoint generation see device help
for T11/T30/T40 devices in the "setup" chapter Compax3\\optimization\\controller
dynamics\\signal filtering at external setpoint specification"
Test Move
In order to evaluate the behavior of the drive, test movements can be defined. For
this you jump into the parameter entry either with the aid of the “enter setup/test
movement parameters” or by selecting the parameter tab. Via the “setup settings”
menu you access the settings for the desired test movement.
The desired motion profile can be set via the parameters in the following window.
Proceeding during controller optimization
In this chapter you can read about:
Main flow chart of the controller optimization ................................................................. 232
Controller optimization disturbance and setpoint behavior (standard) ............................ 233
Controller optimization disturbance and setpoint behavior (advanced) ........................... 236
If the control behavior is not sufficient for the present application, an optimization is
required. We recommend the following approach:
Overview on the approach to setup + optimization
At first, the disturbance and setpoint behavior of the velocity loop at standstill and
at different displacement velocities is optimized (stiffness, attenuation, filter).
 After that, the necessary motion profiles are set via the setup tool and the desired
guiding behavior in the entire velocity range is set via the feedforward control
(motion profiles, feedforward).

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Main flow chart of the controller optimization
Start
Configuration of the application
Optimization of the error and
setpoint behavior
yes
Is a LCB actuator used?
Default:
1. Switch on advanced mode
2. Set bandwidth of current control to30%
3. Set stiffness to 70%
4. Set control signal filter to3000µs (only if no gear is present)
5. Activate VP and switch to standard
no
Energize
see chapter
“stability , attenuation”
Flash is a failure-save emory
no
Smooth, stable behavior?
Reduce stiffness (Obj. 2100.2) gradually by up to 80%.
Store into flash with Write Flash (WF)
yes
yes
Smooth, stable behavior
Optimizing the stiffness:
no
1. Standstill
• Increase stiffness until drive hums, then reduce by
20%
Check consistency of the entire system :
•
Wiring
•
Acquisition of the feedback system
•
Configuration (motor type, mass inertia, path/
motor revolution)
•
...
2. Move slowly over the the positioning range
•
Increase stiffness until drive hums, then reduce by
10%
3. Move quickly (e.g. operating speed) over the
positioning range
•
Check behavior and reduce stiffness further if
necessary
Further optimization necessary?
yes
no
See chapter “oscillating plants”
Is the controlled system oscillating ?
yes
no
Is the controlled system a direct drive?
(Torque motor, linear motor, PowerRod)
Standard
See chapter
“Controller optimization of toothed belt drive”
yes
no
Advanced
See chapter
“Controller optimization direct drive”
Standard
See chapter
“Controller optimization standard”
Standard
See chapter
“Controller optimization guiding behavior”
End
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respon se behavior
Setting up Compax3
Parker EME
Controller optimization disturbance and setpoint behavior (standard)
In this chapter you can read about:
Controller optimization standard .................................................................................... 234
Controller optimization of toothed belt drive ................................................................... 235
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Controller optimization standard
„Controller optimization standard
“
Select speed jerk response in the setup window /
tab “parameter), select the size of the jerk and
define jerk.
Respect the setpoint speed and the actual speed
Setpoint speed
Actual speed
Incrase attenuatin
Increase stiffness (Obj. 2100.2)
Adapt control signal filter according to the setting
rule (see chapter “control signal filter /...”)
(if needs be, change attenuation (Obj. 2100.3)
Setpoint speed
Actual speed
yes
Smooth, stable behavior?
no
Stabilize controller with the aid of
:
•
Decrease stiffness (Obj. 2100.2)
•
or/also reduce filter 2 speed actual value
(Obj. 2100.10)
•
or/also increase attenuation (Obj. 2100.3)
Setpoint speed
Actual speed
Additional filtering required?
(e.g. in the event of loud noise)
no
Setpoint speed
Actual speed
Setpoint speed
Actual speed
yes
Increase control signal filter of speed control
(Obj. 2100.20)
Followingerror
Please note that a stronger filtering may destabilize
the control loop Please try to find a compromise
between the signal quality (filtering ) and the
controller speed (stiffness )
Move over the entire positioning range, verify the
settings and correct if necessary.
Store settings with WF!
Further optimization necessary?
yes
no
Main diagram
234
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“Controller
optimization
Advanced”
Setting up Compax3
Parker EME
Controller optimization of toothed belt drive
•
“Controller optimization toothed belt drive”
•
•
Set absolute positioning in the setup window and move over
the entire positioning range at a low speed.
Increase stiffness up to the tendency to oscillate and adapt
control signal filter (see chapter “control signal filter/..”)
•
•
•
•
The stiffness of a drive able to oscillate can be increased by using the
D-component. If the D-component is too large, the control is
destabilized.
Due to the twofold position differentiation, the D-component is rather
disturbed and may excite the control loop in the higher-frequency
range. The filtering of the d-component with the aid of the “filter2 of
actual acceleration value” can activate the higher-frequency
components at the cost of the dynamics.
The correct combination of the3 parameters will lead to the best
control results.
The D-component is set in%. The value range: 0...4000000%.
Values up to 5000 are common.
Increase D-component (Obj. 2100.7) of the speed
controller (in steps of 100%..500%) in order to
suppress the tendency to oscillate.
Smooth, stable behavior?
no
yes
Increase stiffness (Obj. 2100.2)
and adapt control signal filter according to the setting
rule (see chapter “control signal filter/...”)
yes
Smooth, stable behavior?
no
Increase filter 2 of actual acceleration value (Obj.
2100.11) in order to attenuate the higher-frequency
excitation of the speed controller caused by the
disturbed D component.
Please note: The filtering delays the signal and may
destabilize the control loop.
Smooth, stable behavior?
yes
no
The following measures can be helpful
:
•
Further increase filter 2 of actual acceleration value
or reduce again.
•
Reduce D-component
•
Reduce stiffness
•
Reduce control signal filter (speed controller)
Store settings with WF.
Main diagram
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Controller optimization disturbance and setpoint behavior (advanced)
In this chapter you can read about:
Controller optimization Advanced .................................................................................. 237
Flow chart controller optimization of a direct drive.......................................................... 238
Controller optimization guiding transmission behavior.................................................... 239
236
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Parker EME
Controller optimization Advanced
„Controller optimization Advanced“
Observer technology
Observer time constant (Obj. 2120.1) >=125µs
(the higher the value, the slower the observer)
Select speed jerk response in the setup window /
tab “parameter”, select the size of the jerk and
specify the jerk.
Respect the setpoint speed and the actual speed
1.)
Vary “observer time constant” (Obj. 2120.1)
increase “stiffness” (Obj. 2100.2) until the optimum is
reached
2.)
In systems with high friction, reduce “attenuation”
(Obj. 2100.3) and increase “stiffness” (Obj. 2100.2)
until the optimum is reached.
3.)
In the event of optimization to speed constancy,
increase “attenuation” (Obj. 2100.3) and reduce
“stiffness” as far as necessary (Obj. 2100.2) until the
optimum is reached.
4.)
Disturbance (Obj. 2120.7) in connection with the
“filter of observed disturbance” (Obj. 2120.5)
may cause further improvements.
Smooth, stable behavior?
yes
no
Stabilize controller with the aid of:
•
Decrease stiffness (Obj. 2100.2)
•
or/also reduce observer time constant (Obj. 2120.1)
•
or/also reduce control signal filter (Obj. 2120.1)
•
or/also modify attenuation (Obj. 2100.3)
•
Vary filter of observed disturbance (Obj. 2120.5) or switch off
disburbance (reduce stiffness before!)
Move over the entire positioning range, verify the
settings and correct if necessary.
Store settings with WF!
Main diagram
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Setting up Compax3
C3I30T11 / C3I31T11
Flow chart controller optimization of a direct drive
“Controller optimization direct
drive”
See chapters:
-“Control measures for
drives iinvolving friction”
Is it a PowerRod?
yes
no
Status controller with disturbance torque
-“Observer time constant” (Obj. 2120.1) >=125µs
(the higher the value, the slower the observer)
- “Activate disturbance value” (Obj. 2120.7)=1
Default settings for PowerRod:
1.) “following error filter” (Obj. 2200.24) = 1470µs
2.) “following error dead zone” (Obj. 2200.20) = 0.025 mm
3.) “Friction feedforward” (Obj. 2200.21) = 0 mA
Vary the default settings if needs be.
Select speed jerk response in the setup window /
tab “parameter), select the size of the jerk and
define jerk.
Respect the setpoint speed and the actual speed
“Controller
optimization
standard”
1.) “Observer time constant” (Obj. 2120.1) and Vary filter of
observed disturbance (Obj. 2120.5) increase “stiffness” (Obj.
2100.2) until the optimum is reached
2.) In systems with high friction, reduce “attenuation” (Obj.
2100.3) and increase “stiffness” (Obj. 2100.2) until the
optimum is reached.
3.) In the event of optimization to speed constancy,
increase “attenuation” (Obj. 2100.3) and reduce “stiffness” as
far as necessary (Obj. 2100.2) until the optimum is reached.
Smooth, stable behavior?
yes
no
Stabilize controller with the aid of:
• Decrease stiffness (Obj. 2100.2)
• or/also reduce observer time constant (Obj. 2120.1)
• or/also reduce control signal filter (Obj. 2120.1)
• or/also modify attenuation (Obj. 2100.3)
Move over the entire positioning range, verify
the settings and correct if necessary.
Store settings with WF!
Main diagram
238
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Parker EME
Controller optimization guiding transmission behavior
Controller optimization guiding behavior
Specify travel parameters (20% of the final speed)
and activate movement cycle
Evaluation of the signals with the aid of the software
oscilloscope :
Recommendation(signals):
1.) Setpoint speed of setpoint generator (Obj. 681.4)
2.) Actual speed filtered (Obj. 681.9)
3.) Target current r.m.s.( torque-producing ) (Obj. 688.18)
4.) Following error (Obj. 680.6)
yes
Control result OK?
(Following error...)
no
Current threshold?
yes
Reduce acceleration/deceleration or
increase current threshold.
no
Setpoint velocity
Optimization with the feedforward
parameters:
1.) Acceleration feed-forward
2.) Current feed-forward
3.) Jerk feed-forward
Actual velocity
Following error
Setpoint current
Setpoint velocity
Final speed reached?
Actual velocity
Setpoint velocity
Actual velocity
Setpoint current
Following error
Setpoint current
yes
no
Following error
Acceleration feed
forward=100%
Increase setpoint speed by 10%-20%
Acceleration feed
forward=90%
Main diagram
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Setting up Compax3
4.4.4.
C3I30T11 / C3I31T11
Signal filtering with external command value
In this chapter you can read about:
Signal filtering for external setpoint specification and electronic gearbox........................240
Signal filtering for external setpoint specification and electronic cam ..............................241
The command signal read in from an external source (via HEDA or physical input)
can be optimized via different filters.
For this the following filter structure is available:
4.4.4.1
Signal filtering for external setpoint specification and
electronic gearbox
Does not apply for Compax3I11T11!
if v,a exist*
accel
accel
true
SSI
680.10
2011.4
2011.5
2110.7
681.4
2(v,a)
TRF
B
2020.1(x)
Physical
speed
speed
true
+/-10V
3(x,v,a)
685.3
2107.1
2000.2, .5, .8
Virtual
Master
TRF
1(x) 2
HEDA
6
4
Structure
E
of Gearing
x
a
v
2110.6
680.12
2110.1
position
RS
1141.7 (x)
1141.8 (v)
3921.7(x)
3921.1
CANSync
PowerLink
EtherCat
D
5
2109.1
3(x,v,a)
TRF
SG1
1141.4
3920.7
3920.1
HEDA
3(x,v,a)*
Interpolator
3925.1
240
682.4
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Control structure
2020.3 accel
2020.2 speed
C3SM
680.25 Wizard
680.4
Setting up Compax3
Parker EME
* Speed v and acceleration a are only present in the event of linear interpolation
(bus interpolator: O3925.1) if they are provided by an external source.
In quadratic or cubic interpolation, v and a are emulated.
B: Structure image of the signal processing,
D/E: Structure of Gearing
Control structure (see on page 209, see on page 215, see on page 216)
Symbols
Tracking filter
TRF
The displayed filter influences all outputs of the tracking filter.
Number: Object number of the filter characteristic
2110.1
Differentiator
Output signal = d(input signal)/dt
The output signal is the derivation (gradient) of the input signal
Filter
Number: Object number of the filter characteristic
Interpolation
Linear Interpolation.
Values in the 500µs grid are converted into the more exact time
grid of 125µs.
interpolation
500µs => 125µs
Note:
A setpoint jerk setpoint feedback is not required for external setpoint
specification.
 The description of the objects can be found in the object list.

4.4.4.2
Signal filtering for external setpoint specification and
electronic cam
Only Compax3 T40!
2020.3 accel
682.4
accel
SSI
accel
680.10
2011.4
+/-10V
2011.5
TRF
B
2020.1(x)
Physical
685.3
2107.1
TRF
HEDA
HEDA
2000.2
0
2
1
D
5
Structure
E
of Cam
681.4
speed
TRF
SG1
3021.1
3920.7
3920.1
2110.7
speed
2110.6
680.12
2110.1
Control structure
2020.2 speed
C3SM
680.25 Wizard
position
2109.1
RS
Virtual
Master
3021.2
3921.1
CANSync
PowerLink
EtherCat
680.4
3921.7(x)
Interpolator
3925.1
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Setting up Compax3
C3I30T11 / C3I31T11
B: Structure image of the signal processing,
D/E: Structure of Cam
Control structure (see on page 209, see on page 215, see on page 216)
Symbols
Tracking filter
TRF
2110.1
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 output signal is the derivation (gradient) of the input signal
Filter
Number: Object number of the filter characteristic
Interpolation
Linear Interpolation.
interpolation
500µs => 125µs
Values in the 500µs grid are converted into the more exact time
grid of 125µs.
Note:
A setpoint jerk setpoint feedback is not required for external setpoint
specification.
 The description of the objects can be found in the object list.

242
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4.4.5.
Input simulation
In this chapter you can read about:
Calling up the input simulation .......................................................................................243
Operating Principle ........................................................................................................244
Function
The input simulation is used for the performance of tests without the complete
input/output hardware being necessary.
The digital inputs (standard and inputs of M10/M12 option) as well as the analog
inputs are supported.
The following operating modes are available for digital inputs:
 The physical inputs are deactivated, the digital inputs are only influenced via the
input simulation.
 The digital inputs and the physical inputs are logically or-linked.
This necessitates very careful action, as the required function is, above all with
low-active signals, no longer available.
The pre-setting of an analog input value is always made in addition to the physical
analog input.
The function of the inputs depends on the Compax3 device type; please refer to
the respective online help or the manual.
The input simulation is only possible if the connection with Compax3 is
active and if the commissioning mode is deactivated!
4.4.5.1
Calling up the input simulation
Open the optimization window (double click in the C3 ServoManager tree entry:
Optimization).
Activate the Tab “Setup” in the right lower window.
Clicking on the following button will open a menu; please select the input
simulation.
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4.4.5.2
Operating Principle
Window Compax3 InputSimulator:
1. Row:Standard Inputs E7 ... E0 = “0” button not pressed; = “1” switch pressed
2. Row: Optional digital inputs (M10 / M12)
Green field: port 4 is defined as input
Red field: port 4 is defined as output
the least significant input is always on the right side
3. Row: If the button “deactivating physical inputs” is pressed, all physical, digital
inputs are deactivated; only the input simulation is active.
If both sources (physical and simulated inputs) are active, they are or-linked!
Caution!
Please consider the effects of the or-linking; above all on low-active
functions.
4. Row:Simulation of the analog inputs 0 and 1 in steps of 100mV.
The set value is added to the value on the physical input.
After the input simulation has been called up, all simulated inputs are on “0”.
When the input simulation is left, the physical inputs become valid.
244
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4.4.6.
Setup mode
The setup mode is used for moving an axis independent of the system control
The following functions are possible:
 Homing run
 Manual+ / Manual Activation / deactivation of the motor holding brake.
 Acknowledging errors
 Defining and activating a test movement
 Activating the digital outputs.
 Automatic determination of the load characteristic value (see on page 247)
 Setup of the load control (see on page 161)
Activating the commissioning mode
By activating the setup mode, the device function is deactivated; the system
function of the device is no longer available.
Access via an interface (RS232/RS485, Profibus, CANopen,...) and via digital
inputs is deactivated. (if necessary, acyclic communication ways are nevertheless
possible (e.g. Profibus PKW channel)
Caution!
The safety functions are not always guaranteed during the setup mode!
This will for instance lead to the fact that the axis may trundle to a stop if
the Emergency stop button is pressed (interruption of the 24 V on C3S
X4.3), which requires special caution with z axes!
In the Commissioning window (left at the bottom) the commissioning mode is
activated.
 Then parameterize the desired test movement in the Parameter window.
You can accept changed configuration settings into the current project.
 Now energize drive in the commissioning window and start the test movement.

Caution! Safeguard the travel range before energizing!
Deactivating the commissioning mode
If the setup mode is left, the drive is deactivated and the the device function is reactivated.
Note:

The parameters of the commissioning window are saved with the project and are
loaded into Compax3 if the commissioning mode is activated (see explanation
below).
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4.4.6.1
Motion objects in Compax3
The motion objects in Compax3 describe the active motion set.
The motion objects can be influenced via different interfaces.
The following table describes the correlations:
Source
active motion objects
==>
describe
<==
read
Set-up
==>
(working with the commissioning
window)
<==
Compax3 ServoManager project
==>
Fieldbus (Compax3 I2xTxx)
IEC61131-3 program
With the "accept entry" button.
The current project gets a motion set.
Download by activating the motion
 When opening the commissioning
Active motion
window of a new project for the first
objects:
time.
 Position [O1111.1]
 Activated via the "Upload settings
from device" button (bottom at the left  Speed [O1111.2]
 Acceleration
side).
[O1111.3]
 C3IxxT11: via an activated motion
 Deceleration
set
[O1111.4]
 C3I2xT11: via a configuration
 jerk* [O1111.5]
download
(Acceleration)
 Jerk* [O1111.6]
(Deceleration)
For Compax3 I2xT11:
 via a configuration upload
* for IxxT11  in the commissioning window via
devices, both jerk
"accept configuration"
values are identical


<==
==>

Changing the motion objects directly
<==

Reading the motion objects
==>

via positioning modules
(Compax3 IxxT30, IxxT40)
246
Compax3 device
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Parker EME
4.4.7.
Load identification
In this chapter you can read about:
Principle .........................................................................................................................247
Boundary conditions ......................................................................................................247
Process of the automatic determination of the load characteristic value (load identification)248
Tips................................................................................................................................249
Automatic determination of the load characteristic value:
 of the mass moment of inertia with rotary systems
 of the mass with linear systems
4.4.7.1
Principle
The load characteristic value is automatically determined.
For this it is necessary to excite the system additionally with a signal (excitation
signal = noise).
The excitation signal is fed into the control loop. The control loop dampens the
excitation signal. Therefore, the superimposed control loop is set so slowly by
reducing the stiffness, that the measurement is not influenced.
A superimposed test movement is additionally possible. This helps to eliminate
possible mechanical effects such as rubbing 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 following factors can disturb a measurement:
 Systems with high friction (e.g. linear actuators with sliding guide)
Here, the systems where the static friction is considerably higher than the kinetic
friction (slip-stick effect) are especially problematic.
 Systems with significant slack points (play)
 Systems with "too light" or susceptible to oscillation bearing of the total drive
(rack).
Formation of rack resonances. (e.g. with gantries,...)
 Non constant disturbance forces which influence the speed development. (e.g.
extremely strong slot moments)
The effects of the factors one to three on the measurement can be reduced by
using a test movement.
Caveat emptor (exclusion of warranty)
Due to multiple possibilities for disturbing influences of a real control path, we
cannot accept any liability for secondary damages caused by faultily determined
values. Therefore it is essential to verify all values automatically determined before
loading them into the control loop.
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Setting up Compax3
C3I30T11 / C3I31T11
4.4.7.3
Process of the automatic determination of the load
characteristic value (load identification)
Please click on "unknown: default values are used" in the configuration wizard in
the "External moment of inertia" window.
 After the configuration download, you can enter directly, that the optimization
window is to be opened.
 In the Commissioning window (left at the bottom) change to commissioning
mode.
 Finally enter the values of the excitation signal and of the test movement in the
parameter window.
Parameters of the excitation signal:
 Amplitude of the excitation signal in % of the motor reference current
Only an amplitude value causing a distinct disturbance can give a usable result.
 permissible following error
In order to avoid a following error caused by the excitation signal, the
permissible following error must be increased for the measurement if
necessary.
 Selection of the test movement: inactive, reverse, continuous
 Parameterizing of the test movement if necessary
 Now energize drive and open load identification window in the commissioning
window.

Caution! Safeguard the travel range before energizing!

Starting the load identification.
Caution! The drive will perform a jerky movement during load identification!

248
After the measurement, the values can be accepted. Depending on the
application, 2 measurements for minimum external load and maximum external
load are recommended.
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Parker EME
4.4.7.4
Tips
Tip
Problem
Measures
1
Speed too low
(with reverse operation)
Increase maximum speed and adapt travel
range*
2
Speed too low
(with continuous operation)
Increase maximum speed
3
Test movement missing
A test movement is important for drives with
high friction or with mechanical slack points
(play).
4
No error detected
Please note the boundary conditions (see
on page 247).
5
Speed too low and amplitude of Increase amplitude of the excitation signal;
the excitation signal too small
increase maximum speed and adapt travel
range*
(with reverse operation)
6
Speed too low and
amplitude of the excitation
signal too small
(with continuous operation)
 Test movement missing
 amplitude of the excitation
signal too small
amplitude of the excitation
signal too small


7
8
9
Following error occurred
Increase amplitude of the excitation signal;
increase maximum speed.
Increase amplitude of the excitation signal
or / and
 activate an appropriate test movement
Increase the amplitude of the excitation
signal.

Increase the parameter "permissible
following error" or decrease the amplitude of
the excitation signal.
*if the travel range is too short, the speed is not increased, as the drive does not
reach the maximum speed.
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Setting up Compax3
4.4.8.
C3I30T11 / C3I31T11
Alignment of the analog inputs
In this chapter you can read about:
Offset alignment .............................................................................................................250
Gain alignment...............................................................................................................250
Signal processing of the analog inputs ...........................................................................251
There are two possibilities to align the analog inputs in the optimization window:
 Wizard-guided under commissioning: Commissioning functions (click on the
yellow triangle with the left mouse button:
Caution!
This wizard guided automatic alignment does not work if you bridge Ain+ with
Ground for the alignment!
In this case, please make a manual alignment as described below.
or
 by directly entering under optimization: Analog input
4.4.8.1
Offset alignment
Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input Offset [170.4].
Enter the offset value for 0V input voltage.
The currently entered value is shown in 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.
4.4.8.2
Gain alignment
Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: Analog input: Gain [170.2].
A gain factor of 1 has been entered as default value.
The currently entered value is shown in the status value “analog input” (optimizing
window at the top right).
The status value "analogue input" shows the corrected value.
250
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4.4.8.3
Signal processing of the analog inputs
Precise
interpolation
B
T
Analog 0
X11/9 +
X11/11-
Actual
value
monitoring
config
+
170.4
170.2
170.3
685.4
Analog 1
X11/10+
X11/2-
Actual
value
monitoring
685.3
+
171.4
171.2
171.3
B: Continuative structure image (see on page 240)
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Setting up Compax3
4.4.9.
C3I30T11 / C3I31T11
C3 ServoSignalAnalyzer
In this chapter you can read about:
ServoSignalAnalyzer - function range ............................................................................252
Signal analysis overview ................................................................................................253
Installation enable of the ServoSignalAnalyzer...............................................................254
Analyses in the time range .............................................................................................256
Measurement of frequency spectra ................................................................................259
Measurement of frequency responses ...........................................................................262
Overview of the user interface........................................................................................269
Basics of frequency response measurement ..................................................................283
Examples are available as a movie in the help file .........................................................288
4.4.9.1
ServoSignalAnalyzer - function range
The function range of the ServoSignalAnalyzer is divided into 2 units:
Analysis in the time range
This part of the function is freely available within the Compax3 ServoManager.
The Compax3 ServoManager is part of the Compax3 servo drive delivery range.
Analysis in the frequency range
This part of the function requires a license key which you can buy (see on page
254).
The license is a company license and must only be bought once per company.
For each PC you need however an individual key, which you can request
individually.
252
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Parker EME
4.4.9.2
Signal analysis overview
The ServoSignalAnalyzer offers three basic methods of analyzing systems:
Analysis in the time range by measuring the step response
Spectral analysis of individual signals
 Measurement of frequency response (Bode diagram) of the position control or of
individual parts of the control as well as of the control path
These functions are available in the Compax3 ServoManager after the activation
(see on page 254) with the aid of a system-dependent key.


You do not require expensive and complex measurement equipment -> a
Compax3 device and a PC will do!
Basic structure of the signal analysis
Display of the
measurement
Anzeige der Messung
Controller and Signal Processing
Steuerung & Signalverarbeitung
Signal
Generator
Superimposed
überlagertes
System
C3-SoftwareOscilloscope
+
Upload
System S
Input
open/closed Eingangs
Signal u(t)
Loop
G(f)
Output
Ausgangs
Signal y(t)
Systems / signals
Depending on the kind of measurement, the SignalAnalyzer can help analyze the
most different signals and systems.
Signal generator
This allows to inject different excitation signals (step, sine and noise signals) into
the control loop.
Superposed system
For different analyses, superposed systems must be manipulated in order to allow
a measurement. After the measurement, the changes made for this purpose are
reset
C3 software oscilloscope
With the aid of the software oscilloscope, the contents of different objects can be
registered and be loaded into the PC for further analysis.
Control and signal processing
The control of the entire measurement as well as the processing of the uploaded
sample data are made in the PC.
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4.4.9.3
Installation enable of the ServoSignalAnalyzer
In this chapter you can read about:
Prerequisites ................................................................................................................. 254
Installation ..................................................................................................................... 254
Activation....................................................................................................................... 254
Prerequisites


Compax3 with up-to-date controller board (CTP 17)
Firmware version R06-0 installed
Installation


Execution of the C3 ServoManager Setup (on CD)
If the firmware 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 software activation is required.
Please observe:
The activation is only valid for the PC on which it was performed!
Caution!: If the PC disposes of network adapters which are removed at times (e.g.
PCMIA cards or notebook docking stations), these adapters should be removed
before generating the key!
In order to activate the ServoSignalAnalyzer, please follow these steps:
 Start the Compax3 ServoManager.
254
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Select the Select the C3 ServoSignalAnalyzer in the function tree under
optimization.
In the right part of the window you can see the note that no key file was found.
 A double click on the preselected C3 ServoSignalAnalyzer will generate a
system-dependent key.

Acknowledge with OK and enter the key, which is on your clipboard, into an email, which you please send to [email protected]
(mailto:[email protected]).
 After receipt of the reply, copy the attached file "C3_SSA.KEY" into the C3
ServoManager directory (C:\\Programs\\Parker Hannifin\\C3Mgr2\\).
 => the software is activated.

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4.4.9.4
Analyses in the time range
Selection and parameterization of the desired analysis function
Exemplary step function
step Value = Step Size
The following functions are available:
256
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Parker EME
Position demand value step: For analysis of the demand value behavior of
the position control
Step value < (admissible motion range / 2)
=> even a 100% overshoot does not incite an error message
Speed demand value step: For analysis of the demand value behavior of the
speed control
The position control is switched off during the measurement, this might lead in
exceptional cases to a slow drift of the position.
Furthermore you should make sure that the selected speed step value corresponds
to the parameterized admissible motion range.
Step value < (admissible motion range / time of measurement)
with time of measurement > 2s
Current demand value step: For analysis of the demand value behavior of the
current control
The current setpoint jerk 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 measurement =>
no measurement on z-axes!
Disturbance torque / force step response: For analysis of the disturbance
value behavior of the control
The step of an external disturbance force is simulated and the reaction of the
controller is registered.
Shaker function
For this, a sine signal is injected to the current which is used to excite the mechanic
system. This allows to analyze the oscillation behavior - what oscillates at which
frequency.
Basic settings of the analysis functions:
Maximum torque / maximum current / maximum speed (display):
This is used as a lead for the selection of a suitable step value and indicates which
maximum step value is possible.
Step value:
Gives the value of a step.
Permissible motion range (+/-):
Indication, in which position window the axis may move during the analysis.
 This range is not left even in the event of an error.
 If the drive approaches the limits of the motion range, the controller will
decelerate so that the drive will come to a standstill within the permitted motion
range. The maximum permitted velocity is used to calculate the deceleration
ramp, therefore the drive stops even before reaching the range limits and reports
an error.
 Please make sure that a sufficiently large movement is set for the measurement
and that it will be reduced by a high maximum permitted velocity.

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
The motion range monitoring is 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 controller decelerates and
reports an error.
When measuring the velocity setpoint jerk, the maximum permitted velocity is set to
twice the step height.
Setting and automatic start of the oscilloscope:
After pressing "accept entries", the parameters of the oscilloscope (such as
scanning time and the assignment of the individual channels) are automatically set
to default values according to the respective step value.
When starting the step function, the oscilloscope is automatically started.
Start of the measurement
The start of the step function is made with the aid of the highlighted button.
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4.4.9.5
Measurement of frequency spectra
In this chapter you can read about:
Functionality of the measurement .................................................................................. 259
Leak effect and windowing ............................................................................................ 260
Please note that you require a license key (see on page 254, see on page 252)
for this application!
Functionality of the measurement
Measurement of the spectral analysis
Controller & Signal Pocessing
Steuerung & SignalVerarbeitung
Signal u(t)
System S1
C3-SoftwareOscilloscope
V(f)
Amplitude spectrum
Amplitudenspektrum
Upload
System S2
During the spectral analysis of scanned signals with the aid of the discrete Fourier
transformation, a so-called frequency resolution (Df) results, Df being =fA/N,
independently of the scanning frequency (fA) and of the number of measurement
values used (N).
The spectra of scanned signals are only defined for frequencies, which are an
integer multiple of this frequency resolution.
Interpretation of the frequency spectrum
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Leak effect and windowing
If frequencies not corresponding to the frequency resolution are present in the
analyzed spectrum, the so-called leak effect can be caused.
Display of the leak effect with the aid of a 16 point discrete Fourier transformation
Complete oscillation period in the scanning
period
Envelope without leak effect
Non complete oscillation period in the scanning
period
Envelope with leak effect
Sine at 200Hz without windowing
Consequence of the leak effect shown at the example of a sine signal.
(fA=4000Hz; N=500; => ∆f=8Hz
f0=200Hz = 25*∆f frequency corresponds to the frequency-resolution
The sine frequency is exactly on a multiple of the frequency resolution (200Hz /
8Hz=25). The spectrum is clearly separated and there are no leak effects visible.
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Parker EME
Sine at 204Hz
∆f=8Hz / f0=204Hz = 25.5⋅∆f / frequency does not correspond to the frequency
resolution!
The sine frequency has only minimally changed, due to which it does, however, no
longer match the frequency resolution (204Hz/8Hz=25.5) => leak effect
Two consequences are visible:
The spectrum is faded in the ranges at the right and at the left of the sine
frequency. In this range, an amplitude is displayed, even though these
frequencies are not contained in the real signal.

The height of the peak of the sine frequency is reduced, => it seems as if the
signal energy is leaking out and distributing over the spectrum. This explains the
term leak effect.
Windowing
With the aid of the windowing, leak effects can be avoided. There are many
different kinds of windowing, who do all have the same restrictions.
 windowing reduces the total energy of the analyzed signal, which results in a
reduced amplitude of all measured frequencies.
 Individual frequency peaks do not appear so sharp and narrow as with
measurements without windowing.
Sine at 200Hz and 204Hz with Hanning windowing
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4.4.9.6
Measurement of frequency responses
In this chapter you can read about:
Safety instructions concerning the frequency response measurement ........................... 262
Functionality of the measurement .................................................................................. 262
Open/Closed Loop frequency response measurement .................................................. 264
Excitation Signal ............................................................................................................ 265
Non-linearities and their effects ..................................................................................... 266
Please note that you require a license key (see on page 254, see on page 252)
for this application!
Safety instructions concerning the frequency response measurement
During the measurement of the frequency response, the control is changed and
influenced in multiple ways. You should therefore respect the following notes:
 During the measurement, the entire system is excited via a broad frequency
spectrum. This might damage especially sensitive components (such as lenses)
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 can only be made in the setup
mode with energized controller.
 During the current measurement (between start and stop of the measurement),
no write flash may be executed.
 In the event of a break in communication during the measurement, the controller
must be switched off and then on again in order to reestablish the original status.
 Changes of the controller parameters during the measurement are not permitted.
Those may be overwritten by standard values when the measurement is
terminated.
Functionality of the measurement
Basic structure of a frequency response measurement
V(f)
Signal Processing
Signalauswertung
Signal
Generator
Superimposed
überlagertes
System
262
C3 SoftwareOscilloscope
+
Input
open/closed Eingangs
Signal u(t)
Loop
System S
G(S)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
ϕ(f)
Upload
Output
Ausgangs
Signal y(t)
Amplitude spectrum
Aplitudenspektrum
Phase spectrum
Phasenspektrum
Setting up Compax3
Parker EME
In general, the analysis of the dynamic behavior of a system is made by analyzing
the input and output signals.
If you transform the input signal as well as the output signal of a system into the
range (Fourier transformation) and then divide the output signal by the input signal,
you get the complex frequency response of the system.
G (s ) =
Y (s )
U (s )
F
y (t ) →
Y (s )
with
F
u (t ) →
U (s )
A problem are, however, superimposed systems (the control)
Course of the measurement
Superimposed controls are switched of (open Loop) or attenuated
 The excitation signal is injected in front of the system to be measured with the aid
of the signal generator. Wait, until the system settled.
 Execution of the measurement: Registration of input and output signal with the
aid of the oscilloscope.
 Upload of the measurement values from the controller into the PC.
 Processing of the measurement values into a frequency response
 If a cumulated measurement is configured: Averaging over several frequency
responses.
During cumulated measurement, an average is taken over all measurements in the
result memory and the result is then put out.

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Open/Closed Loop frequency response measurement
In order to be able to analyze the transmission behavior of subordinate systems
(such as for example speed control, current control or mechanical system), the
influence of the superposed controls on the measurement must be avoided.
Influence of a superposed system on the frequency response measured
In the simplest case, the superposed controls are switched off completely (Open
Loop) This provides the best measurement results due to the elimination of any
influence caused by the superposed controls.
This is, however, rarely possible 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 analyze for example the mechanic system of a z-axis, the position
control as well as the speed control must remain active.
In systems subject to friction it may be necessary in order to improve the quality of
the measurement, to move the system with a superimposed speed (see on
page 267), which is however only possible with a closed loop measurement.
Influence of an active superposed control on the result of the measurement
At the left without, at the right with the influence of the superposed control
In order to attenuate the influence of the superposed controls, the controller
bandwidth is reduced to such an extent, that their influence on the measurement is
negligible.
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Parker EME
Excitation Signal
In order to be able to analyze the behavior of the system at individual frequencies,
it is necessary that these frequencies can be measured in the input signal as well
as in the output signal. For this, a signal generator excites all frequencies to be
measured. For this applies, that the signal noise distance of the measurement is
the larger, the larger the excitation of the system.
High noise distance => 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 small amplitude and increase the amplitude slowly during the current
measurement until the result of the measurement shows the desired quality.
Influence of the excitation amplitude on the quality of the measurement
results
Left: Too small amplitude of the excitation signal (7.3mA)
Right: Suitable amplitude of the excitation signal (73mA)
In the case of non-linearities in the system, an increase in the excitation may
however lead to a decline of the quality of the measurement (see on page 266).
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Non-linearities and their effects
In this chapter you can read about:
Attenuation of the excitation amplitude .......................................................................... 266
Shifting the working point into a linear range.................................................................. 267
Non-linearities in mechanical systems are for example due to friction, backlash or
position-dependent transmissions (cams and crankshaft drives). In general, the
frequency response is only defined for linear systems (see 7.2 (see on page 284)).
What happens in the frequency range in the event of a non-linear system, is shown
below.
Signal amplitude too high => non-linearity in the signal range
Due to the non-linear transmission behavior of the system, many "new" frequencies
were generated in the output signal. In the frequency response, only one change of
the frequency present in the input signal can be displayed meaningfully.
=> The frequencies generated in the spectrum of the output signal lead to a
deterioration of the measured frequency response.
There are however two possibilities to make successful measurements of
frequency responses in spite of non-linearities present:
Attenuation of the excitation amplitude
Signal amplitude too small => no non-linearity in the signal range
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Parker EME
The signal range is reduced so that approximately linear conditions are valid. The
results of the measurement will then display the dynamic behavior at the working
point.
Example cam drive:
If the drive moves considerably (e.g. 180°) during the measurement, the behavior
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 only by a few degrees, the
behavior of the system at this working point will be approximately constant.
An exact measurement is the result.
Shifting the working point into a linear range
Signal amplitude large with offset => no non-linearity in the signal range
For this, the signal range is shifted so that approximately linear conditions are valid
=> the results of the measurement show the dynamic behavior at the working point.
Example rubbing caused by friction:
In systems subject to a distinct transition between rubbing caused by friction and
sliding friction, the rubbing force will reduce abruptly as soon as the drive is moved
(v>0). With a motor at standstill, the excitation signal will cause a multiple passing
through the range of rubbing friction during measurement. Due to the non-linearity
in the signal range, the resulting measurement will be inexact.
If the drive moves, however, fast enough during the measurement, so that the
speed will not become zero during the measurement, the system remains in sliding
friction and a precise measurement can be obtained.
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Optimal measurement with rubbing friction
t
±Vstimulation
v
vtest move
vtest move
±Vstimulatio
v
static friction
t
Vtest move: Speed of the test movement
Vstimulation: Speed of the excitation signal
static friction: Static friction
Example backlash: (for example in gearboxes)
Here, non-linearities are caused, if the tooth edges will turn from one side to the
other during measurement. The reason for this is a change of the sign of the force
transmitted by the gearbox.
In order to avoid this, you can try to transmit a constant torque by keeping a
constant speed and to avoid a change of the sign during the measurement by
choosing a relatively small excitation amplitude.
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4.4.9.7
Overview of the user interface
In this chapter you can read about:
Selection of the signal or system to be measured. ......................................................... 269
Frequency settings ........................................................................................................ 274
Speed control ................................................................................................................ 274
Other settings ................................................................................................................ 277
Operating and status field .............................................................................................. 279
Display of the measurement result ................................................................................ 281
Display of the measurement point at the cursor position ................................................ 282
(1) Selection of the signal or system to be measured (see on page 269)
(2) Frequency settings (see on page 274)
(3) Other settings (see on page 277)
(4) Operating and status field (see on page 279)
(5) Display of the measurement result (see on page 281)
(6) Display of the measurement point at the cursor position (see on page 282)
Selection of the signal or system to be measured.
In this chapter you can read about:
Current control ............................................................................................................... 270
Mechanical system ........................................................................................................ 270
Position control .............................................................................................................. 272
With the aid of the tree structure, you may select what you want to measure. Here,
the selection is made, if a frequency spectrum or a frequency response is to be
measured.
The shown structures are simplified in such as all feedbacks are displayed without
special transmission behavior. This is surely not the case in reality, serves however
a better overview.
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Current control
Closed current control
Shows the dynamic behavior of the closed current control.
=> How a signal on the current demand value is transmitted to the current actual
value.
(response)
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:
During the optimization of the current control for verification

for the design of superposed controllers.
Mechanical system
Current to velocity
Shows the dynamic behavior between the measured current actual value and the
velocity actual value
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
current controlled
system
actual velocity
actual position
270
1
2*Pi*J
actual
position
TeM
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
velocity controlled
system
position
controlled
system
Setting up Compax3
Parker EME
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
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 behavior of the mechanic system
Current to position
Shows the dynamic behavior between current actual value and position actual
value.
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:

for the analysis of the dynamic behavior of the mechanic system
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Position control
Closed position control
Shows the dynamic behavior of the closed position control.
=> How a signal on the position demand value is transmitted to the position actual
value.
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:
For the design of superposed controllers or systems.


For the verification of the obtained controller speed during optimization
for the revision of the controller design of the position control
open position control
Shows the dynamic behavior of all components in the position control loop, but
without closing it.
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
current controlled
system
velocity controlled
system
actual velocity
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
272
actual
position
TeM
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
position
controlled
system
Setting up Compax3
Parker EME
Application:

For the graphic design of the position control.
Compliance of Position control
Shows the dynamic disturbance value behavior of the position control.
=> which dynamic influence does a disturbance torque have on the following error.
The disturbance toque is injected as disturbance current => this corresponds to the
effect of a disturbance torque f
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:
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 ?
 The frequency response of the compliance corresponds to the disturbance step
response in the time range


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Frequency settings


(1) start frequency
 This is the smallest frequency at which is still measured. During the measurement
of frequency spectrum and noise frequency response this results automatically
from the bandwidth and is only displayed as an information.
(2) End (bandwidth)
This corresponds to the highest frequency which is measured. Start frequency as
well as the frequency resolution can be varied with the aid of the bandwidth for
frequency spectrum and noise frequency response.

(3) Frequency resolution (see on page 259)
 During the measurement of frequency spectrum and noise frequency response
this results automatically from the bandwidth and is only displayed as an
information.
Speed control
Closed velocity control
Shows the dynamic behavior of the closed velocity control.
=> How a signal on the velocity demand value is transmitted to the velocity actual
value.
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
current controlled
system
velocity controlled
system
actual velocity
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
274
actual
position
TeM
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
position
controlled
system
Setting up Compax3
Parker EME
Application:


During the optimization of the velocity control for verification
For the design of superposed controllers.
Open velocity control
Shows the dynamic behavior of all components in the velocity control loop, but
without closing it.
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:
For the graphic design of the velocity control.
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Compliance of velocity 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 toque is injected as disturbance current => this corresponds to the
effect of a disturbance torque f
Signal
generator
Frequency
response
measurement
f: disturbance torque
desired
position
-
Position
controller
-
Velocity
controller
-
Current
controller
actual current
Kt
1
2*Pi*J
actual
position
TeM
current controlled
system
velocity controlled
system
actual velocity
position
controlled
system
actual position
Signal generator
Position controller
actual position
desired position
Velocity controller
actual velocity
Current controller
actual current
current controlled system
f: disturbance torque
velocity controlled system
position controlled system
Frequency response measurement
Signal Generator
Lageregler
Lageistwert
Lagesollwert
Geschwindigkeitsregler
Geschwindigkeitsistwert
Stromregler
Stromistwert
Stromregelstrecke
Störmoment
Geschwindigkeitsregelstrecke
Lageregelstrecke
Frequenzgangmessung
Application:
Verification of the disturbance value behavior of the velocity control
Which velocity deviation generates a sinusoidal disturbance torque / disturbance
current with the frequency fZ ?
 The frequency response of the compliance corresponds to the disturbance step
response in the time range


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Other settings
(1) Excitation
Serves to set the excitation signal of the frequency response measurement.
(2) Permissible following error (only for frequency response measurement)
The resulting following error is increased by the injection of the excitation signal
during the frequency response measurement. In order to allow for this, the
permissible following error window can be enlarged so that the measurement can
be made. After the end of the measurement, this is reset to the original value.
(3) Selection of the kind of analysis of the measurement results
Depending on the fact whether frequency spectra or 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 response
(d) noise frequency response cumulated
Non cumulated measurement (a & d)
The measured data are displayed directly. This is especially suitable if you wish to
analyze the effects of changes on the measurement results directly and promptly.
The disadvantage is however a smaller noise distance (quality) and an increased
sensitiveness of the measurement towards unique disturbances.
Cumulated measurement (b & e)
An average is taken from all measurements in the result memory. This reduces the
influence of random signals and disturbances extremely (improvement of the
quality). The number of measurements from which the average is taken, is set with
the Size of the result memory (see on page 279).
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Comparison of two frequency spectra without and with cumulation
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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 during an acceleration process
This kind of display is suitable for the analysis of temporal changes in the
measured spectrum.
Operating and status field
(1) Start and Stop of the measurement
(2) Status display
Current status of the measurement or of the controller (if no measurement is taking
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 up to one minute.
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(4) status of the activity of the different partitions of the measurement
a: Registration of the measurement in the controller
b: Upload of the measurement from the controller to the PC
c: Processing the measurement in the PC
(5) Different settings and options
Functions available in a pull-down menu:
Open superimposed control loops (see on page 264)
accept load force
This serves, when opening the velocity controller, to accept the load which the
controller has provided at the time of switching off => a z-axis does not drop down
abruptly.
Measurement synchronous to the test movement
If this option is selected, it is ensured during the measurement, that the sampling
does not take place in the turning point during a movement.
Unless frequencies are generated due to the deceleration/acceleration of the drive,
which influence the measurement.
Result memory
In the result memory, the results of the N last measurements are kept.
This is important for the display of the cumulated measurement and for the
cascade diagram. The larger the memory, the "older" the results still used. When
the contents is deleted, all old measurements are discarded and do no longer
influence the new results.
Windowing (see on page 260)
Here you can select different windowing modes for the measurement of frequency
spectra. As default, no window is used.
Save measure to file
The currently displayed measurement result is stored and can be uploaded later
into the ServoSignalAnalyzer. This does, however, not apply to the cascade
diagram display.
Open measure from file
Here you can reload the measurements memorized before. You have the
possibility to load up to four measurements subsequently and display them
together in a graphic display.
Copy measurement to clipboard as graphic display.
The currently displayed measurement result is copied as pixel graphic (e.g. BMP)
to the clipboard.
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Display of the measurement result
Frequency spectra
Bode diagrams: Value and phase
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By clicking with the left mouse button on the legend, this can be shifted by 90°.
By clicking on the color bar, the color of the respective graph can be modified.
Cascade diagrams
By clicking with the left mouse button on the color scale, you can change between
autoscale mode and fixscale mode.
AutoScaleMode:
In this mode, the scaling of the color scale is adapted automatically so that all
values can be displayed.
FixScaleMode:
Here, the scaling is fixed.
=> If, for instance, a considerably higher value than before is to be displayed, it is
simply displayed like the former maximum (red).
Display of the measurement point at the cursor position
The cursor is set by clicking on the left mouse button. All measurement data of the
selected cursor position (frequency) are displayed in the "cursor" operating field.
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4.4.9.8
Basics of frequency response measurement
In this chapter you can read about:
Distinction between signals and systems ....................................................................... 283
Linear Systems (LTI System) ........................................................................................ 284
Mechanical system ........................................................................................................ 285
Resonance points and their causes ............................................................................... 286
In the drive and control technology, the display of signals and systems in the
frequency range is often the best possibility to solve different tasks.
Distinction between signals and systems
Defined objects and their interactions that can be combined to a whole by a
plausible distinction from their environment (i.e. the complex reality) are called a
system.
Example electric motor
This consists of a multitude of different components, but the function and the
behavior of a motor can be described as a whole without describing each individual
component and their interactions separately.
If the motor is energized, it will generate a torque at the motor shaft.
Electro
Motor
Current
Strom
Input Eingangs
Signal
System
Torque
Drehmoment
Ouput Ausgangs
Signal
Current is therefore a signal, which causes at the input of the system motor a
change of its torque output signal.
In order to register and process such signals in the controller, they are digitized and
read in with the so-called scanning frequency (fA). Thus the physical signal was
converted into a finite sequence of numbers, which can be processed in the
controller.
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Linear Systems (LTI System)
Further explanations are based on the concept of so-called linear systems. This
means that doubling the input value means that the portion of the output value
influenced by it is also doubled. This, for instance, is not the case in the event of
influence due to limitations, friction and backlash.
=> those are called non-linear systems, which can not be analyzed with the
methods described here (or only with difficulties).
One of the most important properties of linear systems is that a sine signal, which
is put through a linear system, is still a sine signal at the output, which differs from
the input signal only in value and phase.
When a signal passes a LTI system, no new frequencies are generated.
Input and output signals of a linear system
If you know the value (V(f0)) as well as the phase position (u(f0)) for all
frequencies, the LTI system is completely defined.
Such a graph of value and phase position in dependence of the frequency, is called
frequency response or bode diagram.
=> only LTI systems can be analyzed with the aid of frequency responses.
Frequency response / bode diagram
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The frequency response shows the amplification (value) and the phase shift
(phase), which a signal is submitted to when passing through a system.
The displayed bode diagram allows the following conclusions:
If a sine with 60Hz and an amplitude of 1A is present at the input, a sine delayed
by 94° and an amplitude of 0.01m/s will result at the output.
Mechanical system
Frequency response of a mechanic system: Current - velocity of a motor
The outlined course at the end of the measurement range does not permit
statements on the system measured due to disturbances. Due to the attenuation of
the signals increasing with the frequency, the sensitiveness of the measurement to
disturbances (signal to noise ratio) increases with a rising frequency. The value as
well as the phase response of the displayed frequency response are "disturbed" at
the same intensity, this shows, that disturbances are the reason.
The value response consists basically of a straight, which declines with a slope of 20dB/decade (-20dB/decade => per tenfold increase of the frequency, the value
decreases also by factor ten.
The phase response remains however almost constantly at -90° over a relatively
large range.
In control technology, this is called integrating behavior (I-behavior).
the I-behavior can be explained as follows.
The measured current is proportional to the motor force and thus also to the
acceleration of the driven mass. As the velocity is calculated from the integrated
acceleration, the measured system looks as follows:
f: disturbance torque
Kt
1
2*Pi*J
velocity controlled
system
Input value is the current actual value, output value is the velocity actual value
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Resonance points and their causes
In this chapter you can read about:
Rotary two mass system ................................................................................................ 287
Linear two mass system ................................................................................................ 287
Toothed belt drive as two mass system ......................................................................... 288
Mechanical system with a resonance point
fARes: Anti resonance frequency
fRes: Resonance frequency
The displayed change of the frequency response (resonance point), has its cause
in a so-called two mass system (caused by the elastic coupling of two masses).
Hint
286
As, upon closer examination, each mechanic coupling shows a certain elasticity, it
is no the question if there is a resonance point, but at which frequency it is and how
well it is attenuated.
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Rotary two mass system
M2
M1
J1
J2
D
The shown system corresponds for instance to a motor with a flywheel coupled via
a shaft. Hereby J1 corresponds to the motor moment of inertia and J2 to the
moment of inertia of the flywheel.
Calculation of the resonance frequencies in the rotary system with a hollow
shaft as elastic coupling element
G⋅π ⋅ (rA4 − rI4 )
2⋅ π ⋅ G 3
D= ∫
⋅ r ⋅ dr =
l
2⋅ l
rI
rA
f A Re s =
1
D
⋅
2 ⋅π
J2
f Re s =
G
Shear modulus of the material used [N/m²]
(e.g. approx. 80750N/mm² for steel)
D
rA
rI
Torsional rigidity in [m/rad]
Outer radius of the hollow shaft
Inner radius of the hollow shaft
l
Length of the hollow shaft
1
1
1
⋅ D ⋅  + 
2 ⋅π
 J1 J 2 
Linear two mass system
Resonance frequencies in the linear system
f A Re s =
D
m1
m2
1
D
⋅
2 ⋅π
m2
f Re s =
 1
1
1 

⋅ D ⋅ 
+
2 ⋅π
m
m
2 
 1
Rigidity in [N/m]
e.g. motor mass
e.g. load mass
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Toothed belt drive as two mass system
Motor
bewegte Masse
Getriebe
Zahnriemen
D2
D1
Masse
m2
l1
l2
lAchse
Antriebszahnrad
In toothed belt drives, the toothed belt is the elastic coupling element. Its rigidity
depends directly on the lengths I1 and I2 and changes in dependence of the
position of the moved mass.
Dspez =
D1 =
fA Re s
Fmax
;
0,004
Dspez
l1
;
D2 =
1
D
=
⋅
2π
m2
l 2 = 2 ⋅ l Achse − l1
Dspez
l2
;
fRe s
D = D1 + D2 =
2 ⋅ Dspez

l 
l1 ⋅  2 − 1 
l Achse 

2
 1

(
)
r
1
Zahnrad

=
⋅ D ⋅ 
+
2 
2π
 m2 J1 ⋅ (iGetriebe ) 
D
Dspez
D1
D2
Total spring constant of the toothed belt drive
Specific spring constant of the toothed belt used
Spring rate of the belt length I1
Spring rate of the belt length I2
iGearbox
lAxis
J1
Transmission ratio of the gearbox
Length of the axis
Moment of inertia of motor and gearbox
m2
rToothed
wheel
translatory moved mass
Radius of the drive pinion
4.4.9.9
Examples are available as a movie in the help file
Here you can find examples as a movie in the help file.
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4.4.10.
ProfileViewer for the optimization of the motion profile
In this chapter you can read about:
Mode 1: Time and maximum values are deduced from Compax3 input values ..............289
Mode 2: Compax3 input values are deduced from times and maximum values ..............290
You will find the ProfilViewer in the Compax3 ServoManager under the "Tools"
Menu:
4.4.10.1
Mode 1: Time and maximum values are deduced from
Compax3 input values
The motion profile is calculated from Position, Speed, Acceleration, Deceleration,
Acceleration Jerk and Deceleration Jerk
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed

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4.4.10.2
Mode 2: Compax3 input values are deduced from
times and maximum values
A jerk-limited motion profile is calculated from the positioning time and the
maximum speed / acceleration
 As a result you will get, besides a graphical display, the following characteristic
values of the profile:
 the parameters Position, Speed, Acceleration, Deceleration, Acceleration Jerk
and Deceleration Jerk
 Times for the acceleration, deceleration and constant phase
 Maximum values for acceleration, deceleration and speed

Set deceleration and acceleration phase
The profile can be defined more exactly by entering the segmentation into
deceleration and acceleration phase.
When setting 50% and 50%, a symmetrical design will result, the values for
triangular operation are calculated, which is limited by the maximum speed.
The total of the percentage values may not exceed 100.
The percentage entries refer to the total positioning time.
Example:
35%
30%
100%
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4.4.11.
Turning the motor holding brake on and off
Compax3 controls the holding brake of the motor and the power output stage. The
time behavior can be set.
Application:
With an axis that is subject to momentum when it is halted (e. g. for a z-axis) the
drive can be switched on and off such that no movement of the load takes place.
The drive thereby remains energized during the holding brake response time. This
is adjustable.
The power output stage current is de-energized by:
 Error or
 the control word
 the ServoManager
Thereafter the motor is braked to zero rotation speed on the set ramp.
When zero speed is reached, the motor is de-energized with the delay "brake
closing delay time".
1
2
t
3
4
5
t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Brake closing delay time
The power output stage is enabled by:
 Acknowledge (after error) with the control word
 the ServoManager
The motor is energized with the delay "delay time for brake release".
1
2
t
3
4
5
t
1: Motor powered
2: Motor de-energized
3: Open brake
4: Engage the brake
5: Delay time for brake release
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5. Communication
In this chapter you can read about:
Compa3 communication variants ...................................................................................292
COM port protocol .........................................................................................................302
Remote diagnosis via Modem ........................................................................................307
Ethernet Powerlink / EtherCAT ...................................................................................... 311
Here you will find the description of the fieldbus interfaces, which can be configured
in the Compax3 ServoManager under the tree entry "configuring the
communication".
Please note:
The configuration of the process data (Mapping) is made wizard-guided with the
Compax3 ServoManager.
If you perform the mapping directly via the master, you must go through this
fieldbus wizard once; the Compax3 ServoManager will perform the necessary
initializations.
5.1
Compa3 communication variants
In this chapter you can read about:
PC <-> Compax3 (RS232) ............................................................................................. 293
PC <-> Compax3 (RS485) ............................................................................................. 295
PC <-> C3M device combination (USB) ......................................................................... 296
USB-RS485 Moxa Uport 1130 adapter .......................................................................... 297
ETHERNET-RS485 NetCOM 113 adapter ..................................................................... 298
Modem MB-Connectline MDH 500 / MDH 504 ............................................................... 299
C3 settings for RS485 two wire operation ...................................................................... 300
C3 settings for RS485 four wire operation...................................................................... 301
Overview of all possible communication modes between Compax3 devices and a
PC.
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5.1.1.
PC <-> Compax3 (RS232)
PC <-> Compax3 (RS232): Connections to a device
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294
C3I30T11 / C3I31T11
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5.1.2.
PC <-> Compax3 (RS485)
PC <-> Compax3 (RS485)
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5.1.3.
C3I30T11 / C3I31T11
PC <-> C3M device combination (USB)
PC <-> C3M device combination
296
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5.1.4.
USB-RS485 Moxa Uport 1130 adapter
The serial UPort 1130 USB adapter offers a simple and comfortable method of
connecting an RS-422 or RS-485 device to your laptop or PC. The UPort 1130 is
connected to the USB port of your computer and complements your workstation
with a DB9 RS-422/485 serial interface. For simple installation and configuration,
Windows drivers are already integrated. The UPort 1130 can be used with new or
legacy serial devices and supports both 2- and 4-wire RS-485. It is especially
suited for mobile, instrumentation and point-of-sale (POS) applications.
Manufacturer link: http://www.moxa.com/product/UPort_1130.htm
http://www.moxa.com/product/UPort_1130.htm
Connection plan for Compax3S:
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5.1.5.
C3I30T11 / C3I31T11
ETHERNET-RS485 NetCOM 113 adapter
Manufacturer link: http://www.vscom.de/666.htm
(http://www.vscom.de/666.htm)
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DIP Switch settings NetCom 113 for two-wire operation:
1ON 2ON 3off 4off (Mode: RS485 by ART (2 wire without Echo)
Communication settings C3S/C3M:
Object
810.1
810.2
810.3
810.4
Function
Protocol
Baud rate
NodeAddress
Multicast Address
Value
16 (two wire)
115200
1..254
Connection plan NetCom113 <-> C3S :
Connection plan NetCom113 <-> C3M X31:
5.1.6.
Modem MB-Connectline MDH 500 / MDH 504
With the modems MDH500 and MDH504 manufactured by MB-Connectline, you
can establish an independent connection. A virtual COM port is generated and the
communication with the PC as well as the Compax3 takes place via RS232 or
RS485.
It is not necessary to make any modem settings on the Compax3.
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5.1.7.
C3I30T11 / C3I31T11
C3 settings for RS485 two wire operation
C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode°!
Communication settings C3S/C3M:
Object
810.1
810.2
810.3
810.4
300
Function
Protocol
Baud rate
NodeAddress
Multicast Address
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Value
16 (two wire)
115200
1..254
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5.1.8.
C3 settings for RS485 four wire operation
C3 ServoManager RS485 wizard settings:
download with configuration in RS232 mode
Communication settings C3S/C3M:
Object
810.1
810.2
810.3
810.4
Function
Protocol
Baud rate
NodeAddress
Multicast Address
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Value
0 (4 wire)
115200
1..254
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5.2
C3I30T11 / C3I31T11
COM port protocol
In this chapter you can read about:
RS485 settings values ................................................................................................... 302
ASCII - record................................................................................................................ 303
Binary record ................................................................................................................. 304
You can communicate with Compax3 in order to read or write objects via plug X10
( or X3 on the mains module of Compax3M) on the front via a COM port (max. 32
nodes).
As a rule 2 records are possible:
 ASCII record: simple communication with Compax3
 Binary record: fast and secure communication with Compax3 by the aid of block
securing.
Switching between the ASCII and the binary record via automatic record
detection.
Interface settings (see on page 414)
Wiring
RS232: SSK1 (see on page 389)
RS485: as SSK27 (see on page 390) / RS485 is activated by +5V on X10/1.
USB: SSK33/03 (only for Compax3M)
5.2.1.
RS485 settings values
If “Master=Pop” is selected, only the settings compatible with the Pops (Parker
Operator Panels) made by Parker are possible.
Please note that the connected Pop has the same RS485 setting values.
You can test this with the "PopDesigner" software.
"Master=General" makes all Compax3 settings possible.
Multicast Address
Device Address
Baud rate
Cable type
Protocol
302
You can use this address to allow the master to access multiple devices
simultaneously.
The device address of the connected Compax3 can be set here.
Adjust the transfer speed (baud rate) to the master.
Please choose between two-wire and four-wire RS485 (see on page 63).
Adjust the protocol settings to the settings of your master.
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5.2.2.
ASCII - record
The general layout of a command string for Compax3 is as follows:
[Adr] command CR
Adr
Command
CR
Command
RS232: no address
RS485: Compax3 address in the range 0 ... 99
Address settings can be made in the C3 ServoManager under "RS485 settings"
valid Compax3 command
End sign (carriage return)
A command consists of the representable ASCII characters (0x21 .. 0x7E). Small
letters are converted automatically into capitals and blanks (0x20) are deleted, if
they are not placed between two quotation marks.
Separator between places before and after the decimal is the decimal point (0x2E).
A numeric value can be given in the Hex-format if it is preceded by the “$” sign.
Values can be requested in the Hex-format if the CR is preceded additionally by
the “$” sign.
Answer strings
All commands requesting a numeric value from Compax3 are acknowledged with
the respective numeric value in the ASCII format followed by a CR without
preceding command repetition and following statement of unit. The length of these
answer strings differs depending on the value.
Commands requesting an Info-string (e.g. software version), are only
acknowledged with the respective ASCII character sequence followed by a CR,
without preceding command repetition. The length of these answer strings is here
constant.
Commands transferring a value to Compax3 or triggering a function in Compax3
are acknowledged by:
>CR
if the value can be accepted resp. if the function can be executed at that point in
time.
If this is not the case or if the command syntax was invalid, the command 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 348).
RS485 answer string
When using RS485, each answer string is preceded by a “*“" (ASCII - character:
0x2A).
Compax3 commands
Read object
RS232: O [$] Index , [$] Subindex [$]
RS485: Address O [$] Index , [$] Subindex [$]
The optional "$" after the subindex stands for "hex-output" which means that an
object value can also be requested in hex;
For example "O $0192.2$": (Object 402.2)
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Write object
RS232: O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
RS485: Address O [$] Index , [$] Subindex = [$] Value [ ; Value2 ; Value3 ; ...]
The optional “$” preceding Index, Subindex and value stands for “Hex-input” which
means that Index, Subindex and the value to be transferred can also be entered in
hex (e.g. O $0192.2=$C8).
5.2.3.
Binary record
The binary record with block securing is based on 5 different telegrams:
 2 request telegrams which the control sends to Compax3 and
 3 response telegrams which Compax3 returns to the control.
Telegram layout
Basic structure:
Start code
SZ
Address
A
Number of data bytes - 1
L
Data
D0
D1
...
Block securing
Crc(Hi)
Crc(Lo)
Dn
The start code defines the frame type and is composed as follows:
Bit
Frame type
RdObj
read object
WrObj
write object
7
6
5
Frame identification
1
0
1
1
1
0
Rsp
Ack
Nak
0
0
0
response
positive command acknowledgement
Negative command acknowledgement
0
0
0
0
0
0
4
0
0
3
PLC
x
x
0
0
0
0
0
0
2
1
1
1
Gateway
x
x
0
Address
x
x
1
1
1
0
1
1
1
0
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.
The address is only necessary for RS484.
Request telegrams
Response telegram
-> Compax3
 the address bit (Bit 0 = 1 ) shows if the start code is followed by an address
(only for RS485; for RS232 Bit 0 = 0)
 the gateway bit (Bit 1 = 1) shows if the message is to be passed on.
(Please set Bit 1 = 0, as this function is not yet available)
 the PLC bit (Bit 3 = 1 ) allows access to objects in the PLC/Pop format
U16, U32: for integer formats (see bus formats: Ix, Ux, V2)
IEEE 32Bit Floating Point: for non integer formats (bus formats: E2_6, C4_3, Y2,
Y4; without scaling)
With Bit 3 = 0 the objects are transmitted in the DSP format.
DSP formats:
24 Bit = 3 Bytes: Integer INT24 or Fractional FRACT24
48 Bit = 6 Bytes: Real REAL48 (3 Byte Int, 3 Byte Fract) / Double Integer DINT48
/ Double Fractional DFRACT48
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
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timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)
Write object - WrObj telegram
SZ
0xCX
Adr
L
n
D0
Index(Hi)
D1
Index(Lo)
D2
Subindex
D3 ... Dn
Value
Crc(Hi)
0x..
Crc(Lo)
0x..
Describing an object by a value.
Positive acknowledgement - Ack-telegram
SZ
0x06
L
1
D0
0
D1
0
Crc(Hi)
0x..
Crc(Lo)
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
0x07
L
1
D0
F-No.(Hi)
D1
F-No.(Lo)
Crc(Hi)
0x..
Crc(Lo)
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
0xAX
Adr
L
n
D0
Index1(Hi)
D1
D2
D3
Index1(Lo) Subindex1 Index2(Hi)
D4
Index2(L
o)
D5
...
Subindex2 ...
Dn
...
Crc(Hi)
0x..
Crc(Lo)
0x..
Reading one or several objects
Answer - Rsp - telegram
SZ
0x05
L
n
D0 ... Dx-1
Value1
Dx ... Dy-1
Value 2
Dy-D..
Value 3
D ... D..
Value ..
D ... Dn
Value n
Crc(Hi)
0x..
Crc(Lo)
0x..
Answer from Compax3 if the object can be read.
If the object has no reading access, Compax3 answers with the Nak - telegram.
Example:
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
Block securing:
Checksum calculation for the CCITT table algorithm
The block securing for all codes is performed via the following function and the
corresponding table:
The “CRC16” variable is set to “0” before sending a telegram.
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Function call:
CRC16 = UpdateCRC16(CRC16, Character);
This function is called up for each Byte (Character) of the telegram.
The result forms the last two bytes of the telegram
Compax3 checks the CRC value on receipt and reports CRC error in the case of a
deviation.
Function
const unsigned int
0x0000, 0x1021,
0x8108, 0x9129,
0x1231, 0x0210,
0x9339, 0x8318,
0x2462, 0x3443,
0xa56a, 0xb54b,
0x3653, 0x2672,
0xb75b, 0xa77a,
0x48c4, 0x58e5,
0xc9cc, 0xd9ed,
0x5af5, 0x4ad4,
0xdbfd, 0xcbdc,
0x6ca6, 0x7c87,
0xedae, 0xfd8f,
0x7e97, 0x6eb6,
0xff9f, 0xefbe,
0x9188, 0x81a9,
0x1080, 0x00a1,
0x83b9, 0x9398,
0x02b1, 0x1290,
0xb5ea, 0xa5cb,
0x34e2, 0x24c3,
0xa7db, 0xb7fa,
0x26d3, 0x36f2,
0xd94c, 0xc96d,
0x5844, 0x4865,
0xcb7d, 0xdb5c,
0x4a75, 0x5a54,
0xfd2e, 0xed0f,
0x7c26, 0x6c07,
0xef1f, 0xff3e,
0x6e17, 0x7e36,
};
_P CRC16_table[256] = {
0x2042, 0x3063, 0x4084,
0xa14a, 0xb16b, 0xc18c,
0x3273, 0x2252, 0x52b5,
0xb37b, 0xa35a, 0xd3bd,
0x0420, 0x1401, 0x64e6,
0x8528, 0x9509, 0xe5ee,
0x1611, 0x0630, 0x76d7,
0x9719, 0x8738, 0xf7df,
0x6886, 0x78a7, 0x0840,
0xe98e, 0xf9af, 0x8948,
0x7ab7, 0x6a96, 0x1a71,
0xfbbf, 0xeb9e, 0x9b79,
0x4ce4, 0x5cc5, 0x2c22,
0xcdec, 0xddcd, 0xad2a,
0x5ed5, 0x4ef4, 0x3e13,
0xdfdd, 0xcffc, 0xbf1b,
0xb1ca, 0xa1eb, 0xd10c,
0x30c2, 0x20e3, 0x5004,
0xa3fb, 0xb3da, 0xc33d,
0x22f3, 0x32d2, 0x4235,
0x95a8, 0x8589, 0xf56e,
0x14a0, 0x0481, 0x7466,
0x8799, 0x97b8, 0xe75f,
0x0691, 0x16b0, 0x6657,
0xf90e, 0xe92f, 0x99c8,
0x7806, 0x6827, 0x18c0,
0xeb3f, 0xfb1e, 0x8bf9,
0x6a37, 0x7a16, 0x0af1,
0xdd6c, 0xcd4d, 0xbdaa,
0x5c64, 0x4c45, 0x3ca2,
0xcf5d, 0xdf7c, 0xaf9b,
0x4e55, 0x5e74, 0x2e93,
0x50a5,
0xd1ad,
0x4294,
0xc39c,
0x74c7,
0xf5cf,
0x66f6,
0xe7fe,
0x1861,
0x9969,
0x0a50,
0x8b58,
0x3c03,
0xbd0b,
0x2e32,
0xaf3a,
0xc12d,
0x4025,
0xd31c,
0x5214,
0xe54f,
0x6447,
0xf77e,
0x7676,
0x89e9,
0x08e1,
0x9bd8,
0x1ad0,
0xad8b,
0x2c83,
0xbfba,
0x3eb2,
0x60c6,
0xe1ce,
0x72f7,
0xf3ff,
0x44a4,
0xc5ac,
0x5695,
0xd79d,
0x2802,
0xa90a,
0x3a33,
0xbb3b,
0x0c60,
0x8d68,
0x1e51,
0x9f59,
0xf14e,
0x7046,
0xe37f,
0x6277,
0xd52c,
0x5424,
0xc71d,
0x4615,
0xb98a,
0x3882,
0xabbb,
0x2ab3,
0x9de8,
0x1ce0,
0x8fd9,
0x0ed1,
0x70e7,
0xf1ef,
0x62d6,
0xe3de,
0x5485,
0xd58d,
0x46b4,
0xc7bc,
0x3823,
0xb92b,
0x2a12,
0xab1a,
0x1c41,
0x9d49,
0x0e70,
0x8f78,
0xe16f,
0x6067,
0xf35e,
0x7256,
0xc50d,
0x4405,
0xd73c,
0x5634,
0xa9ab,
0x28a3,
0xbb9a,
0x3a92,
0x8dc9,
0x0cc1,
0x9ff8,
0x1ef0
unsigned int UpdateCRC16(unsigned int crc,unsigned char wert) {
unsigned int crc16;
crc16 = (CRC16_table[(crc >> 8) & 0x00FF] ^ (crc << 8)
^ (unsigned int)(value));
return crc16;
}
You will find this function on the Compax3 DVD under RS232_485\\Function
UpdateCRC16.txt!
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5.3
Remote diagnosis via Modem
In this chapter you can read about:
Structure........................................................................................................................ 308
Configuration of local modem 1 ..................................................................................... 309
Configuration of remote modem 2.................................................................................. 309
Recommendations for preparing the modem operation .................................................. 310
Caution!
As the transmission via modem may be very slow and interference-prone, the
operation of the Compax3 ServoManager via modem connection is on your
own risk!
The function setup mode as well as the ROLL mode of the oscilloscope are
not available for remote diagnosis!
It is not recommended to use the logic analyzer in the Compax3 IEC61131-3
debugger due to the limited bandwidth.
Requirements:
For modem operation, a direct and stable telephone connection is required.
Operation via a company-internal telephone system is not recommended.
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5.3.1.
C3I30T11 / C3I31T11
Structure
Layout and configuration of a modem connection ServoManager Compax3:
machine
PC
Release
> R5-0
Compax3
ServoManager
5
konfig
1
3
Modem 1
Modem 2
Phone
Compax3
ServoManager
konfig
X10
SSK31
4
konfig
6
konfig
Release < R5-0
7
konfig
konfig
2
9
8
Release
> R4-5
< R5-0
Release < R4-5
PC
10
Compax3.ini
Compax3
PC
(115200Baud)
ATE0 cr
11
ATQ1 cr
Hyperterminal
The green part of the drawing shows the proceeding for Compax3 release versions
< R5-0!
The proceeding for Compax3 release versions < R5-0 is described in an
application example (.../modem/C3_Appl_A1016_language.pdf on the Compax3
CD).
Connection Compax3 ServoManager <=> Compax3
The Compax3 ServoManager (1) establishes a RS232 connection with modem 1
(PC internal or external).
Modem 1 dials modem 2 via a telephone connection (3).
Modem 2 communicates with Compax3 (6) via RS232.
Configuration
Modem 1 is configured via the Compax3 ServoManager (1)
Modem 2 can be configured via Compax3 (on place), triggered by putting SSK31
(see on page 393) on X10. For this, the device must be configured before. This can
be made locally before the system / machine is delivered with the aid of the
Compax3 ServoManager (8).
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5.3.2.
Configuration of local modem 1
Menu "Options: Communication settings RS232/RS485..." must be opened
Select "Connection via Modem"
 Under "name" you can enter a name for the connection
 Enter the target telephone number.
Note: If an ISDN telephone system is operated within a company network, an
additional "0" may be required in order to get out of the local system into the
company network before reaching the outside line with an additional "0".
 The timeout periods are set to reasonable standard values according to our
experience.
 Select the modem type.
 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.
 Hint:When operating the local modem on a telephone system, it may be
necessary to make a blind dialing. Here, the modem does not wait for the
dialing tone.
 Select the COM interface where the modem is connected.
 Close the window and establish the connection with button
(open/close COM
port).
 The connection is interrupted when the COM port is closed.
 Select the modem type.
 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.
 Hint:When operating the local modem on a telephone system, it may be
necessary to make a blind dialing. Here, the modem does not wait for the
dialing tone.


5.3.3.
Configuration of remote modem 2
Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization = "ON": After the SSK31 modem cable has been connected,
Compax3 initializes the modem
 Modem initialization after Power On = "ON": After Power on of Compax3, the
device initializes the modem
 Modem check = "ON": a modem check is performed
 The timeout periods are set to reasonable standard values according to our
experience.
 Select the modem type.
 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.
 Hint:When operating the local modem on a telephone system, it may be
necessary to make a blind dialing. Here, the modem does not wait for the
dialing tone.
 In the following wizard window, a specific download of the modem configuration
can be made.
Note:
If a configuration download is interrupted, the original settings in the non volatile
memory of the Compax3 are still available.
You have to finish the communication on the PC side and to reset the Compax3 via
the 24V supply before you can start a new trial.
Reinitialization of the remote modem 2
Remove cable on Compax3 X10 and connect again!
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5.3.4.
C3I30T11 / C3I31T11
Recommendations for preparing the modem operation
Preparations:
 Settings in Compax3 under "configure communication: Modem settings":
 Modem initialization: "ON"
 Modem initialization after Power On: "ON"
 Modem check: "ON"
 Deposit SSK31 cable in the control cabinet.
 Install modem in the control cabinet and connect to telephone line.
Remote diagnosis required:
 On site:
 Connect modem to Compax3 X10 via SSK31
 Modem is automatically initialized
 Local:
 Connect modem to telephone line
 Establish cable connection to modem (COM interface)
 Select "connection via modem" under "options: communication settings
RS232/RS485...".
 Select modem under "selection"
 Enter telephone number
 Select COM interface (PC - modem)
 Establish connection with button
(open/close COM port).
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5.4
Ethernet Powerlink / EtherCAT
In this chapter you can read about:
Operating mode ............................................................................................................. 311
CN Controlled Node (Slave) .......................................................................................... 317
State machine ............................................................................................................... 318
Controlword /Statusword ............................................................................................... 320
Acyclic parameter channel ............................................................................................. 328
Ethernet Powerlink / EtherCAT communication profile (doc) .......................................... 346
5.4.1.
Operating mode
CN (Controlled Node) in Velocity Mode - Velocity control:The nominal
rotation speed is specified via Ethernet Powerlink and the actual values are read
back.
 CN (Controlled Node) in Position Mode - Direct positioning: The nominal
position is specified via Ethernet Powerlink and the actual values are read back.
 CN (Controlled Node) with set selection: activation of motion sets stored in an
array via Ethernet Powerlink.

Slave with configuration via machine zero (managing Node)
Select "Slave with configuration via machine zero (managing Node)” if you make
the operating mode setting and mapping via the master.
Then run through the wizard completely.
Additional operating modes can be set via the object "operating mode (see on
page 320)" (EPL No. 0x6060 (object 1100.5)).
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5.4.1.1
CN (Controlled Node) in Velocity Mode - velocity
control
Ethernet Powerlink / EtherCAT – Master -> Compax3
Possible assignment:
Designation
Object No.
<Bus_NO>
Assigned
words
Assignment
Controlword (Control word 1)
Target velocity
(3 decimal places)*
Operating mode
Dig. Outputs (0-3)
Dig. outputs M1x option
(digital outputs of the M10/M12 option)
1100.3
1100.13
0x6040
0x60FF /
0x2044
0x6060
0x6300.1
0x6300.2
1
2
optional
optional
1
1
1
optional
optional
optional
1100.5
140.3
133.3
Layout of the control word (see on page 320).
Compax3 -> Ethernet Powerlink / EtherCAT – Master
Possible assignment:
Designation
Object No.
<Bus_NO>
Assigned
words
Assignmen
t
Status word (Status word 1)
1000.3
0x6041
1
optional
Velocity actual value
(3 decimal places)*
Torque actual value
Dig. inputs (0-7)
Dig. inputs M1x option
(Digital outputs of the M10/M12 option)
Operating mode display
LastError (current Compax3 errors)
681.5
0x606C
2
optional
683.1
120.3
121.2
0x6077
0x6100.1
0x6100.2
1
1
1
optional
optional
optional
1000.5
550.1
0x6061
0x603F/
0x201D.1
1
1
optional
optional
Layout of the Status word. (see on page 322)
* The values are transmitted as int16 (1 word) or int32 (2 words).
With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value
1000
10
312
Compax3 value
1.000
1.0
(3 decimal places)
(1 decimal place)
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Parker EME
5.4.1.2
CN (Controlled Node) in Position Mode - Direct
Positioning
Communication between Master and Compax3 takes place via the process data
objects (PDOs)
Procedure:
Selection of the motion function: Bit 15, 13, 6 of the control word 1
Start of the motion function: Bit 4 of the control word 1
Specification of the motion parameters: Objects of the PDOs
Ethernet Powerlink / EtherCAT – Master -> Compax3
Possible assignment:
Designation
Object No.
<Bus_NO>
Assigne
d words
Assignment
Controlword (Control word 1)
Target position Y4 (position command value)
(3 decimal places)*
Profile velocity (1 decimal place)*
1100.3
1100.6
1
2
optional
optional
1
optional
Profile velocity (3 decimal places)*
1100.7
2
optional
Profile acceleration (no decimal place)
Profile acceleration (no decimal place)
Profile deceleration (no decimal place)
Profile deceleration (no decimal place)
Dig. Outputs (0-3)
Dig. outputs M1x option
(digital outputs of the M10/M12 option)
Operating mode
Interpolation data (Interpolation input)
1111.10
1111.3
1111.16
1111.4
140.3
133.3
0x6040
0x607A /
0x2044
0x202C /
0x2068
0x6081 /
0x2046
0x202D
0x6083
0x205D
0x6084
0x6300.1
0x6300.2
1
2
1
2
1
1
optional
optional
optional
optional
optional
optional
1100.5
3921.1
0x6060
0x60C1.1
1
2
optional
optional
1100.14
* The values are transmitted as int16 (1 word) or int32 (2 words).
With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value
1000
10
Compax3 value
1.000
1.0
(3 decimal places)
(1 decimal place)
Layout of the control word (see on page 320).
Profile velocity, Profile acceleration and Profile deceleration are available twice with
the same function, they differ only in the word width.
You should therefore only use one of these two values depending on the desired
precision.
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Attention:
C3I30T11 / C3I31T11
The meaning of “Target position Y4” changes depending on the motion function
(can be set via the operating mode (see on page 320) 1100.5 Mode 0. 2):
With the motion function Gearing applies:
With Gearing:
Target position Y4 (position
command value)
= Gearing numerator
In reg-related positioning (see on page 149) (RegMove, RegSearch)
With RegSearch: Target position Y4 (position
command value)
= RegSearch - value
With RegMove:
= RegMove - value
Target position Y4 (position
command value)
In the speed control positioning mode (Velocity)
With Velocity:
Target position Y4 (position
command value)
= Speed setpoint value
The values for StartIgnore (CAN 0x2066; (Object 3300.8) and StopIgnore (CAN
0x2067; (Object 3300.9) can be set via the configuration with the aid of the
ServoManager or via SDO.
Compax3 -> Ethernet Powerlink / EtherCAT – Master
Possible assignment:
Designation
<Bus_NO>
Object No.
Assigne
d words
Assignmen
t
Status word (Status word 1)
Position actual value (3 decimal places)*
Velocity actual value
(3 decimal places)*
Velocity actual value Y2 (
(1 decimal place)*
Torque actual value
Follow error actual value
Dig. inputs (0-7) I7
Dig. inputs M1x option
(Digital outputs of the M10/M12 option)
Operating mode display
LastError (current Compax3 errors)
0x6041
0x6064
0x606C
1000.3
680.5
681.5
1
2
2
optional
optional
optional
0x2023
681.7
1
optional
0x6077
0x60F4
0x6100.1
0x6100.2
683.1
680.6
120.3
121.2
1
1
1
1
optional
0x6061
0x603F/
0x201D.1
1000.5
550.1
1
1
optional
optional
optional
optional
* The values are transmitted as int16 (1 word) or int32 (2 words).
With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value
1000
10
Compax3 value
1.000
1.0
(3 decimal places)
(1 decimal place)
Layout of the Status word. (see on page 322)
For values not transferred the standard values defined in the configuration wizard
are valid!
The jerk can be changed for example via SDO (0x2005 & 0x2006).
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5.4.1.3
CN (Controlled Node) with set selection
The communication between Master and Compax3 is made via the of the PDO
Procedure:
Defining the motion sets with the Compax3 ServoManager or via the acyclic
channel.
Selecting the desired motion set via control word 2
Start the motion with control word 1 Bit 4.
Ethernet Powerlink / EtherCAT – Master -> Compax3
Possible assignment:
Designation
<Bus_NO>
Object No.
Assigned
words
Assignment
Controlword (Control word 1)
Controlword2 (control word 2)
0x6040
0x201B
1100.3
1100.4
1
1
optional
optional
Operating mode
Dig. Outputs (0-3) O3)
Dig. outputs M1x option
(digital outputs of the M10/M12 option)
0x6060
0x6300.1
0x6300.2
1100.5
140.3
133.3
1
1
1
optional
optional
optional
Layout of the control word (see on page 320).
Compax3 -> Ethernet Powerlink / EtherCAT – Master
Possible assignment:
Designation
<Bus_NO>
Object No.
Assigned
words
Assignment
Status word (Status word 1)
Statusword2 (status word 2)
Position actual value
(3 decimal places)*
Velocity actual value
(3 decimal places)*
Velocity actual value
(1 decimal place)*
Torque actual value
Follow error actual value
Dig. inputs (0-7) I7)
Dig. inputs M1x option
(Digital outputs of the M10/M12 option)
Operating mode display
LastError (current Compax3 errors)
0x6041
0x201C
0x6064
1000.3
1000.4
680.5
1
1
2
optional
optional
optional
0x606C
681.5
2
optional
0x2023
681.7
1
optional
0x6077
0x60F4
0x6100.1
0x6100.2
683.1
680.6
120.3
121.2
1
1
1
1
optional
optional
optional
optional
0x6061
0x603F/
0x201D.1
1000.5
550.1
1
optional
optional
* The values are transmitted as int16 (1 word) or int32 (2 words).
With 1 decimal place: Divide value by 10.
With 3 decimal places: Divide value by 1000.
Example:
PLC Value
1000
10
Compax3 value
1.000
1.0
(3 decimal places)
(1 decimal place)
Layout of the Status word. (see on page 322)
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Defining sets:
Please use the Compax3 ServoManager or the acyclic channel in order to enter
the motion sets.
Layout of the Set table (see on page 316).
Layout of the set table
In this chapter you can read about:
General layout of the table ............................................................................................. 316
Assignment of the different motion functions.................................................................. 316
Definition of the states of the programmable status bits (PSBs): .................................... 317
The motion sets are memorized in an object table. The table has 9 columns and 32
rows.
A motion set is stored in a table row.
The assignment of the columns depends on the motion function.
General layout of the table
Set 1
set no. 2
Set 3
...
Set 31
Column 1
Type:
REAL
objects
O1901
Row 1
"Array_Col1
_Row1"
(1901.1)
Column 2
Type:
REAL
objects
O1902
Row 1
"Array_Col
2_Row1"
(1902.1)
Column 3
Type:
INT
objects
O1903
Row 1
"Array_Col
3_Row1"
(1903.1)
Column 4
Type:
INT
objects
O1904
Row 1
"Array_Col
4_Row1"
(1904.1)
Column 5
Type:
INT
objects
O1905
Row 1
"Array_Col5
_Row1"
(1905.1)
Column 6
Type:
DINT
objects
O1906
Row 1
"Array_Col6
_Row1"
(1906.1)
Column 7
Type:
DINT
objects
O1907
Row 1
"Array_Col
7_Row1"
(1907.1)
Column 8
Type:
DINT
objects
O1908
Row 1
"Array_Col8
_Row1"
(1908.1)
Column 9
Type:
DINT
objects
O1909
Row 1
"Array_Col9_
Row1"
(1909.1)
...
...
...
Row 31
"Array_Col1
_Row31"
(1901.31)
...
...
...
Row 31
"Array_Col
2_Row31"
(1902.31)
...
...
...
Row 31
"Array_Col
3_Row31"
(1903.31)
...
...
...
Row 31
"Array_Col
4_Row31"
(1904.31)
...
...
...
Row 31
"Array_Col5
_Row31"
(1905.31)
...
...
...
Row 31
"Array_Col6
_Row31"
(1906.31)
...
...
...
Row 31
"Array_Col
7_Row31"
(1907.31)
...
...
...
Row 31
"Array_Col8
_Row31"
(1908.31)
...
...
...
Row 31
"Array_Col9_
Row31"
(1909.31)
You will find the respective object number in brackets.
Assignment of the different motion functions
The columns 3 and 9 are reserved.
Motion
Column 1
Type: REAL
Objects
O1901
Positions
Column 2
Type: REAL
Objects
O1902
Speed
Column 4
Type: INT
Objects
O1904
(PSBs)
Column 5
Type: INT
Objects
O1905
Mode
Column 6
Type: DINT
Objects
O1906
Acceleration
s
Column 7
Type: DINT
Objects
O1907
Deceleration /
denominator
Column 8
Type: DINT
Objects
O1908
Jerk
Speed
PSBs
1 (for MoveAbs)
Accel
Decel
Jerk
MoveRel (see
on page 148) Distance
Speed
PSBs
2 (for MoveRel)
Accel
Decel
Jerk
Gearing (see
on page 153) -
Numerator
PSBs
3 (for Gearing)
Accel
Denominator
-
Speed
PSBs
4 (for RegSearch)
Accel
Decel
Jerk
Speed
PSBs
5 (for RegMove)
-
-
-
Speed
PSBs
6 (for Velocity)
Accel
-
-
-
PSBs
7 (for Stop)
-
Decel
Jerk
MoveAbs
(see on page Target
148)
position
RegSearch
Distance
RegMove
(see on page
Offset
149)
Velocity (see
on page 154) STOP
316
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Definition of the states of the programmable status bits (PSBs):
Bit 7
factory use
Bit 6
Bit 5
Enable2
Enable1
PSB2
PSB1
="1": Set PSB
="0": leave PSB unchanged
Bit 4
Enable0
PSB0
Bit 3
factory use
Bit 2
PSB2
Bit 1
PSB1
Bit 0
PSB0
The Bits 0 ... 2 monitor the states of the status bits at the end of a motion set, if the
bits were enabled via the respective Enable.
If Enable is set to "0", the respective PSB remains unchanged at the end of the
motion set.
PSB0: Status word 2 Bit 12
PSB1: Status word 2 Bit 13
PSB2: Status word 2 Bit 14
5.4.1.4
Error Reaction on Bus Failure
Here you can set how Compax3 shall respond to a react on a Bus error (see on
page 348)l:
Possible settings for the error reaction are:
 No response
 Downramp / stop
 Downramp / stromlos schalten (standard settings)
5.4.2.
CN Controlled Node (Slave)
Compax3 is the slave of an Ethernet / EtherCAT master; the bus configuration is
made via the ServoManager
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5.4.3.
State machine
Power
Disabled
Start
13
17
Fault
Reaction 2 Active
Fault
Reaction 1 Active
status: xx xx xxx x x0xx 1111
0
Not Ready to
Switch On
1
status: xx xx xxx x x0xx 1111
19
1
icontrol: xxxx xxxxxixxx
xxxx
0
control:
xxxx xxxx 0xxx xx0x
1
0
1
0
12
control:
xxxx xxxx 0xxx xx0x
xxxx xxxx 0xxx x01x
control:
xxxx xxxx 0xxx x110
7
Ready to
Switch on
8
Fault 1
15
status: xx xx xxx x x1xx 0000
2
Fault 2
1
icontrol: xxxx xxxxxixxx
xxxx
0
Switch On
Disabled
9
18
status: xx xx xxx x x0xx 1000
status: xxxx xxxx x0xx 0000
control:
xxxx xxxx 0xxx xx0x
14
status: xx xx xxx x x01x 0001
control:
xxxx xxxx 0xxx x110
6
control:
xxxx xxxx 0xxx x111
Fault
control:
xxxx xxxx 0xxx x110
control:
xxxx xxxx 0xxx xx0x
xxxx xxxx 0xxx x01x
3
10
Switched on
4
status: xx xx xxx x x01x 0011
control:
xxxx xxxx 0xxx 1111
control:
xxxx xxxx 0xxx 0111
5
11
Operation
Enable
status: xxxx xxxx x01x 0111
Power
Enabled
Motor Powered
control: xxxx xxxx 0x xx x01x
control: xxxx xxxx 0x xx 1111
16
, , , ... : Status transitions
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Activ
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Parker EME
Status values:
Designation
Explanation
Not Ready to Switch On Control voltage switched on
Initialization
Brake closed
Not ready to turn on
Switch On Disable
Initialization completed
Parameter values can be changed
Power supply voltage switched off
Travel commands not possible
Ready to Switch on
Power supply voltage can be switched on
Parameter values can be changed
Travel commands not possible
Switched on
Power supply voltage switched on
Parameter values can be changed
Travel commands not possible
Motor de-energized
Operation enable
Motor powered
Compax3 is ready for carrying out travel commands
Parameter values can be changed
Quick Stop active
The "Quick Stop" function has been executed
Motor powered
Parameter values can be changed
Fault reaction 1 active
A fault has occurred
The motor is stopped with the ERROR_decel and
ERROR_jerk ramp and remains energized.
Parameter values can be changed
Fault 1
Error state, motor energized, error can be read
Travel commands not possible
Parameter values can be changed
A positive flank is expected at FAULT RESET
Fault reaction 2 active
A fault has occurred
The motor is stopped with the ERROR_decel and
ERROR_jerk ramp and is deenergized at standstill.
Parameter values can be changed
Fault 2
Error state, motor deenergized, error can be read
Travel commands not possible
Parameter values can be changed
A positive flank is expected at FAULT RESET
Function of the device status LEDs (see on page 29)
Transitions:
For various transitions, for which Compax3 leaves the status "Operation Enable"
(travel commands may be active), various ramps can be set. That is:
Transition
5, 11
8
9
13.17
associated ramp objects
STOP_decel (Object 1113.1), STOP_jerk ((Object 1113.2)
FSTOP1_decel (Object 1116.1), FSTOP1_jerk (Object 1116.2)
FSTOP3_decel (Object 1118.1), FSTOP3_jerk (Object 1118.2)
ERROR_decel (Object 1125.1), ERROR_jerk (Object 1125.2)
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5.4.4.
C3I30T11 / C3I31T11
Controlword /Statusword
In this chapter you can read about:
Control word 1 (Controlword 1) ......................................................................................320
Status word 1 (Status word) ...........................................................................................322
Interpolated Position / Cyclic Synchronous Position Mode .............................................322
5.4.4.1
Control word 1 (Controlword 1)
Operating mode BA EPL No. 0x6060 (object 1100.5).
Direct
Positioning with Velocity control
Positioning
set selection
(Profile Velocity)
(Profile Position) (Position Record Setpoint value =
Select)
0x60FF
(Object 1100.13)
BA = "1"
BA = "-2"
BA = "3"
="1": Switch on
="1": Enable Voltage
="0": Quick stop
="1": Enable Operation
="1": New set-point (Start)
Reserved
Bit
0
1
2
3
4
Machine zero
(Homing)
Manual
operation
(Jogging)
Interpolated
Position 2) 3)
(ip-mode)
Cyclic
Synchronous
Position (cspmode) 2) 4)
BA = "6"
BA = "-1"
BA = "7"
BA = "8"
="1": Homing
operation start
(activate homing
run)
Reserved
="1": Jog+
(Manual+)
="1": Enable
ip mode
-
="1": Change set immediately1)
="1": JogReserved
(dynamic Positioning (see on page
(Manual-)
155))
Mode 2 (see
Reserved
Reserved
Reserved
Reserved
below)
="1": Fault reset (Quit, with positive edge)
="1": Halt (Stop
="1": Halt (Stop with
="1": Halt (Stop without termination)
="1": Halt (Stop
="1": Halt
without termination) with termination) (Stop without termination)
(for Velocity and Gearing: Stop with
termination)
termination)
Reserved
Reserved
="0": Remote Control: Control word active, i.e. control Ethernet Powerlink
="1": Local Control: Control word inactive, i.e. the control word is not read; direct control via inputs (see on page 144) possible.
5
6
7
8
9
10
11
12
13
Reserved
Reserved
Mode 1 (see
Reserved
below)
="1": Endless (continuous operation)
in normal operation (="0") homing is
required
Mode 0 (see
Reserved
below)
14
15
Reserved
Reserved
Reserved
Reserved
1) With Bit 5 ="0" no dynamic change of record is possible - not even to a STOP
record.
Only after the end of the record (position reached), the next record will be
accepted.
2) Operating mode is not supported with DeviceNet (I22).
3) Interpolated Position Mode (see on page 323)
4) Cyclic Synchronous Position (see on page 323)
Change operating
mode:
When changing the operating mode (via Mode 0 ... 2) will trigger a "Stop", if the
drive is still moving.
Changing from "Profile Velocity" to another operating mode is only possible in
currentless state.
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Selection of the positioning mode in the "direct positioning" operating mode
Mode 0
CW.15
0
Mode1
CW.13
0
Mode2
CW.6
0
0
0
1
0
1
0
0
1
1
0
1
0
1
0
1
1
1
0
1
1
1
Function
MoveAbs (see on page 148): Absolute
positioning
MoveRel (see on page 148): Relative
positioning
MoveAdd (see on page 321): * Additive
Positioning
Velocity (see on page 154): Speed control
Gearing (see on page 153): Electronic
Gearbox (Gearing)
RegMove (see on page 149): Reg-related
positioning
RegSearch (see on page 149): Reg-related
positioning
Reserved
The setpoint specification is made via target position Y4 (0x2044 / 0x607A,
object 1100.6)
* Relative; Example
Positioning mode: absolute
Target position = 1000
 Positioning mode: relative
 Command: Target position = 200 for actual position 500
 Drive travels to 700


Additive; example
Positioning mode: absolute
Target position = 1000
 Positioning mode: additive
 Command: Target position = 200 for actual position arbitrary
 Drive travels to 1200


Control word 2
In the "Positioning with set selection" operating mode, the address of the motion set is specified via
control word 2
Bit
Description
0
1
2
3
4
5 ... 15
Address 0 for set selection
Address 1 for set selection
Address 2 for set selection
Address 3 for set selection
Address 4 for set selection
factory use
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5.4.4.2
Bit
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Status word 1 (Status word)
Operating mode BA EPL No. 0x6060 (object 1100.5).
Direct
Positioning
Velocity Control
Machine zero
Positioning
with set
(Profile Velocity)
(Homing)
(Profile
selection
Position)
(Position
Record Select)
BA = "1"
BA = "-2"
BA = "3"
BA = "6"
="1": Ready to switch on
="1": Switched on
="1": Operation enable
="1": Fault (Compax3 reports error)
="0": Voltage enable
="0": Quick stop
="1": Switch on disable
factory use
="1": Speed=0 (drive motionless)
="1": Remote (parameters can be changed via Ethernet Powerlink)
="1": Target reached (corresponds to Position / Speed / Gearing reached)
="1": Internal limit active
="1": Setpoint acknowledge (new ="1": Speed=0
="1": Homing
setpoint value is accepted)
attained
(referenced)
="1": Homing
="1": Following error
0
error
0
0
0
0
="1": Registration found
0
0
(Registration mark detected)
Manual
operation
(Jogging)
Interpolated
Position 2)
(ip-mode)
Cyclic Synchronous
Position (csp-mode)
2)
BA = "-1"
BA = "7"
BA = "8"
0
0
="1": ip mode "0": Target ignore
active
"1": Target accepted
0
-
="1": Following error
0
0
2) Operating mode "interpolated" is not supported with DeviceNet.
Status word 2
Status word 2 in the "Positioning with set selection" operating mode contains the selected set
number as well as the PSBs.
Bit
Description
0
1
2
3
4
5 ... 11
12
13
14
15
Address 0 of the current set
Address 1 of the current set
Address 2 of the current set
Address 3 of the current set
Address 4 of the current set
factory use
Programmable status bit 0 (PSB0)
Programmable status bit 1 (PSB1)
Programmable status bit 2 (PSB2)
factory use
5.4.4.3
Interpolated Position / Cyclic Synchronous Position
Mode
In this chapter you can read about:
“Interpolated Position Mode” operating mode ................................................................
Operating mode: Cyclic Synchronous Position ..............................................................
Interpolation method ......................................................................................................
Synchronizations method ..............................................................................................
The interpolated position / cyclic synchronous position modes are necessary for the
coordinated movement of dependent axes or for moving individual axes with
temporal interpolation of the setpoint values. With this, time synchronization
mechanisms such as the synchronization object are used for the temporal
coordination of the connected drive axes.
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“Interpolated Position Mode” operating mode
The operating mode switching (EPL No. 0x6060 (object 1100.5)=7) (see on page
320) to "Interpolated Position Mode" takes place during operation (via the bus) and
is not supported by the configuration in the ServoManager.
The command position of the "Interpolated Position mode" is preset via the bus
object 3921.1 "Interpolation data". This bus object can be mapped to the telegram
in the "Position Mode".
The "Interpolated Position Mode" works in SYNC operation; the cycle time is preset
via bus object 0x1006; please respect the ratings (see on page 28).
Gearing is not possible in the "interpolated" operating mode.
Operating mode: Cyclic Synchronous Position
The operating mode switching (EPL No. 0x6060 (object 1100.5)=8) (see on page
320) to "Cyclic Synchronous Position" takes place during operation (via the bus)
and is not supported by the configuration in the ServoManager.
The command position of the "Cyclic Synchronous Position" is preset via the bus
object 1100.6 "Target position". This bus object can be found on the telegram in
the "Position Mode".
The "Cyclic Synchronous Position" operating mode works in SYNC operation; the
cycle time is preset via bus object 0x1006; please respect the ratings (see on
page 28).
Gearing is not possible in the "Cyclic Synchronous Position" operating mode.
Interpolation method
In this chapter you can read about:
Linear Interpolation (o3925.1 = 0 or o3925.1 = -1) ......................................................... 324
Quadratic interpolation (o3925.1=-2) ............................................................................. 325
Cubical interpolation (o3925.1=-3) ................................................................................. 326
Setting the interpolation method via object 3925.1 (CANopen No.: 0x60C0.0)
0=linear Interpolation (Default)
 -1=linear Interpolation
 -2=Quadratic Interpolation
 -3=Cubical (Spline-) Interpolation
Caution! Do only switch while the drive is deactivated!
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Linear Interpolation (o3925.1 = 0 or o3925.1 = -1)
With the transmitted position and the position in the previous bus cycle, a straight
of the Y(t)=a*t + b is calculated. The speed within a bus cycle remains constant.
This method is only implemented for the PLL synchronization.
 Advantage: Support of a reset value range
 Disadvantage: During the transition to a new bus cycle, a speed leap may occur.
Example:
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Quadratic interpolation (o3925.1=-2)
With the aid of the position received last and the positions from the two previous
bus cycles, the polynomial coefficients of the polynomial
Y(t) = a * t^2 + b * t + c are determined. The speed within a bus cycle is a first order
function, i.e. the acceleration is constant.
 Advantage: Consistent course of speed
 Disadvantage: The Interpolation method does not support a reset value range.
Example:
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Cubical interpolation (o3925.1=-3)
With the aid of the last position received, and the three previous values, the
polynomial coefficients of the polynomial
Y(t) = a * t^3 + b * t^2 + c* are determined. The speed within a bus cycle can
change quadratically, i.e. the acceleration is a first order function.
 Advantages: Consistent course of speed and acceleration
 Disadvantages: This method may lead to overshoot in the interpolated position.
The Interpolation method does not support a reset value range.
Example:
Synchronizations method
Caution!
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The same operation is not possible with HEDA
Errors caused by different bus cycle times are not reported!
Process data transmission is also synchronized and does not take place at
different bus cycle times.
Selection of the synchronization method
the selection is made via object 820.24. The selection is only accepted, if the bus
cycle time (Bus object 0x1006) is written anew. Changes of the synchronization
method and ofthe bus cycle time should only be made while the controller is
deactivated.
PLL synchronization (Object 820.24 = 0)
During the PLL synchronization, the system clock of the slave device is
synchronized to the system clock of the master with the aid of a phase control loop.
This ensures that all devices are running in the same time frame.
Advantages: Exact synchronization of the setpoint acceptance from the master,
synchronized acquisition of the actual values
Disadvantages: Relatively high requirements for the periodicity of the synctelegram, i.e. the jitter must be small. For CANSync on Compax3, the maximum
permitted jitter is about 50µs.
If the master allows only a vague synchronization (high jitter), it is possible to use
Compax3 as SYNC generator: use the CANopen communication parameter 1105.0
(for details please refer to the DS402 specifications).
Timestamp method (Object 820.24 = 1)
During the timestamp method, the slave is not synchronized to the master clock.
Instead, the time between two subsequent sync-telegrams is measured. The
received position demand values or the values derived from them (e.g. speed) are
scaled with the measured time.
Advantages: Relatively insensitive to jitter
Disadvantages: The actual value acquisition is not synchronized to the master.
This may lead to "beats".
Linear interpolation is not possible with the timestamp method.
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5.4.5.
C3I30T11 / C3I31T11
Acyclic parameter channel
In this chapter you can read about:
Service Data Objects (SDO) ..........................................................................................328
Object Up-/Download via Ethernet Powerlink / EtherCAT...............................................329
Ethernet Powerlink objects .............................................................................................330
5.4.5.1
Service Data Objects (SDO)
Asynchronous access to the object directory of Compax3 is implemented with the
help of the SDOs. The SDOs serve for parameter configuration and status
interrogation. Access to an individual object takes place via the Ethernet Powerlink
/ EtherCAT index and subindex of the object directory.
Attention!
A SDO is a confirmed service, therefore the SDO reply telegram must always
be awaited before a new telegram may be transmitted.
CiA405_SDO_Error (Abort Code): UDINT
In the case of an incorrect SDO transmission, the error cause is returned via the
"abort code".
Abort Code
0x0503 0000
0x0504 0000
0x0504 0001
0x0504 0002
0x0504 0003
0x0504 0004
0x0504 0005
0x0601 0000
0x0601 0001
0x0601 0002
0x0602 0000
0x0604 0041
0x0604 0042
0x0604 0043
0x0604 0047
0x0606 0000
0x0607 0010
0x0607 0012
0x0607 0013
0x0609 0011
0x0609 0030
0x0609 0031
0x0609 0032
0x0609 0036
0x0800 0000
0x0800 0020
0x0800 0021
0x0800 0022
0x0800 0023
328
Description
”Toggle Bit” was not alternated
SDO Protocol ”time out”
Client/server command designator invalid or unknown
Unknown block size (block mode only)
Unknown block number (block mode only)
CRC error (block mode only)
Outside of memory
Access to this object is not supported
Attempted read access to a write only object
Attempted write access to a read only object
The object does not exist in the object directory
Object cannot be mapped in a PDO
Size and number of “mapped” objects exceeds max. PDO length
General parameter incompatibility
General incompatibility in the device
Access infringement due to a hardware error
Data type does not fit, length of the service parameter does not fit
Data type does not fit, length of the service parameter too large
Data type does not fit, length of the service parameter too small
Subindex does not exist
Outside parameter value range (only for write access operations)
Parameter value too large
Parameter value too small
Maximum value smaller than minimum value
General error
Date cannot be transmitted or saved
Date cannot be transmitted or saved due to local device management
Date cannot be transmitted or stored due to device status
Dynamic generation of the object directory is impossible or no object
directory exists (the object directory is created from a file and an error
occurs due to a defective file)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Communication
Parker EME
5.4.5.2
Object Up-/Download via Ethernet Powerlink /
EtherCAT
The up-/download takes place via the Ethernet Powerlink / EtherCAT objects
C3_Request (Index 0x2200) and C3_Response (Index 0x2201). These have the
data type octet string with a length of 20 bytes (octets). Write/read of a C3 object is
carried out by writing of C3_Request with the corresponding data. When a C3
object is read, the data appear in the C3_Response object .
Meaning of the data from C3_Request
Byte 1
Octet 2
Request header
AK
Subindex
Octet 3
Octet 4
Index
Octet 5
Octet 6
C3 object data (write)
D1
D2
...
...
Octet 19
Octet 20
...
...
D15
D16
AK: Job identifier; 3=read, 4= write
OD1..OD16: Object data; OD1 = High, OD16 = Low
Meaning of the data from C3_Response
Byte 1
Octet 2
Reply header
-
Octet 3
Octet 4
-
-
Octet 5
Octet 6
C3 object data (read)
OD1
OD2
...
...
Octet 19
Octet 20
...
...
OD15
OD16
O7
O8
...
O 20
0
x
...
x
x
Subi
x
x
...
...
x
x
x
D3
x
D4
...
...
x
D16
O7
O8
...
O 20
D3
D4
...
D16
OD1..OD16: Object data; OD1 = High, OD16 = Low
Upload
Ethernet Powerlink /
O1
O2
O3
O4
O5
O6
EtherCAT
Access Object
C3 object request/reply
C3 object data
1. Write C3 object 20.2 with the value 0
Write
0x2200.0
4
2
0
20
0
0
2. read next C3 object index/subindex in C3 object 20.5
Write
0x2200.0
3
5
0
20
x
x
I_hi
I_lo
Read 0x2201.0
x
x
x
x
3. read the C3 object with the in index/subindex read in the C3 object 20.5
Subi I_hi
I_lo
Write
0x2200.0
3
x
x
Read
0x2201.0
x
x
x
x
D1
D2
4. Store C3 object index, subindex and data D1...D16 in table
5. Repeat steps 2 to 4 until I_hi = I_lo = Subi = 0xFF
Download: Write the entire table of C3 objects.
Ethernet Powerlink /
O1
O2
O3
O4
EtherCAT
Access Object
C3 object request/reply
1. Write C3 object from the table
Subi I_hi
I_lo
Write
0x2200.0
4
2. Repeat step 1 until the end of the table
O5
O6
C3 object data
D1
D2
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
329
Communication
C3I30T11 / C3I31T11
5.4.5.3
Ethernet Powerlink objects
In this chapter you can read about:
Standardized and manufacturer-specific objects sorted according to bus object names 331
Standardized and manufacturer-specific objects sorted according to object names ....... 338
Detailed object list ......................................................................................................... 344
Data formats of the bus objects ..................................................................................... 345
Set objects to valid
Please note that certain objects are not valid (read by Compax3) immediately after
a change. This is described in the heading "Valid after".
These objects are converted to internal variables by Compax3 with the command
"Set objects to valid".
Save objects
permanently
It should also be noted that modified objects are not permanently stored, i.e. the
changes are lost after the power (24 VDC) is turned off.
The object "save objects permamently" can be used to save objects in a flash
memory so that they are retained even if the power fails.
330
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Communication
Parker EME
Standardized and manufacturer-specific objects sorted according to
bus object names
No.
Valid
beginn
ing
VP
Object
AnalogInput0_Gain
Gain analog input 0
C4_3
170.2
170.4
AnalogInput0_Offset
Analog input Offset 0
I16
171.2
171.4
AnalogInput1_Gain
AnalogInput1_Offset
Gain analog input 1
Analog input offset 1
C4_3
I16
2100.20
Control signal filter of velocity control
U16
Filter - Actual acceleration
Filter actual acceleration 2
Ratio direct to quadrature inductance
Activation of the voltage decoupling
U16
U16
U16
I16
VP
VP
VP
VP
990.1
ControllerTuning_ActuatingSpeedSignalFilt_u
s
ControllerTuning_FilterAccel_us
ControllerTuning_FilterAccel2
D_CurrentController_Ld_Lq_Ratio
D_CurrentController_VoltageDecouplingEnabl
e
Delay_MasterDelay
immed
iately
VP
immed
iately
VP
Setpoint delay for bus master
I16
84.4
84.3
DeviceSupervision_DeviceAdr
DeviceSupervision_DeviceCounter
U16
U16
84.5
84.2
85.1
120.2
87.1
86.1
88.1
3925.23
DeviceSupervision_OperatingTime
DeviceSupervision_ThisDevice
Diagnostics_DeviceState
DigitalInput_Value
ErrorHistoryNumber_1
ErrorHistoryPointer_LastEntry
ErrorHistoryTime_1
FBI_Interpolation_AccelStatus
U32
U16
V2
V2
U16
U16
U32
C4_3
-
3925.22
FBI_Interpolation_VelocityStatus
C4_3
-
2010.20
2011.5
2011.4
410.6
FeedForward_EMF
FeedForwardExternal_FilterAccel_us
FeedForwardExternal_FilterSpeed_us
LimitPosition_LoadControlMaxPosDiff
U16
U16
U16
C4_3
VP
VP
VP
VP
2240.7
Magnetization current controller_Bandwidth
I16
VP
2240.4
Magnetization current controller_Damping
I16
VP
2240.11
I16
VP
Magnetization current quantifier (ASM)
I16
VP
2220.22
2220.20
2220.21
2220.27
688.9
688.10
688.1
Magnetization current controller_Field
weakening speed
Magnetization current
controller_IMrn_DemandValueTuning
Q_CurrentController_BackEMF
Q_CurrentController_Inductance
Q_CurrentController_Resistance
Q_CurrentController_StructureSelection
StatusCurrent_PhaseU
StatusCurrent_PhaseV
StatusCurrent_Reference
Current RS485 address of the C3M
Number of devices in the C3M
combination
Hours of operation of the PSUP in s
Device number in the C3M combination
PSUP operating state
Status of digital inputs
Error 1
Pointer to current error
Error point in time 1
Input value of the acceleration of
O3925.21
Input speed of the differentiated input
position O2121.1
EMC feedforward
Filter time constant ext. Acceleration
Filter time constant ext. Speed
Position difference load-motor (error
threshold)
Magnetization current controller
bandwidth (ASM)
Magnetization current controller
attenuation(ASM)
Reference speed quantifier (ASM)
immed
iately
-
I16
I16
I16
I16
C4_3
C4_3
E2_6
VP
VP
VP
VP
-
688.18
681.11
681.20
681.21
681.25
681.24
2210.17
StatusCurrent_ReferenceDINT
StatusSpeed_FeedForwardSpeed
StatusSpeed_LoadControl
StatusSpeed_LoadControlFiltered
StatusSpeed_NegativeLimit
StatusSpeed_PositiveLimit
SpeedController_ActualBandwidth
Parameter motor force constant
Parameter motor inductance
Parameter motor resistance
Structure switch of current control
Status of current phase U
Status of current phase V
Status of setpoint current RMS (torque
forming)
Target current r.m.s.
Status speed feed forward
Speed of the load feedback (unfiltered)
Speed of the load feedback (filtered)
Negative speed limit currently effective
Positive speed limit currently effective
Replacement time constant for the
velocity control
I32
C4_3
C4_3
C4_3
C4_3
C4_3
I32
-
2100.21
2100.11
2230.20
2230.24
2240.2
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Bus_No.
Bus
format
Object name
331
Communication
C3I30T11 / C3I31T11
No.
Object name
Object
2210.5
2210.4
2120.7
SpeedController_I_Part_Gain
SpeedController_P_Part_Gain
SpeedObserver_DisturbanceAdditionEnable
U16
U16
I16
2120.5
2120.1
682.5
682.6
682.7
690.5
SpeedObserver_DisturbanceFilter
SpeedObserver_TimeConstant
StatusAccel_Actual
StatusAccel_ActualFilter
StatusAccel_FeedForwardAccel
StatusAutocommutation_Itterations
U32
U32
I32
I32
C4_3
U16
VP
VP
-
688.2
StatusCurrent_Actual
E2_6
-
688.19
688.8
StatusCurrent_ActualDINT
StatusCurrent_ControlDeviationIq
I32
C4_3
-
688.31
StatusCurrent_DecouplingVoltageUd
C4_3
-
688.32
688.14
688.13
StatusCurrent_FeedForwardbackEMF
StatusCurrent_FeedForwordCurrentJerk
StatusCurrent_ReferenceJerk
C4_3
C4_3
I32
-
688.11
688.22
688.30
StatusCurrent_ReferenceVoltageUq
StatusCurrent_ReferenceVoltageVector
StatusCurrent_VoltageUd
C4_3
C4_3
C4_3
-
688.29
StatusCurrent_VoltageUq
C4_3
-
683.5
692.4
692.3
692.2
692.1
692.5
680.12
StatusDevice_ObservedDisturbance
StatusFeedback_EncoderCosine
StatusFeedback_EncoderSine
StatusFeedback_FeedbackCosineDSP
StatusFeedback_FeedbackSineDSP
StatusFeedback_FeedbackVoltage[Vpp]
StatusPosition_DemandController
C4_3
I32
I32
I32
I32
C4_3
C4_3
-
680.23
680.20
StatusPosition_LoadControlActual
StatusPosition_LoadControlDeviation
C4_3
C4_3
-
680.22
680.21
681.12
681.13
681.10
170.3
171.3
2190.2
2190.4
StatusPosition_LoadControlDeviationFiltered
StatusPosition_LoadControlDeviationMax
StatusSpeed_ActualScaled
StatusSpeed_DemandScaled
StatusSpeed_DemandSpeedController
AnalogInput0_FilterCoefficient
AnalogInput1_FilterCoefficient
AutoCommutationControl_InitialCurrent
AutoCommutationControl_MotionReduction
C4_3
C4_3
C4_3
C4_3
C4_3
I16
I16
U16
U16
VP
VP
VP
VP
2190.8
2190.3
2190.1
2190.10
AutoCommutationControl_PeakCurrent
AutoCommutationControl_PositionThreshold
AutoCommutationControl_Ramptime
AutoCommutationControl_Reset
Weighting "I" term
P term quantifier
Switch to enable disturbance
compensation
Time constant disturbance filter
Rapidity of the speed monitor
Status of actual acceleration unfiltered
Status of filtered actual acceleration
Status acceleration feed forward
Current increase steps automatic
commutation
Status of actual current RMS (torque
producing)
Actual current r.m.s.
Status of control deviation of current
control RMS
Signal decoupling of direct current
controller
Signal EMC feedforward
Status of current & jerk feedforward
Status of demand jerk setpoint
generator
Status of current control control signal
Provided voltage pointer
Provided voltage of direct current
controller
Provided voltage of quadrature current
controller
Status of observed disturbance
Status of analog input cosine
Status of analog input sine
Status of cosine in signal processing
Status of sine in signal processing
Status of feedback level
Status demand position without
absolute reference
Actual position of the load
Position difference load-motor
(unfiltered)
Position difference load-motor (filtered)
Maximum position difference load-motor
Filtered actual speed
Setpoint speed of the setpoint generator
Status demand speed controller input
Filter of analog input 0
Filter of analog input 1
Start current of automatic commutation
Motion reduction Automatic
commutation
Reduction of the peak current
Motion limit for automatic commutation
Ramp slope current slope AK
Reset automatic commutation
Valid
beginn
ing
VP
VP
VP
U16
U16
U16
U16
2190.7
820.3
85.8
85.7
85.3
85.2
85.9
AutoCommutationControl_StandstillThreshold
CANopen_Node_ID
Diagnostics_ChopperOff_Voltage
Diagnostics_ChopperOn_Voltage
Diagnostics_DCbus_Current
Diagnostics_DCbus_Voltage
Diagnostics_DCbus_VoltageMax
Optimization of the standstill threshold
CANopen_Node_ID
Chopper Switch-off threshold in V
Chopper Switch-on threshold in V
PSUP intermediate current
PSUP DC intermediate voltage
Reduced DC bus voltage in V
U16
U16
I16
I16
I16
I16
I16
VP
VP
VP
immed
iately
VP
-
332
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Bus_No.
Bus
format
Communication
Parker EME
I16
I16
I32
Valid
beginn
ing
-
C4_3
-
Y4
-
I16
U32
immed
iately
immed
iately
immed
iately
immed
iately
VP
I16
I16
I16
VP
VP
I16
I16
I32
I32
I16
I16
I32
C4_3
I32
U16
U16
VP
VP
VP
VP
VP
VP
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
VP
VP
VP
U16
VP
I16
C4_3
immed
iately
immed
iately
-
U16
-
I32
I32
U16
I16
VP
U16
VP
U16
VP
Object name
Object
85.5
85.4
2020.7
Diagnostics_RectifierLoad
Diagnostics_TemperatureHeatSink
ExternalSignal_Accel_Munits
2020.6
ExternalSignal_Speed_Munits
3921.7
FBI_SignalProcessing0_OutputGreat
3921.8
FBI_SignalProcessing0_Source
3920.7
1130.13
HEDA_SignalProcessing_OutputGreat
HOMING_edge_position
PSUP usage in %
PSUP heat dissipator temperature
Acceleration of the external signal
source
Speed value of the external signal
source
Interpolation output of the Position
CanSync, PowerLink
Switching the position source of the
interpolator
Output of the Heda Tracking Filter
Distance MN (zero) initiator - motor zero
2201.2
LoadControl_Command
Load control command mode
I16
2201.1
LoadControl_Enable
Activate load control
I16
2201.11
LoadControl_FilterLaggingPart
2201.3
2201.12
2201.13
LoadControl_Status
LoadControl_VelocityFilter
LoadControl_VelocityLimit
2150.2
2150.5
2150.3
2150.6
2150.1
2150.4
1211.13
NotchFilter_BandwidthFilter1
NotchFilter_BandwidthFilter2
NotchFilter_DepthFilter1
NotchFilter_DepthFilter2
NotchFilter_FrequencyFilter1
NotchFilter_FrequencyFilter2
PG2POSITION_direction
1252.20
PG2RegMove_ParametersModified
Time constant of position difference
filter
Load control status bits
Time constant of the load-speed filter
Load control intervention speed
limitation
Bandwidth of notch filter 1
Bandwidth of notch filter 2
Depth of notch filter 1
Depth of notch filter 2
Center frequency of notch filter 1
Center frequency of notch filter 2
Manipulation of the motion direction in
reset mode
Status RegMove
1111.13
POSITION_direction
I32
1111.1
POSITION_position
Manipulation of the motion direction in
reset mode
Target position
1111.2
POSITION_speed
C4_3
2200.20
2200.21
2200.25
2200.11
PositionController_DeadBand
PositionController_FrictionCompensation
PositionController_IntegralPart
PositionController_TrackingErrorFilter
2200.24
PositionController_TrackingErrorFilter_us
1152.20
RegMove_ParametersModified
Speed for positioning and velocity
control
Deadband of position controller
Friction compensation
I term of position controller
Following error filter of the position
controller
Time constant following error filter of
position controller
Status RegMove
1127.3
SPEED_speed
688.17
StatusCurrent_FieldWeakeningFactor
684.4
StatusTemperature_TmotResistance
670.4
670.2
110.1
2109.1
StatusTorqueForce_ActualForce
StatusTorqueForce_ActualTorque
Switch_DeviceFunction
TrackingfilterHEDA_TRFSpeed
2107.1
TrackingfilterPhysicalSource_TRFSpeed
2110.4
TrackingfilterSG1_AccelFilter
Setpoint speed in speed control
operating mode
Reciprocal of the field weakening factor
FF
Status of motor temperature resistance
value
Status of actual force
Status of actual torque
Value of the function switch on C3M
Time constant tracking filter HEDAprocess position
Time constant tracking filter physical
source
Filter effect of acceleration filter setpoint
encoder
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Bus_No.
Bus
format
No.
C4_3
C4_3
I16
C4_3
C4_3
333
Communication
C3I30T11 / C3I31T11
U16
Valid
beginn
ing
VP
U16
VP
U16
VP
0
I16
VP
Slip frequency quantifier (ASM)
0
I16
VP
Initiator adjustment
0x2000
C4_3
STOP_jerk
Jerk for STOP
0x2001
U32
1116.1
FSTOP1_decel
Deceleration for FSTOP1
0x2002
U32
1116.2
FSTOP1_jerk
Jerk for FSTOP1
0x2003
U32
1118.2
FSTOP3_jerk
Jerk for FSTOP3
0x2004
U32
1111.5
POSITION_jerk_accel
Acceleration jerk for positioning
0x2005
U32
1111.6
POSITION_jerk_decel
Deceleration jerk for positioning
0x2006
U32
1128.1
JOG_accel
Acceleration for Manual +/-
0x2007
U32
1128.3
JOG_speed
Speed for Manual +/-
0x2008
C4_3
402.1
402.2
402.3
402.4
1118.1
Limit_SpeedPositive
Limit_SpeedNegative
Limit_CurrentPositive
Limit_CurrentNegative
FSTOP3_decel
Maximum permissible positive speed
Maximum permissible negative speed
Maximum permissible positive current
Maximum permissible negative current
Deceleration for FSTOP3
0x2009
0x200A
0x200B
0x200C
0x200D
I16
I16
I16
I16
U32
682.4
685.1
1128.2
StatusAccel_DemandValue
StatusVoltage_AuxiliaryVoltage
JOG_jerk
Status demand acceleration
Status of auxiliary voltage
Jerk for Manual +/-
0x200E
0x200F
0x2010
I32
E2_6
U32
683.2
683.3
684.2
684.1
StatusDevice_ActualDeviceLoad
StatusDevice_ActualMotorLoad
StatusTemperature_Motor
StatusTemperature_PowerStage
0x2011
0x2012
0x2013
0x2014
E2_6
E2_6
I16
U16
1125.2
ERROR_jerk
Status of device load
Status of long-term motor load
Status of motor temperature
Status of power output stage
temperature
Jerk upon Error
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
VP
VP
VP
immed
iately
immed
iately
-
0x2015
U32
210.10
ValidParameter_Global
Set objects to valid
0x2016.10
U16
20.1
ObjectDir_Objekts-->FLASH
Store objects permanently (bus)
0x2017
I16
1125.1
ERROR_decel
Deceleration upon error
0x2018
U32
1100.4
DeviceControl_Controlword_2
Control word 2
0x201B
V2
1000.4
DeviceState_Statusword_2
Status word 2
0x201C
V2
201.11
NormFactorY4_FBI_SignalProcessing
0x2021.11
V2
681.7
StatusSpeed_ActualFiltered_Y2
0x2023
Y2
-
685.3
685.4
681.6
StatusVoltage_AnalogInput0
StatusVoltage_AnalogInput1
StatusSpeed_Error
Normalization factor for bus
interpolation
CANSync/EthernetPowerLink
Status of the actual filtered speed
speed in the Y2 format
Status of analog input 0
Status of analog input 1
Status control deviation of speed
0x2025
0x2026
0x2027
Y2
Y2
C4_3
-
No.
Object name
Object
2110.7
TrackingfilterSG1_AccelFilter_us
2110.3
TrackingfilterSG1_FilterSpeed
2110.6
TrackingfilterSG1_FilterSpeed_us
2240.10
1130.7
Magnetization current
controller_RotorTimeConstant
Magnetization current
controller_SlipFrequency
HOMING_edge_sensor_distance
Filter time constant acceleration
setpoint generator
Filter effect of speed filter setpoint
encoder
Filter time constant velocity setpoint
generator
Motor Time Constant quantifier
1113.2
2240.9
334
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Bus_No.
Bus
format
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
Communication
Parker EME
No.
Object name
Object
Bus_No.
Bus
format
1100.6
DeviceControl_DemandValue1
Device demand value A
Y4
1100.7
DeviceControl_DemandValue2
Device demand value D
1100.14
DeviceControl_DemandValue2_Y2
Device demand value
1111.10
POSITION_accel_U16
3921.1
FBI_SignalProcessing0_Input
Acceleration for positioning in U16
Format
Interpolation input CanSync, PowerLink
0x202A/0x2
044/0x607A/
0x202B/0x2
046/0x6081
0x202C/0x2
068
0x202D
0x2050
I32
1111.16
POSITION_decel_U16
0x205D
U16
820.24
CANopen_SyncMode
0x205E
I16
3300.8
TouchProbe_IgnoreZone_Start
Deceleration for Positioning in U16
Format
Configuration of the bus
synchronization process
Beginning of the ignore zone
0x2066
C4_3
3300.9
TouchProbe_IgnoreZone_End
End of the ignore zone
0x2067
C4_3
1100.13
DeviceControl_DemandValue8
Setpoint value
Y4
402.6
Limit_CurrentFine
Factor for the current limits
0x206A/0x6
0FF
0x2093
I16
683.8
StatusDevice_MotorCurrent
0x2094
I16
2020.1
680.32
ExternalSignal_Position
StatusPosition_EncoderIncrements5V
Motor current in per thousand of the
actual current limit
Position from external signal source
Encoder position 0 (5V) in increments
0x2095.1
0x2095.3
C4_3
I32
2110.1
TrackingfilterSG1_TRFSpeed
0x2096
I16
1141.10
GEAR_FFW_mode
0x2097
U16
3925.20
FBI_Interpolation_VelocityInput
0x2098
I32
3925.21
FBI_Interpolation_AccelInput
0x2099
I32
1.21
Device_FirmwareRelease
Time constant tracking filter setpoint
encoder
Control bits for feedforward with source
CANSync/EthernetPowerLink/EtherCat
Velocity specification GEARING
CanSync/EthernetPowerLink
Acceleration specification GEARING
CanSync/EthernetPowerLink
Version of firmware package
0x20FF
I32
2100.2
ControllerTuning_Stiffness
Stiffness (speed controller)
U16
2100.3
2100.4
2100.5
2100.6
2100.7
2100.8
2100.9
2010.1
2010.2
2010.4
2010.5
2011.1
ControllerTuning_Damping
ControllerTuning_Inertia
ControllerTuning_FilterSpeed
ControllerTuning_FilterAccel
ControllerTuning_SpeedDFactor
ControllerTuning_CurrentBandwidth
ControllerTuning_CurrentDamping
FeedForward_Speed
FeedForward_Accel
FeedForward_Current
FeedForward_Jerk
FeedForwardExternal_FilterSpeed
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
U16
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
2011.2
FeedForwardExternal_FilterAccel
0x2102.2
U16
VP
1900.1
Pointer_Row
Damping (rotation speed controller)
Moment of Inertia
Filter - Actual velocity
Filter - Actual acceleration
D-component of speed controller
Current regulator bandwidth
Current loop - Damping
Velocity Feed Forward
Acceleration feed-forward
Current feed-forward
Jerk feed-forward
External Speed Feed Forward Filter
Time Constant
External Acceleration Feed Forward
Filter Time Constant
Pointer to table row
0x2100.2/0x
2100.1
0x2100.3
0x2100.4
0x2100.5
0x2100.6
0x2100.7
0x2100.8
0x2100.9
0x2101.1
0x2101.2
0x2101.4
0x2101.5
0x2102.1
immed
iately
immed
iately
immed
iately
immed
iately
VP
0x2300
U16
1901.1
Col01_Row01
variable Column 1 Row 1
0x2301.1
Y4
1902.1
Col02_Row01
variable Column 2 Row 1
0x2302.1
Y2
1903.1
Col03_Row01
variable Column 3 Row 1
0x2303.1
I16
1904.1
Col04_Row01
variable Column 4 Row 1
0x2304.1
I16
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Y4
Y2
U16
Valid
beginn
ing
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
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iately
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iately
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iately
immed
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immed
iately
VP
335
Communication
C3I30T11 / C3I31T11
No.
Object name
Object
Bus_No.
Bus
format
1905.1
Col05_Row01
variable Column 5 Row 1
0x2305.1
I16
1906.1
Col06_Row01
variable Column 6 Row 1
0x2306.1
I32
1907.1
Col07_Row01
variable Column 7 Row 1
0x2307.1
I32
1908.1
Col08_Row01
variable Column 8 Row 1
0x2308.1
I32
1909.1
Col09_Row01
variable Column 9 Row 1
0x2309.1
I32
1910.1
Indirect_Col01
Indirect table access Column 1
0x2311
Y4
550.1
ErrorHistory_LastError
Current error (n)
U16
1100.3
DeviceControl_Controlword_1
Control word CW
0x603F/0x2
01D.1
0x6040
1000.3
DeviceState_Statusword_1
Status word SW
0x6041
V2
1100.20
DeviceControl_QuickStopMode
Quick Stop operating mode
0x605A
I16
1100.5
DeviceControl_OperationMode
Operating mode
0x6060
I16
1000.5
DeviceState_ActualOperationMode
Operating mode display
0x6061
I16
680.5
420.2
420.3
StatusPosition_Actual
PositioningAccuracy_FollowingErrorWindow
PositioningAccuracy_FollowingErrorTimeout
Status actual position
Following error limit
Following Error Time
0x6064
0x6065
0x6066
C4_3
C4_3
U16
420.1
420.7
PositioningAccuracy_Window
PositioningAccuracy_WindowTime
Positioning window for position reached
In Position Window Time
0x6067
0x6068
C4_3
U16
681.5
681.4
StatusSpeed_Actual
StatusSpeed_DemandValue
0x6069
0x606B
C4_3
C4_3
681.9
683.1
685.2
1130.5
StatusSpeed_ActualFiltered
StatusDevice_ActualCurrent
StatusVoltage_BusVoltage
HOMING_home_offset
Status actual speed unfiltered
Status demand speed of setpoint
generator
Status actual speed filtered
Status of actual current value
Status DC bus voltage
Machine reference offset
0x606C
0x6077
0x6079
0x607C
C4_3
E2_6
E2_6
C4_3
410.3
LimitPosition_Negative
negative end limit
0x607D.1
C4_3
410.2
LimitPosition_Positive
positive end limit
0x607D.2
C4_3
1111.3
POSITION_accel
Acceleration for positioning
0x6083
U32
1127.1
SPEED_accel
0x6083
U32
1111.4
POSITION_decel
Acceleration / deceleration in speed
control operating mode
Deceleration for positioning
0x6084
U32
1113.1
STOP_decel
Deceleration for STOP
0x6085
U32
1130.4
HOMING_mode
Adjusting the machine reference mode
0x6098
U16
1130.3
HOMING_speed
Speed for machine reference run
0x6099.1
C4_3
1130.1
HOMING_accel
0x609A
U32
3925.1
FBI_Interpolation_SubModeSelect
Acceleration / deceleration MN
(homing) run
Interpolation method
0x60C0
I16
680.6
680.4
120.3
121.2
StatusPosition_FollowingError
StatusPosition_DemandValue
DigitalInput_DebouncedValue
DigitalInputAddition_Value
Status of tracking error
Status demand position
Status of digital inputs
Input word of I/O option
0x60F4
0x60FC
0x6100.1
0x6100.2
C4_3
C4_3
V2
V2
336
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
V2
Valid
beginn
ing
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
immed
iately
VP
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
-
Communication
Parker EME
No.
Object name
Object
Bus_No.
Bus
format
133.3
DigitalOutputAddition_Value
Output word for I/O option
0x6300.2
V2
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Valid
beginn
ing
immed
iately
337
Communication
C3I30T11 / C3I31T11
Standardized and manufacturer-specific objects sorted according to
object names
No.
Object
AnalogInput0_Gain
Gain analog input 0
C4_3
170.2
170.4
AnalogInput0_Offset
Analog input Offset 0
I16
171.2
171.4
AnalogInput1_Gain
AnalogInput1_Offset
Gain analog input 1
Analog input offset 1
C4_3
I16
820.24
CANopen_SyncMode
0x205E
2100.20
ControllerTuning_ActuatingSpeedSignalFilt_u
s
ControllerTuning_CurrentBandwidth
ControllerTuning_CurrentDamping
ControllerTuning_Damping
ControllerTuning_FilterAccel
ControllerTuning_FilterAccel_us
ControllerTuning_FilterAccel2
ControllerTuning_FilterSpeed
ControllerTuning_Inertia
ControllerTuning_SpeedDFactor
ControllerTuning_Stiffness
Configuration of the bus
synchronization process
Control signal filter of velocity control
Current regulator bandwidth
Current loop - Damping
Damping (rotation speed controller)
Filter - Actual acceleration
Filter - Actual acceleration
Filter actual acceleration 2
Filter - Actual velocity
Moment of Inertia
D-component of speed controller
Stiffness (speed controller)
0x2100.8
0x2100.9
0x2100.3
0x2100.6
2100.8
2100.9
2100.3
2100.6
2100.21
2100.11
2100.5
2100.4
2100.7
2100.2
2230.20
2230.24
990.1
D_CurrentController_Ld_Lq_Ratio
Ratio direct to quadrature inductance
D_CurrentController_VoltageDecouplingEnabl Activation of the voltage decoupling
e
Delay_MasterDelay
Setpoint delay for bus master
1.21
Device_FirmwareRelease
Version of firmware package
84.4
84.3
DeviceSupervision_DeviceAdr
DeviceSupervision_DeviceCounter
84.5
84.2
85.1
120.3
120.2
121.2
133.3
DeviceSupervision_OperatingTime
DeviceSupervision_ThisDevice
Diagnostics_DeviceState
DigitalInput_DebouncedValue
DigitalInput_Value
DigitalInputAddition_Value
DigitalOutputAddition_Value
Current RS485 address of the C3M
Number of devices in the C3M
combination
Hours of operation of the PSUP in s
Device number in the C3M combination
PSUP operating state
Status of digital inputs
Status of digital inputs
Input word of I/O option
Output word for I/O option
87.1
86.1
88.1
2020.1
3925.21
ErrorHistoryNumber_1
ErrorHistoryPointer_LastEntry
ErrorHistoryTime_1
ExternalSignal_Position
FBI_Interpolation_AccelInput
3925.23
FBI_Interpolation_AccelStatus
3925.1
FBI_Interpolation_SubModeSelect
3925.20
FBI_Interpolation_VelocityInput
3925.22
FBI_Interpolation_VelocityStatus
3921.1
2010.2
2010.4
2010.20
338
Error 1
Pointer to current error
Error point in time 1
Position from external signal source
Acceleration specification GEARING
CanSync/EthernetPowerLink
Input value of the acceleration of
O3925.21
Interpolation method
Bus_No.
Bus
format
Object name
I16
U16
U16
U16
U16
U16
U16
U16
0x2100.5
U16
0x2100.4
U16
0x2100.7
U16
0x2100.2/0x U16
2100.1
U16
I16
I16
0x20FF
I32
U16
U16
0x6100.2
0x6300.2
U32
U16
V2
V2
V2
V2
V2
0x2095.1
0x2099
U16
U16
U32
C4_3
I32
0x6100.1
C4_3
0x60C0
I16
0x2098
I32
FBI_SignalProcessing0_Input
Velocity specification GEARING
CanSync/EthernetPowerLink
Input speed of the differentiated input
position O2121.1
Interpolation input CanSync, PowerLink
0x2050
I32
FeedForward_Accel
FeedForward_Current
FeedForward_EMF
Acceleration feed-forward
Current feed-forward
EMC feedforward
0x2101.2
0x2101.4
U16
U16
U16
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
C4_3
Valid
beginn
ing
VP
immed
iately
VP
immed
iately
immed
iately
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
VP
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
VP
VP
Communication
Parker EME
No.
Object name
Object
Bus_No.
Bus
format
2010.5
2010.1
2011.2
FeedForward_Jerk
FeedForward_Speed
FeedForwardExternal_FilterAccel
0x2101.5
0x2101.1
0x2102.2
U16
U16
U16
2011.5
2011.1
FeedForwardExternal_FilterAccel_us
FeedForwardExternal_FilterSpeed
0x2102.1
U16
U16
VP
VP
2011.4
402.2
402.1
410.6
FeedForwardExternal_FilterSpeed_us
Limit_SpeedNegative
Limit_SpeedPositive
LimitPosition_LoadControlMaxPosDiff
0x200A
0x2009
U16
I16
I16
C4_3
VP
VP
VP
VP
410.3
LimitPosition_Negative
Jerk feed-forward
Velocity Feed Forward
External Acceleration Feed Forward
Filter Time Constant
Filter time constant ext. Acceleration
External Speed Feed Forward Filter
Time Constant
Filter time constant ext. Speed
Maximum permissible negative speed
Maximum permissible positive speed
Position difference load-motor (error
threshold)
negative end limit
Valid
beginn
ing
VP
VP
VP
0x607D.1
C4_3
410.2
LimitPosition_Positive
positive end limit
0x607D.2
C4_3
2240.7
Magnetization current controller_Bandwidth
I16
2240.4
Magnetization current controller_Damping
I16
VP
2240.11
I16
VP
Magnetization current quantifier (ASM)
I16
VP
201.11
Magnetization current controller_Field
weakening speed
Magnetization current
controller_IMrn_DemandValueTuning
Magnetization current
controller_RotorTimeConstant
Magnetization current
controller_SlipFrequency
NormFactorY4_FBI_SignalProcessing
Magnetization current controller
bandwidth (ASM)
Magnetization current controller
attenuation(ASM)
Reference speed quantifier (ASM)
immed
iately
immed
iately
VP
20.1
2240.2
2240.10
Motor Time Constant quantifier
0
I16
VP
Slip frequency quantifier (ASM)
0
I16
VP
0x2021.11
V2
immed
iately
ObjectDir_Objekts-->FLASH
Normalization factor for bus
interpolation
CANSync/EthernetPowerLink
Store objects permanently (bus)
0x2017
I16
420.1
420.7
PositioningAccuracy_Window
PositioningAccuracy_WindowTime
Positioning window for position reached
In Position Window Time
0x6067
0x6068
C4_3
U16
402.4
402.3
420.3
Limit_CurrentNegative
Limit_CurrentPositive
PositioningAccuracy_FollowingErrorTimeout
Maximum permissible negative current
Maximum permissible positive current
Following Error Time
0x200C
0x200B
0x6066
I16
I16
U16
420.2
2220.22
2220.20
2220.21
2220.27
688.9
688.10
688.1
PositioningAccuracy_FollowingErrorWindow
Q_CurrentController_BackEMF
Q_CurrentController_Inductance
Q_CurrentController_Resistance
Q_CurrentController_StructureSelection
StatusCurrent_PhaseU
StatusCurrent_PhaseV
StatusCurrent_Reference
0x6065
C4_3
I16
I16
I16
I16
C4_3
C4_3
E2_6
688.18
681.6
681.11
681.20
681.21
681.25
681.24
684.2
2210.17
StatusCurrent_ReferenceDINT
StatusSpeed_Error
StatusSpeed_FeedForwardSpeed
StatusSpeed_LoadControl
StatusSpeed_LoadControlFiltered
StatusSpeed_NegativeLimit
StatusSpeed_PositiveLimit
StatusTemperature_Motor
SpeedController_ActualBandwidth
I32
C4_3
C4_3
C4_3
C4_3
C4_3
C4_3
I16
I32
-
2210.5
2210.4
2120.7
SpeedController_I_Part_Gain
SpeedController_P_Part_Gain
SpeedObserver_DisturbanceAdditionEnable
Following error limit
Parameter motor force constant
Parameter motor inductance
Parameter motor resistance
Structure switch of current control
Status of current phase U
Status of current phase V
Status of setpoint current RMS (torque
forming)
Target current r.m.s.
Status control deviation of speed
Status speed feed forward
Speed of the load feedback (unfiltered)
Speed of the load feedback (filtered)
Negative speed limit currently effective
Positive speed limit currently effective
Status of motor temperature
Replacement time constant for the
velocity control
Weighting "I" term
P term quantifier
Switch to enable disturbance
compensation
immed
iately
VP
immed
iately
VP
VP
immed
iately
VP
VP
VP
VP
VP
-
U16
U16
I16
VP
VP
VP
2240.9
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
0x2027
0x2013
339
Communication
C3I30T11 / C3I31T11
No.
Object name
Object
2120.5
2120.1
682.5
682.6
682.4
682.7
690.5
SpeedObserver_DisturbanceFilter
SpeedObserver_TimeConstant
StatusAccel_Actual
StatusAccel_ActualFilter
StatusAccel_DemandValue
StatusAccel_FeedForwardAccel
StatusAutocommutation_Itterations
688.2
StatusCurrent_Actual
688.19
688.8
StatusCurrent_ActualDINT
StatusCurrent_ControlDeviationIq
688.31
StatusCurrent_DecouplingVoltageUd
688.32
688.14
688.13
StatusCurrent_FeedForwardbackEMF
StatusCurrent_FeedForwordCurrentJerk
StatusCurrent_ReferenceJerk
688.11
688.22
688.30
StatusCurrent_ReferenceVoltageUq
StatusCurrent_ReferenceVoltageVector
StatusCurrent_VoltageUd
688.29
StatusCurrent_VoltageUq
683.1
683.2
683.3
683.5
692.4
692.3
692.2
692.1
692.5
680.5
680.12
StatusDevice_ActualCurrent
StatusDevice_ActualDeviceLoad
StatusDevice_ActualMotorLoad
StatusDevice_ObservedDisturbance
StatusFeedback_EncoderCosine
StatusFeedback_EncoderSine
StatusFeedback_FeedbackCosineDSP
StatusFeedback_FeedbackSineDSP
StatusFeedback_FeedbackVoltage[Vpp]
StatusPosition_Actual
StatusPosition_DemandController
680.4
680.6
680.23
680.20
StatusPosition_DemandValue
StatusPosition_FollowingError
StatusPosition_LoadControlActual
StatusPosition_LoadControlDeviation
680.22
680.21
681.5
681.9
681.7
StatusPosition_LoadControlDeviationFiltered
StatusPosition_LoadControlDeviationMax
StatusSpeed_Actual
StatusSpeed_ActualFiltered
StatusSpeed_ActualFiltered_Y2
681.12
681.13
681.10
681.4
StatusSpeed_ActualScaled
StatusSpeed_DemandScaled
StatusSpeed_DemandSpeedController
StatusSpeed_DemandValue
684.1
StatusTemperature_PowerStage
685.3
685.4
685.1
685.2
210.10
StatusVoltage_AnalogInput0
StatusVoltage_AnalogInput1
StatusVoltage_AuxiliaryVoltage
StatusVoltage_BusVoltage
ValidParameter_Global
Time constant disturbance filter
Rapidity of the speed monitor
Status of actual acceleration unfiltered
Status of filtered actual acceleration
Status demand acceleration
Status acceleration feed forward
Current increase steps automatic
commutation
Status of actual current RMS (torque
producing)
Actual current r.m.s.
Status of control deviation of current
control RMS
Signal decoupling of direct current
controller
Signal EMC feedforward
Status of current & jerk feedforward
Status of demand jerk setpoint
generator
Status of current control control signal
Provided voltage pointer
Provided voltage of direct current
controller
Provided voltage of quadrature current
controller
Status of actual current value
Status of device load
Status of long-term motor load
Status of observed disturbance
Status of analog input cosine
Status of analog input sine
Status of cosine in signal processing
Status of sine in signal processing
Status of feedback level
Status actual position
Status demand position without
absolute reference
Status demand position
Status of tracking error
Actual position of the load
Position difference load-motor
(unfiltered)
Position difference load-motor (filtered)
Maximum position difference load-motor
Status actual speed unfiltered
Status actual speed filtered
Status of the actual filtered speed
speed in the Y2 format
Filtered actual speed
Setpoint speed of the setpoint generator
Status demand speed controller input
Status demand speed of setpoint
generator
Status of power output stage
temperature
Status of analog input 0
Status of analog input 1
Status of auxiliary voltage
Status DC bus voltage
Set objects to valid
340
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
U32
U32
I32
I32
I32
C4_3
U16
Valid
beginn
ing
VP
VP
-
E2_6
-
I32
C4_3
-
C4_3
-
C4_3
C4_3
I32
-
C4_3
C4_3
C4_3
-
C4_3
-
E2_6
E2_6
E2_6
C4_3
I32
I32
I32
I32
C4_3
C4_3
C4_3
-
C4_3
C4_3
C4_3
C4_3
-
0x6069
0x606C
0x2023
C4_3
C4_3
C4_3
C4_3
Y2
-
0x606B
C4_3
C4_3
C4_3
C4_3
-
0x2014
U16
-
0x2025
0x2026
0x200F
0x6079
0x2016.10
Y2
Y2
E2_6
E2_6
U16
immed
iately
Bus_No.
0x200E
0x6077
0x2011
0x2012
0x6064
0x60FC
0x60F4
Bus
format
Communication
Parker EME
No.
Object name
Object
Bus_No.
Bus
format
1903.1
Col03_Row01
variable Column 3 Row 1
0x2303.1
I16
1901.1
Col01_Row01
variable Column 1 Row 1
0x2301.1
Y4
1902.1
Col02_Row01
variable Column 2 Row 1
0x2302.1
Y2
1904.1
Col04_Row01
variable Column 4 Row 1
0x2304.1
I16
1905.1
Col05_Row01
variable Column 5 Row 1
0x2305.1
I16
1906.1
Col06_Row01
variable Column 6 Row 1
0x2306.1
I32
1907.1
Col07_Row01
variable Column 7 Row 1
0x2307.1
I32
1908.1
Col08_Row01
variable Column 8 Row 1
0x2308.1
I32
1909.1
Col09_Row01
variable Column 9 Row 1
0x2309.1
I32
1910.1
Indirect_Col01
Indirect table access Column 1
0x2311
Y4
1900.1
Pointer_Row
Pointer to table row
0x2300
U16
1125.1
ERROR_decel
Deceleration upon error
0x2018
U32
1125.2
ERROR_jerk
Jerk upon Error
0x2015
U32
170.3
171.3
2190.2
2190.4
AnalogInput0_FilterCoefficient
AnalogInput1_FilterCoefficient
AutoCommutationControl_InitialCurrent
AutoCommutationControl_MotionReduction
2190.8
2190.3
2190.1
2190.10
AutoCommutationControl_PeakCurrent
AutoCommutationControl_PositionThreshold
AutoCommutationControl_Ramptime
AutoCommutationControl_Reset
Filter of analog input 0
Filter of analog input 1
Start current of automatic commutation
Motion reduction Automatic
commutation
Reduction of the peak current
Motion limit for automatic commutation
Ramp slope current slope AK
Reset automatic commutation
2190.7
820.3
1100.3
AutoCommutationControl_StandstillThreshold Optimization of the standstill threshold
CANopen_Node_ID
CANopen_Node_ID
DeviceControl_Controlword_1
Control word CW
0x6040
U16
U16
V2
1100.4
DeviceControl_Controlword_2
Control word 2
0x201B
V2
1100.6
DeviceControl_DemandValue1
Device demand value A
Y4
1100.7
DeviceControl_DemandValue2
Device demand value D
1100.14
DeviceControl_DemandValue2_Y2
Device demand value
1100.13
DeviceControl_DemandValue8
Setpoint value
1100.5
DeviceControl_OperationMode
Operating mode
0x202A/0x2
044/0x607A/
0x202B/0x2
046/0x6081
0x202C/0x2
068
0x206A/0x6
0FF
0x6060
1100.20
DeviceControl_QuickStopMode
Quick Stop operating mode
0x605A
I16
1000.5
DeviceState_ActualOperationMode
Operating mode display
0x6061
I16
1000.3
DeviceState_Statusword_1
Status word SW
0x6041
V2
1000.4
DeviceState_Statusword_2
Status word 2
0x201C
V2
85.8
85.7
85.3
85.2
Diagnostics_ChopperOff_Voltage
Diagnostics_ChopperOn_Voltage
Diagnostics_DCbus_Current
Diagnostics_DCbus_Voltage
Chopper Switch-off threshold in V
Chopper Switch-on threshold in V
PSUP intermediate current
PSUP DC intermediate voltage
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
I16
I16
U16
U16
U16
U16
U16
U16
Y4
Y2
Y4
I16
I16
I16
I16
I16
Valid
beginn
ing
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
VP
VP
VP
VP
VP
VP
immed
iately
VP
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
-
341
Communication
C3I30T11 / C3I31T11
I16
I16
I16
U16
Valid
beginn
ing
-
I32
-
C4_3
-
Y4
-
I16
U32
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
I16
I16
I16
VP
VP
I16
I16
I32
I32
I16
I16
I32
VP
VP
VP
VP
VP
VP
immed
iately
immed
iately
Object name
Object
85.9
85.5
85.4
550.1
Diagnostics_DCbus_VoltageMax
Diagnostics_RectifierLoad
Diagnostics_TemperatureHeatSink
ErrorHistory_LastError
Reduced DC bus voltage in V
PSUP usage in %
PSUP heat dissipator temperature
Current error (n)
2020.7
ExternalSignal_Accel_Munits
2020.6
ExternalSignal_Speed_Munits
3921.7
FBI_SignalProcessing0_OutputGreat
3921.8
FBI_SignalProcessing0_Source
1116.1
FSTOP1_decel
Acceleration of the external signal
source
Speed value of the external signal
source
Interpolation output of the Position
CanSync, PowerLink
Switching the position source of the
interpolator
Deceleration for FSTOP1
0x2002
U32
1116.2
FSTOP1_jerk
Jerk for FSTOP1
0x2003
U32
1118.1
FSTOP3_decel
Deceleration for FSTOP3
0x200D
U32
1118.2
FSTOP3_jerk
Jerk for FSTOP3
0x2004
U32
1141.10
GEAR_FFW_mode
U16
3920.7
1130.1
HEDA_SignalProcessing_OutputGreat
HOMING_accel
C4_3
U32
1130.13
HOMING_edge_position
Control bits for feedforward with source 0x2097
CANSync/EthernetPowerLink/EtherCat
Output of the Heda Tracking Filter
Acceleration / deceleration MN
0x609A
(homing) run
Distance MN (zero) initiator - motor zero
1130.7
HOMING_edge_sensor_distance
Initiator adjustment
0x2000
C4_3
1130.5
HOMING_home_offset
Machine reference offset
0x607C
C4_3
1130.4
HOMING_mode
Adjusting the machine reference mode
0x6098
U16
1130.3
HOMING_speed
Speed for machine reference run
0x6099.1
C4_3
1128.1
JOG_accel
Acceleration for Manual +/-
0x2007
U32
1128.2
JOG_jerk
Jerk for Manual +/-
0x2010
U32
1128.3
JOG_speed
Speed for Manual +/-
0x2008
C4_3
402.6
Limit_CurrentFine
Factor for the current limits
0x2093
I16
2201.2
LoadControl_Command
Load control command mode
I16
2201.1
LoadControl_Enable
Activate load control
I16
2201.11
LoadControl_FilterLaggingPart
2201.3
2201.12
2201.13
LoadControl_Status
LoadControl_VelocityFilter
LoadControl_VelocityLimit
2150.2
2150.5
2150.3
2150.6
2150.1
2150.4
1211.13
NotchFilter_BandwidthFilter1
NotchFilter_BandwidthFilter2
NotchFilter_DepthFilter1
NotchFilter_DepthFilter2
NotchFilter_FrequencyFilter1
NotchFilter_FrequencyFilter2
PG2POSITION_direction
1252.20
PG2RegMove_ParametersModified
Time constant of position difference
filter
Load control status bits
Time constant of the load-speed filter
Load control intervention speed
limitation
Bandwidth of notch filter 1
Bandwidth of notch filter 2
Depth of notch filter 1
Depth of notch filter 2
Center frequency of notch filter 1
Center frequency of notch filter 2
Manipulation of the motion direction in
reset mode
Status RegMove
342
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Bus_No.
Bus
format
No.
0x603F/0x2
01D.1
C4_3
I16
Communication
Parker EME
No.
Object name
Object
Bus_No.
Bus
format
1111.3
POSITION_accel
Acceleration for positioning
0x6083
U32
1111.10
POSITION_accel_U16
0x202D
U16
1111.4
POSITION_decel
Acceleration for positioning in U16
Format
Deceleration for positioning
0x6084
U32
1111.16
POSITION_decel_U16
0x205D
U16
1111.13
POSITION_direction
1111.5
POSITION_jerk_accel
Deceleration for Positioning in U16
Format
Manipulation of the motion direction in
reset mode
Acceleration jerk for positioning
0x2005
U32
1111.6
POSITION_jerk_decel
Deceleration jerk for positioning
0x2006
U32
1111.1
POSITION_position
Target position
C4_3
1111.2
POSITION_speed
C4_3
2200.20
2200.21
2200.25
2200.11
PositionController_DeadBand
PositionController_FrictionCompensation
PositionController_IntegralPart
PositionController_TrackingErrorFilter
2200.24
PositionController_TrackingErrorFilter_us
1152.20
RegMove_ParametersModified
Speed for positioning and velocity
control
Deadband of position controller
Friction compensation
I term of position controller
Following error filter of the position
controller
Time constant following error filter of
position controller
Status RegMove
1127.1
SPEED_accel
1127.3
SPEED_speed
688.17
StatusCurrent_FieldWeakeningFactor
683.8
StatusDevice_MotorCurrent
680.32
StatusPosition_EncoderIncrements5V
684.4
StatusTemperature_TmotResistance
670.4
670.2
1113.1
Acceleration / deceleration in speed
control operating mode
Setpoint speed in speed control
operating mode
Reciprocal of the field weakening factor
FF
Motor current in per thousand of the
actual current limit
Encoder position 0 (5V) in increments
C4_3
I32
U16
U16
Valid
beginn
ing
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
immed
iately
VP
VP
VP
VP
U16
VP
I16
C4_3
immed
iately
immed
iately
immed
iately
-
0x2094
I16
-
0x2095.3
I32
immed
iately
-
I32
0x6083
U32
C4_3
StatusTorqueForce_ActualForce
StatusTorqueForce_ActualTorque
STOP_decel
Status of motor temperature resistance
value
Status of actual force
Status of actual torque
Deceleration for STOP
0x6085
I32
I32
U32
1113.2
STOP_jerk
Jerk for STOP
0x2001
U32
110.1
3300.9
Switch_DeviceFunction
TouchProbe_IgnoreZone_End
Value of the function switch on C3M
End of the ignore zone
0x2067
U16
C4_3
3300.8
TouchProbe_IgnoreZone_Start
Beginning of the ignore zone
0x2066
C4_3
2109.1
TrackingfilterHEDA_TRFSpeed
2107.1
TrackingfilterPhysicalSource_TRFSpeed
2110.4
TrackingfilterSG1_AccelFilter
2110.7
TrackingfilterSG1_AccelFilter_us
2110.3
TrackingfilterSG1_FilterSpeed
2110.6
TrackingfilterSG1_FilterSpeed_us
2110.1
TrackingfilterSG1_TRFSpeed
Time constant tracking filter HEDAprocess position
Time constant tracking filter physical
source
Filter effect of acceleration filter setpoint
encoder
Filter time constant acceleration
setpoint generator
Filter effect of speed filter setpoint
encoder
Filter time constant velocity setpoint
generator
Time constant tracking filter setpoint
0x2096
encoder
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
U16
I16
immed
iately
immed
iately
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VP
U16
VP
U16
VP
U16
VP
U16
VP
U16
VP
I16
VP
343
Communication
C3I30T11 / C3I31T11
Detailed object list
A detailed object list can be found in the corresponding online help.
344
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Communication
Parker EME
Data formats of the bus objects
In this chapter you can read about:
Integer formats .............................................................................................................. 345
Unsigned - Formats ....................................................................................................... 345
Fixed point format E2_6................................................................................................. 345
Fixed point format C4_3 ................................................................................................ 346
Bit sequence V2 ............................................................................................................ 346
Byte string OS ............................................................................................................... 346
Integer formats
Twos complement representation;
The highest order bit (MSB) is the bit after the sign bit (VZ) in the first byte.
VZ == 0: positive numbers and zero; VZ == 1: negative numbers
Type
Bit
8
7
6
5
4
3
2
1
VZ
26
25
24
23
22
21
20
Length: 1 Word
MSB
LSB
VZ
27
214
26
213
25
212
24
211
23
210
22
29
21
28
20
Integer 32
MSB
VZ
230
229
228
227
226
225
224
223
222
221
220
219
218
217
216
215
214
213
212
211
210
29
28
27
26
25
24
23
22
21
20
Integer 8
length: 1 Byte
Integer 16
Length: 2 Words
LSB
Unsigned - Formats
Type
Bit
8
7
6
5
4
3
2
1
27
26
25
24
23
22
21
20
Length: 1 Word
MSB
LSB
215
27
214
26
213
25
212
24
211
23
210
22
29
21
28
20
Unsigned 32
MSB
231
223
230
222
229
221
228
220
227
219
226
218
225
217
224
216
215
214
213
212
211
210
29
28
27
26
25
24
23
22
21
20
Unsigned 8
Length: 1 Byte
Unsigned 16
Length: 2 Words
LSB
Fixed point format E2_6
Linear fixed point value with six binary places after the decimal point. 0
corresponds to 0, 256 corresponds to 214 (0x4000).
Twos complement representation;
MSB is the bit after the sign bit
VZ == 0: positive numbers and zero;
VZ == 1: negative numbers
Type
Bit
8
7
6
5
4
3
2
1
E2_6
MSB
LSB
VZ
21
28
20
27
2-1
26
2-2
25
2-3
24
2-4
23
2-5
22
2-6
Length: 1 Word
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
345
Communication
C3I30T11 / C3I31T11
Fixed point format C4_3
Linear fixed point value with three decimal places after the decimal point. 0
corresponds to 0 and 0,001 corresponds to 20 (0x0000 0001).
Structure like data type Integer32, value of the bits reduced by a factor of 1000.
Length: 2 Words
Bit sequence V2
The V2 bus format is a bit sequence with a length of 16 bits.
Byte string OS
Octet string OS: String with variable length.
5.4.6.
Ethernet Powerlink / EtherCAT communication profile (doc)
The communication objects described in this chapter are either set to
sensible standard values or they are set under menu control with the help of
the ServoManager.
The communication objects described below must be modified only for special
deviating settings.
The Ethernet Powerlink / EtherCAT communication profile can be found in the
corresponding help system.
346
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Status values
Parker EME
6. Status values
In this chapter you can read about:
D/A-Monitor ...................................................................................................................347
Status values ................................................................................................................. 347
A list of the status values supports you in optimization and commissioning.
Open the optimization function in the C3 ServoManager (double-click on
optimization in the tree)
You will find the available status values in the lower right part of the window under
selection (TAB) “Status values”.
You can pull them into the oscilloscope (upper part of the left side) or into the
status display (upper part of the right side) by the aid of the mouse (drag and drop).
The status values are divided into 2 groups (user levels):
standard: here you can find all important status values
advanced:Advanced status values, require a better knowledge
Switching of the
user level
6.1
The user level can be changed in the optimization window (left hand side lower part
under selection (TAB) "optimization") with the following button.
D/A-Monitor
A part of the status values can be output via the D/A monitor channel 0 (X11/4) and
channel 1 (X11/3).In the following status list under D/A monitor output: possible /
not possible).
The reference for the output voltage can be entered individually in the reference
unit of the status value.
Example: Output Object 2210.2: (actual speed unfiltered)
In order to get an output voltage of 10V at 3000prm , please enter rev/s
(=3000rpm) as "value of the signal at 10V".
Hint
The unit of measurement of the D/A monitor values differs from the unit of
measurement of the status values.
6.2
Status values
Additional information on the topic of "status values" can be found in the online
help of the device.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
347
Error
C3I30T11 / C3I31T11
7. Error
Standard error reactions:
Reaction 2: Downramp with "de-energize" then apply brake (see on page 291)
and finally de-energize.
For errors with standard reaction 2 the error reaction can be changed (see on
page 154).
Reaction 5: deenergize immediately (without ramps), apply brake.
Caution! A Z-axis may drop down due to the brake delay times
Most pending errors can be acknowledged with Quit!
The following errors must be acknowledged with Power on:
0x7381, 0x7382, 0x7391, 0x7392, 0x73A0
Object 550.1 displays error:
value 1 means "no error".
The errors as well as the error history can be viewed in the C3 ServoManager
under optimization (at the top right of the optimization window).
7.1
Error list
Detailed information on the topic of the "error list" can be found in the online help of
the device.
348
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Order code
Parker EME
8. Order code
8.1
Order code device: Compax3
C3
Example: C3S025V2F10I10T10M00
Device type: Compax3
Single axis
S
--
Highpower
H
--
Multi-axis device
M
Device currents static/dynamic; supply voltage
2.5A / 5A ; 230VAC (single phase)
S
025
V2
--
6.3 A / 12.6 A ; 230VAC (1 phase)
10A / 20A ; 230VAC (three phase)
15A / 30A ; 230VAC (three phase)
1.5A / 4.5A ; 400VAC (three phase)
3.8 A / 7.5 A ; 400VAC (3 phase)
7.5 A / 15.0 A ; 400VAC (3 phase)
15.0 A / 30.0 A ; 400VAC (3 phase)
30.0 A / 60.0 A ; 400VAC (3 phase)
50A / 75A ; 400VAC (three phase)
90A / 135A ; 400VAC (three phase)
125A / 187.5A ; 400VAC (three phase)*
155A / 232.5A ; 400VAC (three phase)*
5.0A / 10,0A ; 400VAC (three phase)
10A / 20A ; 400VAC (three phase)
15A / 30A ; 400VAC (three phase)
60A 30A / ; 400VAC (three phase)
S
S
S
S
S
S
S
S
H
H
H
H
M
M
M
M
063
100
150
015
038
075
150
300
050
090
125
155
050
100
150
300
V2
V2
V2
V4
V4
V4
V4
V4
V4
V4
V4
V4
D6
D6
D6
D6
-------------
Feedback:
Resolver
F10
SinCos© (Hiperface)
Encoder, Sine-cosine with/without hall
F11
F12
Interface:
Step/direction / analogue input
Positioning with inputs/outputs
Positioning via I/Os or RS232 / RS485/USB
Profibus DP V0/V1/V2 (12Mbaud)
CANopen
DeviceNet
Ethernet Powerlink
EtherCAT
Profinet
C3 powerPLmC (Multi-axis control)
I10
I11
I12
I20
I21
I22
I30
I31
I32
C20
T10
T11
M00
M00
M00
Technology functions:
Positioning
T11
Motion control programmable according to IEC61131-3
Motion control programmable according to IEC61131-3 &
electronic cam extension
T30
T40
Options:
no additional supplement
M00
Expansion 12 digital I/Os & HEDA (Motionbus)
HEDA (Motionbus)
Expansion, 12 digital I/Os
M10
M11
M12
Safety technology only C3M:
Safe torque off
M
D6
S1
Extended safety technology
M
D6
S3
*external voltage supply for ventilator fan required. Available in two versions for single phase feed:
Standard: 220/240VAC: 140W, on request: 110/120VAC: 130W
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
349
Order code
C3I30T11 / C3I31T11
8.2
Order code for mains module: PSUP
PSU P
Example: PSUP10D6USBM00
Power module
Nominal power; supply voltage
10kW; 400 VAC (3-phase)
20kW; 400 VAC (3-phase)
30kW; 400 VAC (3-phase)
Interface:
USB connection
D6
USB
M00
P
10
20
30
D6
D6
D6
USB
Options:
no additional supplement
8.3
M00
Order code for accessories
Order Code connection set for Compax3S
The corresponding connection sets are furnished with the device.
for C3S0xxV2
for C3S0xxV4 / S150V4 / S1xxV2
for C3S300V4
/
ZBH
ZBH
ZBH
ZBH 02/01
ZBH 02/02
ZBH 02/03
0
0
0
2
2
2
/
/
/
0
0
0
1
2
3
/
/
/
/
0
0
0
0
1
2
3
4
Order code for PSUP/Compax3M connection set
The corresponding connection sets are furnished with the device.
for C3M050D6, C3M100D6, C3M150D6
for C3M300D6
for PSUP10
PSUP20, PSUP30
/
ZBH 04/01
ZBH 04/02
ZBH 04/03
ZBH 04/04
ZBH
ZBH
ZBH
ZBH
0
0
0
0
4
4
4
4
4
4
2
1
/
/
... ...(1
... ...(1
Order code for feedback cables
/
for resolver (2
for resolver (2
for MH / SMH motors
for MH / SMH motors
(cable chain compatible)
REK
REK
for SinCos© – feedback (2
for MH / SMH motors
(cable chain compatible)
GBK
2
4
/
..
...(1
for MH / SMH motors
(cable chain compatible)
GBK
3
8
/
..
...(1
(cable chain compatible)
(cable chain compatible)
GBK
GBK
GBK
2
3
3
3
3
2
/
/
/
... ...(1
... ...(1
... ...(1
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
5
5
5
5
6
6
5
6
6
6
5
4
6
7
0
3
9
4
1
2
/
/
/
/
/
/
/
/
/
/
...
...
...
...
...
...
...
...
...
...
for EnDat 2.1
(2
Encoder – Compax3
for LXR linear motors
for BLMA linear motors
(x
Note on cable (see on page 353)
Motor cable order code (2
/
for SMH / MH56 / MH70 / MH105(3
(1.5mm2; up to 13.8A)
(3
for SMH / MH56 / MH70 / MH105
(1.5mm2; up to 13.8A) (cable chain compatible)
(3
for SMH / MH56 / MH70 / MH105
(2.5mm2; up to 18.9A)
(3
(2.5mm2; up to 18.9A) (cable chain compatible)
for SMH / MH56 / MH70 / MH105
(4
for MH145 / MH205
(1.5mm2; up to 13.8A)
(4
(1.5mm2; up to 13.8A) (cable chain compatible)
for MH145 / MH205
(4
for MH145 / MH205
(2.5mm2; up to 18.9A)
(4
(2.5mm2; up to 18.9A) (cable chain compatible)
for MH145 / MH205
(4
for MH145 / MH205
(6mm2; up to 32.3A)
(cable chain compatible)
(4
(10mm2; up to 47.3A) (cable chain compatible)
for MH145 / MH205
(x
Note on cable (see on page 353)
350
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
Order code
Parker EME
Order Code braking resistors
/
for C3S063V2 or C3S075V4
for C3S075V4
for C3S025V2 or C3S038V4
for C3S150V4
56Ω / 0.18kWcont.
56Ω / 0.57kWcont.
100Ω / 60Wcont.
47Ω / 0.57kWcont.
4/01:15Ω / 0.57kWcont.
for C3S150V2, C3S300V4 and PSUP20D6
4/02:15Ω / 0.74kWcont.
for C3S300V4 and PSUP20D6
4/03:15Ω / 1.5kWcont.
for C3S100V2
22Ω / 0.45kWcont.
for C3H0xxV4
27Ω / 3.5kWcont.
**for PSUP10D6 and PSUP20D6 2x30Ω parallel) 30Ω / 0.5kWcont.
for PSUP10D6 (2x15Ω in series),
15Ω / 0.5kWcont.
PSUP20D6, PSUP30D6
for C3H1xxV4, PSUP30D6
18Ω / 4.5kWcont.
BRM
BRM
BRM
BRM
0
0
0
1
5
5
8
0
/
/
/
/
0
0
0
0
1
2
1
1
BRM
0
4
/
0
...
BRM
BRM
BRM
0
1
1
9
1
3
/
/
/
0
0
0
1
1
1
BRM
1
4
/
0
1
BRM
1
2
/
0
1
NFI
NFI
NFI
0
0
0
1
1
1
/
/
/
0
0
0
1
2
3
NFI
NFI
NFI
0
0
0
2
2
2
/
/
/
0
0
0
1
2
3
Order code mains filter Compax3S
/
for C3S025V2 or S063V2
for C3S0xxV4, S150V4 or S1xxV2
for C3S300V4
Order code mains filter Compax3H
/
for C3H050V4
for C3H090V4
for C3H1xxV4
Order Code mains filter PSUP
/
for PSUP10
for PSUP10
for PSUP20 & PSUP30
Reference axis combination 3x480V 25A
6x10m motor cable length
Reference axis combination 3x480V 25A
6x50m motor cable length
Reference axis combination 3x480V 50A
6x50m motor cable length
NFI
0
3
/
0
1
NFI
0
3
/
0
2
NFI
0
3
/
0
3
Order code for mains filters
for PSUP30
for PSUP30
Mains filter
Mains filter with UL approval
LCG-0055-0.45 mH
LCG-0055-0.45 mH-UL
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
MDR
MDR
MDR
up to 6,3 A rated motor current
Up to 16 A rated motor current
Up to 30A A rated motor current
0
0
0
1
1
1
/
/
/
0
0
0
4
1
2
Order code condenser module
for C3S300V4
1100µF
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Modules
C4
351
Order code
C3I30T11 / C3I31T11
Order code for interface cables and plugs
/
PC – Compax3 (RS232)
PC – PSUP (USB)
on X11 (Ref/Analog) and X13 at C3F001D2
on X12 / X22 (digital I/Os)
on X11 (Ref /Analog)
on X12 / X22 (digital I/Os)
PC  POP (RS232)
Compax3  POP (RS485) for several C3H on request
Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC
Compax3 I30  Compax3 I30 or C3M-multi-axis communication
Profinet, EtherCAT, Ethernet Powerlink
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes)
with flying leads
with flying leads
for I/O terminal block
for I/O terminal block
...(1
...
...(1
...(1
...(1
...(1
...(1
...(6
SSK
SSK
SSK
SSK
SSK
SSK
SSK
SSK
0
3
2
2
2
2
2
2
1
3
1
2
3
4
5
7
/
/
/
/
/
/
/
/
...
...
...
...
...
...
...
../
SSK
2
8
/
../ ...(5
SSK
2
9
/
... ...(1
Compax3 X10  Modem
SSK
3
1
/
...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device)
SSK
3
2
/
2
Compax3H X10 RS232 connection control  Programming interface (delivered with the device)
VBK
1
7
/
0
1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system)
BUS
0
7
/
0
1
Profibus cable (2
non prefabricated
SSL
0
1
/
... ...(1
Profibus plug
CAN bus cable (2
CANbus connector
non prefabricated
BUS
SSL
BUS
0
0
1
8
2
0
/
/
/
0
1
... ...(1
0
1
(x
0
Note on cable (see on page 353)
Order Code operating module
/
BDM
0
1
EAM
EAM
0
0
2-channel digital input terminal
4-channel digital input terminal
8-channel digital input terminal
2-channel analog - Input terminal (±10V differential input)
PIO
PIO
PIO
PIO
4 channel analog input terminal (0-10V signal voltage)
2-channel analog - Input terminal (0-20mA differential input)
Operating module (for Compax3S and Compax3F)
/
0
1
6
6
/
/
0
0
1
2
4
4
4
4
0
0
3
5
0
2
0
6
PIO
PIO
4
4
6
8
8
0
PIO
PIO
PIO
PIO
PIO
PIO
5
5
5
5
5
5
0
0
3
5
5
5
1
4
0
0
2
6
PIO
PIO
3
3
3
4
7
7
Order Code terminal block
/
for I/Os without luminous indicator
for I/Os with luminous indicator
for X11, X12, X22
for X12, X22
Order Code decentralized input terminals
PIO 2DI 24VDC 3.0ms
PIO 4DI 24VDC 3.0ms
PIO 8DI 24VDC 3.0ms
PIO 2AI DC ±10V differential
input
PIO 4AI 0-10VDC S.E.
PIO 2AI 0-20mA differential
input
Order Code decentralized output terminals
PIO 2DO 24VDC 0.5A
PIO 4DO 24VDC 0.5A
PIO 8DO 24VDC 0.5A
PIO 2AO 0-10VDC
PIO 2AO 0-20mA
PIO 2AO DC ±10V
2 channel digital output terminal (output voltage 0.5A)
4 channel digital output terminal (output voltage 0.5A)
8 channel digital output terminal (output voltage 0.5A)
2 channel analog output terminal (0-10V signal voltage)
2-channel analog output terminal (0-20mA signal voltage)
2-channel analog output terminal (±10V signal voltage)
Order Code CANopen Fieldbus Coupler
CANopen Standard
CANopen ECO
352
max. Vectorial sum current for bus terminals 1650mA at 5V
max. Vectorial sum current for bus terminals 650mA at 5V
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Order code
Parker EME
(1
Length code 1
Length [m]
1.0
2.5
5.0
7.5
10.0 12.5
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
Order code 01
02
03
04
05
07
08
09
10
11
12
13
14
06
Example:
SSK01/09: Length 25m
5
(2
Colors according to DESINA
(3
with motor connector
(4
with cable eye for motor terminal box
length code 2 for SSK28
Length [m]
0.17
Order code 23
0.25
0.5
1.0
3.0
5.0
10.0
20
21
01
22
03
05
(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 and
BLMA.
(x
Note on cable (see on page 353)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
353
Compax3 Accessories
C3I30T11 / C3I31T11
9. Compax3 Accessories
In this chapter you can read about:
Parker servo motors ...................................................................................................... 354
EMC measures ..............................................................................................................357
Connections to the motor ...............................................................................................365
External braking resistors .............................................................................................. 371
Condenser module C4 ................................................................................................... 385
Operator control module BDM .......................................................................................386
EAM06: Terminal block for inputs and outputs ............................................................... 387
Interface cable ...............................................................................................................389
Options M1x .................................................................................................................. 394
9.1
Parker servo motors
In this chapter you can read about:
Direct drives .................................................................................................................. 354
Rotary servo motors ...................................................................................................... 356
9.1.1.
Direct drives
In this chapter you can read about:
Transmitter systems for direct drives ..............................................................................355
Linear motors .................................................................................................................356
Torque motors ...............................................................................................................356
354
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.1.1.1
Transmitter systems for direct drives
The Feedback option F12 makes it possible to operate linear motors as well as
torque motors. Compax3 supports the following transmitter systems:
Special encoder systems for direct
drives
Analog hall sensors
Encoder
(linear or rotatory)
Digital, bidirectional interface
Distance coded feedback systems
Option F12
Sine-Cosine signal (max. 5Vss*; typical
1Vss) 90° offset
 U-V signal (max. 5Vss*; typical 1Vss)
120° offset.
 Sine-Cosine (max. 5Vss*; typical 1Vss)
(max. 400kHz) or
 TTL (RS422) (max. 5MHz; track A o. B)
with the following modes of commutation:
 Automatic commutation (see on page
355) or
 U, V, W or R, S, T commutation signals
(NPN open collector) e.g. digital hall
sensors, incremental encoders made by
Hengstler (F series with electrical
ordering variant 6)
 All EnDat 2.1 or EnDat 2.2 (Endat01,
Endat02) feedback systems with
incremental track (sine-cosine track)
 linear or rotary
 max. 400kHz Sine-Cosine
 Distance coding with 1VSS - Interface
 Distance coding with RS422 - Interface
(Encoder)

*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
The motor performs automatic commutation after:
 Power on,
 A configuration download or
 An IEC program download
The time duration (typically 5-10 sec) of automatic commutation can be optimized
with the start current (see in the optimization display of the C3 ServoManager;
given as a percentage of the reference current). Note that values that are too high
will cause Error 0x73A6 to be triggered.
Typically the motor moves by 4% of the pitch length or, with rotary direct drives 4%
of 360°/number of pole pairs - maximum 50%.
Note the following conditions for automatic commutation
 During automatic commutation the end limits are not monitored.
 Actively working load torques are not permitted during automatic commutation.
 Static friction deteriorates the effect of automatic commutation.
 With 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 the direction of the field of rotation
in effect must match.
 The auto-commutating function must be adapted to fit the mechanics if necessary
during commissioning.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
355
Compax3 Accessories
C3I30T11 / C3I31T11
9.1.1.2
Linear motors
Parker offers you a number of systems of linear motor drives:
Linear motors
LMDT ironless linear servo
motors:
LMI iron-cored linear servo
motors:
LXR Series Linear Motors
Linear motor module BLMA:
9.1.1.3
Feed force
(continuous/dynamic)
Stroke length:
26 ... 1463N
almost any
52 ... 6000N
64 ... 999mm
315N / 1000N
605N / 1720N
up to 3m
up to 6m
Torque motors
Parker offers you an extensive range of torque motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet http://www.parker-eme.com
in the direct drives section.
9.1.2.
Rotary servo motors
Parker offers you an extensive range of servo motors that can be adapted to your
application. Please contact us for information.
Additional information can be found on the Internet http://www.parkereme.com/sm
or on the DVD supplied in the documentations file.
Suitable servo motors for Compax3H are available on request!
356
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.2
EMC measures
In this chapter you can read about:
Mains filter ..................................................................................................................... 357
Motor output filter........................................................................................................... 362
Mains filters ................................................................................................................... 364
9.2.1.
Mains filter
For radio disturbance suppression and for complying with the emission limit values
for CE conform operationwe offer mains filters:
Observe the maximum permitted length of the connection between the mains filter
and the device:
 unshielded <0.5m;
 shielded: <5m (fully shielded on ground e.g. ground of control cabinet)
Order code mains filter Compax3S
/
NFI
NFI
NFI
for C3S025V2 or S063V2
for C3S0xxV4, S150V4 or S1xxV2
for C3S300V4
0
0
0
1
1
1
/
/
/
0
0
0
1
2
3
Order Code mains filter PSUP
/
for PSUP10
for PSUP10
for PSUP20 & PSUP30
Reference axis combination 3x480V 25A
6x10m motor cable length
Reference axis combination 3x480V 25A
6x50m motor cable length
Reference axis combination 3x480V 50A
6x50m motor cable length
NFI
0
3
/
0
1
NFI
0
3
/
0
2
NFI
0
3
/
0
3
Order code for mains filters
for PSUP30
for PSUP30
Mains filter
Mains filter with UL approval
LCG-0055-0.45 mH
LCG-0055-0.45 mH-UL
Order code mains filter Compax3H
/
NFI
NFI
NFI
for C3H050V4
for C3H090V4
for C3H1xxV4
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
0
0
0
2
2
2
/
/
/
0
0
0
1
2
3
357
Compax3 Accessories
C3I30T11 / C3I31T11
9.2.1.1
Mains filter NFI01/01
for Compax3 S025 V2 and Compax3 S063 V2
79,5
L
O
A
D
50,8±0,3
101
L
I
N
E
88,9±0,4
55,5
Dimensional drawing:
Ø 4
85,4
5,2 x 4
116
139
9.2.1.2
Mains filter NFI01/02
for Compax3 S0xx V4, Compax3 S150 V4 and Compax3 S1xx V2
65
Dimensional drawing:
L
I
N
E
L
O
A
D
70±0,3
151
177
358
111
125
140
6,6
Ø4
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.2.1.3
Mains filter for NFI01/03
for Compax3 S300
64
Dimensional drawing:
6,6
L
I
N
E
129
145 ±0,5
159
L
O
A
D
115±0,3
217
240
9.2.1.4
Ø4
Mains filter NFI02/0x
Filter for mounting below theCompax3 Hxxx V4 housing
Dimensional drawing:
T
T1
M6
H1
H1
H2
B FU
B1
B
Stated in mm
Filter type
Dimensions
B
C3H050V4
C3H090V4
C3H1xxV4
NFI02/01
NFI02/02
NFI02/03
H
H2
T
Hole distances
Distances
Weight
B1
BFU HF
U
150 440
150 630
150 700
kg
H1
T1
233 515 456 70 186 495 40
249 715 649 95 210 695 40
249 830 719 110
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
4.3
8.5
15.0
Grounding
clamp
Connection clamp
M6
M8
M10
16mm2
50mm2
95mm2
359
Compax3 Accessories
C3I30T11 / C3I31T11
9.2.1.5
Mains filter NFI03/01& NFI03/03
for PSUP10D6 and PSUP20D6
Dimensional drawing:
H
F
Bottom view
G
D
Side view
Front view
I
C
A
I
PE
E
PE
B
Top view
L1
L2
L3
L1
L2
L3
Line Terminals
Load Terminals
Label
Filter type
Weight
GND(I)
Connection clamp
A
B
C
D
I
F
G
H
kg
NFI03/01
240
50
85
270
0.8
30
255
5.4
1.5
M5
10mm2
NFI03/03
220
85
90
250
1.0
60
235
5.4
2.4
M6
16mm2
Stated in mm
360
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Coined Earthing
Symbol on both
sides
Compax3 Accessories
Parker EME
9.2.1.6
Mains filter NFI03/02
for PSUP10D6
Dimensional drawing:
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
361
Compax3 Accessories
9.2.2.
C3I30T11 / C3I31T11
Motor output filter
In this chapter you can read about:
Motor output filter MDR01/04 .........................................................................................362
Motor output filter MDR01/01 .........................................................................................362
Motor output filter MDR01/02 .........................................................................................363
Wiring of the motor output filter ......................................................................................363
We offer motor output filters for disturbance suppression when the motor
connecting cables are long (>20m):
Order code for motor output filter (for Compax3S, Compx3M >20m motor cable)
/
MDR
MDR
MDR
Larger motor output filters are available on request!
up to 6,3 A rated motor current
Up to 16 A rated motor current
Up to 30A A rated motor current
9.2.2.1
Motor output filter MDR01/04
up to 6.3A nominal motor current (3.6mH)
Dimensional drawing:
W1 +
-
U2 V2 W2 +
-
170
U1 V1
5
40
54
95
90
120
9.2.2.2
Motor output filter MDR01/01
Up to 16 A nominal motor current (2mH)
Dimensional drawing:
W1 +
-
U2 V2 W2 +
-
195
U1 V1
6
113
150
362
50
67
95
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
0
0
0
1
1
1
/
/
/
0
0
0
4
1
2
Compax3 Accessories
Parker EME
9.2.2.3
Motor output filter MDR01/02
up to 30A nominal motor current (1.1mH)
Dimensional drawing:
W1 +
-
U2 V2 W2 +
-
195
U1 V1
6
57
76
110
136
180
Weight: 5.8kg
9.2.2.4
Wiring of the motor output filter
Compax3
PE
PE
U
V
W
Br+
Br-
Motor
MDR
U1
V1
W1
+
-
U2
V2
W2
+
-
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
M
363
Compax3 Accessories
9.2.3.
C3I30T11 / C3I31T11
Mains filters
In this chapter you can read about:
Mains filter for PSUP30 ..................................................................................................364
Mains filters serve for reducing the low-frequency interferences on the mains side.
9.2.3.1
Mains filter for PSUP30
Required mains filter for the PSUP30: 0.45 mH / 55 A
We offer the following mains filters:
 LCG-0055-0.45 mH (WxDxH: 180 mm x 140 mm x 157 mm; 10 kg)
 LCG-0055-0.45 mH-UL (with UL approval) (WxDxH: 180 mm x 170 mm x
157 mm; 15 kg)
Dimensional drawing: LCG-0055-0.45 mH
Dimensional drawing: LCG-0055-0.45 mH-UL
364
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.3
Connections to the motor
In this chapter you can read about:
Resolver cable............................................................................................................... 366
SinCos© cable............................................................................................................... 367
EnDat cable ................................................................................................................... 368
Motor cable.................................................................................................................... 368
Encoder cable ............................................................................................................... 370
Under the designation "REK.." (resolver cables) and "MOK.."(motor cables) we can
deliver motor connecting cables in various lengths to order. If you wish to make up
your own cables, please consult the cable plans shown below:
Motor cable order code (2
/
for SMH / MH56 / MH70 / MH105(3
(1.5mm2; up to 13.8A)
(3
for SMH / MH56 / MH70 / MH105
(1.5mm2; up to 13.8A) (cable chain compatible)
(3
for SMH / MH56 / MH70 / MH105
(2.5mm2; up to 18.9A)
(3
(2.5mm2; up to 18.9A) (cable chain compatible)
for SMH / MH56 / MH70 / MH105
(4
for MH145 / MH205
(1.5mm2; up to 13.8A)
(4
(1.5mm2; up to 13.8A) (cable chain compatible)
for MH145 / MH205
(4
for MH145 / MH205
(2.5mm2; up to 18.9A)
(4
(2.5mm2; up to 18.9A) (cable chain compatible)
for MH145 / MH205
(4
for MH145 / MH205
(6mm2; up to 32.3A)
(cable chain compatible)
(4
(10mm2; up to 47.3A) (cable chain compatible)
for MH145 / MH205
(x
Note on cable (see on page 353)
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
MOK
5
5
5
5
6
6
5
6
6
6
5
4
6
7
0
3
9
4
1
2
4
4
2
1
/
/
/
/
/
/
/
/
/
/
...
...
...
...
...
...
...
...
...
...
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
...(1
Order code for feedback cables
/
for MH / SMH motors
for MH / SMH motors
(cable chain compatible)
REK
REK
for SinCos© – feedback (2
for MH / SMH motors
(cable chain compatible)
GBK
2
4
/
..
...(1
for EnDat 2.1 (2
for MH / SMH motors
(cable chain compatible)
GBK
3
8
/
..
...(1
(cable chain compatible)
(cable chain compatible)
GBK
GBK
GBK
2
3
3
3
3
2
/
/
/
... ...(1
... ...(1
... ...(1
Encoder – Compax3
for LXR linear motors
for BLMA linear motors
(x
/
/
... ...(1
... ...(1
for resolver (2
for resolver (2
Note on cable (see on page 353)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
365
Compax3 Accessories
9.3.1.
C3I30T11 / C3I31T11
Resolver cable
27mm
REK42/..
Pin 1
Compax3 (X13)
Lötseite
solder side
SIN+
SIN-
15
14 10
13 9
12 8
11 7
6
5
4
3
2
1
8
7
COS+
12
COS-
11
REFres+ 4
REFres- 15
+5V
Tmot
5
10
Resolver
YE
YE
2x0,25
GN
GN
BN
BN
2x0,25
Lötseite / solder side
Crimpseite / crimp side
2
SIN+
1
SIN-
11
COS+
12
COS-
WH
WH
BU
BU
10
Ref+
RD
7
Ref-
8
+Temp
9
-Temp
2x0,25
RD
PK
PK
2x0,25
GY
GY
Codiernut S = 20°
9
8
12
1
10
7
6
2
3
5
4 11
Schirm auf Schirmanbindungselement
Screen at screen contact
1
2
3
6
9
13
14
NC
NC
NC
NC
NC
NC
NC
23 mm
2 mm
6 mm
NC
NC
NC
NC
3
4
5
6
The same cable (with changed conductor coloring) is available under the
designation REK41/.. in a version which is suitable for cable chain systems.
You can find the length code in the Chapter Order Code Accessories (see on
page 350).
366
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.3.2.
SinCos© cable
27mm
GBK24/..: Cable chain compatible
Pin 1
SinCos
Compax3 (X13)
SIN+
Lötseite
solder side
15
14 10
13 9
12 8
11 7
6
SIN5
4
3
2
1
8
7
COS+ 12
COS- 11
DATA 13
DATA 14
+5Vfil 5
Tmot 10
+8Vref 4
GND 15
1
2
3
6
9
BU
2x0,25
VT
BU
VT
BN
2x0,25
BN
GN
GN
PK
PK
2x0,25
GY
GY
RD
2x0,25
BK
RD
BK
BN
0,5
BN
WH
0,5
WH
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
23 mm
2 mm
Lötseite / solder side
Crimpseite / crimp side
1
SIN+
2
SIN-
11
COS+
12
COS-
3
+485
13
-485
8
9
10
7
10
16
9
11 12 1
8
15
7
6
2
13
3
14
17 5
4
K1
K2
+V
GND
4 Schirm auf Schirmanbindungselement
5 Screen at screen contact
6
14
15
16
17
6 mm
You can find the length code in the Chapter Order Code Accessories (see on
page 350).
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
367
Compax3 Accessories
9.3.3.
C3I30T11 / C3I31T11
EnDat cable
Feedback
Compax3 (X13)
Pin 1
Sense+
Sense-
Lötseite
solder side
VCCTemp
Temp
CLK
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
CLK/
VCC
GND
COS+
COSSIN+
SINDATA
DATA/
27mm
GBK38/..: (cable chain compatible)
2
1
BU
0,5
BU
WH
0,5
WH
5
10
BN
2x0,14
6
9
VT
2x0,14
YE
BN/GN
12
11
8
7
BU/BK
13
14
GY
BN
5 PTC
6 PTC
GN
GN
4
15
1 Up(sens.)
4 0V(sens.)
VT
8 Clock+
9 Clock-
YE
0,5
0,5
WH/GN
BN/GN
7 +V
10 0V
WH/GN
0,14
0,14
0,14
GN/BK
YE/BK
0,14
YE/BK
2x0,14
12
13
15
16
RD/BK
GN/BK
GY
PK
PK
SW
SW
BU
BU
BU/BK
BU 0,5
WH/GN 0,5
11
YE/BK
10
YE
9
8
VT
BU/BK
RD/BK
Lötseite / Crimpseite
B+
BA+
GN/BK
16
15
1
12
17
7
6
RD/BK
2
13
3
14
4
GY
BN
BN/GN 0,5
GN
A-
PK
14 Data+
17 Data-
Schirm auf Schirmanbindungselement
Screen at sceen contact
3
NC
NC
2,3,11
You can find the length code in the Chapter Order Code Accessories (see on
page 350).
9.3.4.
Motor cable
Cross-section / max.
permanent load
1.5 mm2 / up to 13.8 A
2.5 mm2 / up to 18.9 A
6 mm2 / up to 32.3 A
10 mm2 / up to 47.3 A
368
Motor connector
SMH motors
MH56, MH70, MH105
Motor terminal box
MH145, MH205
standard
cable chain
compatible
standard
cable chain
compatible
MOK55
MOK56
-
MOK54
MOK57
--
MOK60
MOK59
-
MOK63
MOK64
MOK61
MOK62
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
WH
5
Compax3 Accessories
Parker EME
9.3.4.1
Connection of terminal box MH145 & MH205
F
E
G
C
B
A
Terminal
Assignment
A
Phase U
B
Phase V
C
Phase W
E
Protective earth terminal
F
Brake (+ red for MH205)
G
Brake (- blue for MH205)
Additional designations can be found on the connection cable clamping board motor (internal).
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
369
Compax3 Accessories
9.3.5.
C3I30T11 / C3I31T11
Encoder cable
32mm
GBK23/..: Connection Compax3 - Encoder
Pin 1
Compax3 (X11)
Lötseite
solder side
15
10
14
9
13
8
12
7
11
6
5
4
3
2
1
Encoder
A
7
GN
A/
6
YE
B
8
GY
GY
D
B/
12
PK
PK
E
N
14
RD
RD
G
N/
13
BU
BU
H
GND
15
WH
WH
K
+5V
5
BN
BN
M
2x0,14
2x0,14
2x0,14
2x0,5
GN
A
YE
B
Lötseite / Crimpseite
P
A
N Z R
B
Y
S
M
C
X
T
D
L
K W
J
U E
H
V
G
F
Schirm auf Schirmanbindungselement
Screen at screen contact
1
2
3
4
9
10
11
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
NC
23 mm
2 mm
6 mm
U
V
W
X
Y
Z
NC
NC
NC
NC
NC
NC
NC
NC
NC
C
F
J
L
N
P
R
S
T
You can find the length code in the Order Code Accessories (see on page 350)
370
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.4
External braking resistors
In this chapter you can read about:
Permissible braking pulse powers of the braking resistors ............................................. 372
Dimensions of the braking resistors ............................................................................... 382
Danger!
Hazards when handling ballast resistors!
Housing temperature up to 200°C!
Dangerous voltage!
The device may be operated only in the mounted state!
The external braking resistors must be installed such that protection against
contact is ensured (IP20).
Install the connecting leads at the bottom.
The braking resistors must be grounded.
We recommend to use a thrust washer for the BRM13 and BRM14.
Observe the instructions on the resistors (warning plate).
Please note that the length of the supply cable must not exceed 2m!
Ballast resistors for Compax3
Ballast resistor (see on page
371)
BRM08/01 (100Ω)
BRM05/01 (56Ω)
BRM05/02 (56Ω)
BRM10/01 (47Ω)
BRM10/02 (470Ω)
BRM04/01 (15Ω)
BRM04/02 (15Ω)
BRM04/03 (15Ω)
BRM09/01 (22Ω)
BRM11/01 (27Ω)
BRM13/01 (30Ω)
BRM14/01 (15Ω)
BRM12/01 (18Ω)
Device
Rated output
Compax3S025V2
Compax3S015V4
Compax3S038V4
Compax3S063V2
Compax3S075V4
Compax3S075V4
Compax3S150V4
Compax3S150V4
Compax3S150V2
Compax3S300V4
PSUP20D6
Compax3S150V2
Compax3S300V4
PSUP20D6
Compax3S300V4
PSUP20D6
Compax3S100V2
Compax3H0xxV4
PSUP10D6
PSUP20D6**
PSUP10D6*
PSUP20D6
Compax3H1xxV4
60 W
180 W
570 W
570 W
1500 kW
570 W
740 W
1500 W
570 W
3500 W
500 W
500 W
4500 W
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 2x30Ω parallel
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
371
Compax3 Accessories
9.4.1.
C3I30T11 / C3I31T11
Permissible braking pulse powers of the braking resistors
In this chapter you can read about:
Calculation of the BRM cooling time...............................................................................373
Permissible braking pulse power: BRM08/01 with C3S015V4 / C3S038V4 ....................374
Permissible braking pulse power: BRM08/01 with C3S025V2 ........................................374
Permissible braking pulse power: BRM09/01 with C3S100V2 ........................................375
Permissible braking pulse power: BRM10/01 with C3S150V4 ........................................375
Permissible braking pulse power: BRM10/02 with C3S150V4 ........................................376
Permissible braking pulse power: BRM05/01 with C3S063V2 ........................................376
Permissible braking pulse power: BRM05/01 with C3S075V4 ........................................377
Permissible braking pulse power: BRM05/02 with C3S075V4 ........................................377
Permissible braking pulse power: BRM04/01 with C3S150V2 ........................................378
Permissible braking pulse power: BRM04/01 with C3S300V4 ........................................378
Permissible braking pulse power: BRM04/02 with C3S150V2 ........................................379
Permissible braking pulse power: BRM04/02 with C3S300V4 ........................................379
Permissible braking pulse power: BRM04/03 with C3S300V4 ........................................380
Permissible braking pulse power: BRM11/01 with C3H0xxV4 ........................................380
Permissible braking pulse power: BRM12/01 with C3H1xxV4 ........................................381
Permissible braking pulse power: BRM13/01 with PSUP10D6 .......................................381
Permissible braking pulse power: BRM14/01 with PSUP10D6 .......................................381
The diagrams show the permissible braking pulse powers of the braking resistors
in operation with the assigned Compax3.
372
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.4.1.1
Calculation of the BRM cooling time
BRM04/01 (230V_3AC)
10000
F=20
F=10
PBdyn [W]
F=5
F=2
F=1
2,5
3
F=0.5
1000
100
0
0,5
1
1,5
2
3,5
4
Braking time [s]
F = Factor
Cooling time = F * braking time
Example 1: For a braking time of 1s, a braking power of 1kW is required. The
Diagram shows the following:
The required values can be 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
*
1
*
Braking
time
1s
= cooling time
= 1s
Example 2: For a braking time of 0.5s, a braking power of 3kW is required. The
Diagram shows the following:
The required values can be found in the range between characteristic F = 2 and F
= 5. In order to achieve operating safety, please select the higher factor, this
means that the required cooling time is 2.5s.
F
*
5
*
Braking
time
0.5s
= cooling time
= 2.5s
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
373
Compax3 Accessories
C3I30T11 / C3I31T11
9.4.1.2
Permissible braking pulse power: BRM08/01 with
C3S015V4 / C3S038V4
BRM08/01 (480V)
10000
F=100
F=50
F=2
F=5
F=10
F=1
F=0.5
F=20
PBdyn [W]
1000
100
10
0
0,5
1
1,5
2
2,5
3
Braking time [s]
9.4.1.3
Permissible braking pulse power: BRM08/01 with
C3S025V2
BRM08/01 (230V)
10000
PBdyn [W]
F=10
F=5
F=2
F=1
F=0.5
1000
100
0
0,5
1
1,5
Braking time [s]
374
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
2
2,5
3
Compax3 Accessories
Parker EME
9.4.1.4
Permissible braking pulse power: BRM09/01 with
C3S100V2
BRM09/01 (230V_3AC)
10000
F=20
F=10
F=5
PBdyn [W]
F=2
F=0.5
F=1
1000
100
0
0,5
1
1,5
2
2,5
3
3,5
4
Braking time [s]
9.4.1.5
Permissible braking pulse power: BRM10/01 with
C3S150V4
BRM10/01 (400/480V)
100000
F=100
F=50
PBdyn [W]
F=20
F=10
F=2
F=5
F=1
F=0.5
10000
1000
100
0
0,5
1
1,5
2
2,5
3
Braking time [s]
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
375
Compax3 Accessories
C3I30T11 / C3I31T11
9.4.1.6
Permissible braking pulse power: BRM10/02 with
C3S150V4
BRM10/02 (400/480V)
100000
PBdyn [W]
F=10
F=2
F=5
F=0.5
F=1
10000
1000
0
0,5
1
1,5
2
2,5
3
Braking time [s]
9.4.1.7
Permissible braking pulse power: BRM05/01 with
C3S063V2
BRM05/01 (230V)
10000
F=20
F=10
F=2
PBdyn [W]
F=5
F=1
F=0.5
1000
100
0
0,5
1
1,5
Braking time [s]
376
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
2
2,5
3
Compax3 Accessories
Parker EME
9.4.1.8
Permissible braking pulse power: BRM05/01 with
C3S075V4
BRM05/01 (400/480V)
100000
PBdyn [W]
F=100
F=50
F=20
10000
F=10
F=5
F=2
F=1
F=0.5
1000
100
0
0,5
1
1,5
2
2,5
3
Braking time [s]
9.4.1.9
Permissible braking pulse power: BRM05/02 with
C3S075V4
BRM05/02 (400/480V)
100000
F=50
PBdyn [W]
F=100
F=20
10000
F=5
F=10
F=2
F=1
F=0.5
1000
100
0
0,5
1
1,5
2
2,5
3
Braking time [s]
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
377
Compax3 Accessories
C3I30T11 / C3I31T11
9.4.1.10
Permissible braking pulse power: BRM04/01 with
C3S150V2
BRM04/01 (230V_3AC)
10000
F=20
F=10
PBdyn [W]
F=5
F=2
F=1
2,5
3
F=0.5
1000
100
0
0,5
1
1,5
2
3,5
4
Braking time [s]
9.4.1.11
Permissible braking pulse power: BRM04/01 with
C3S300V4
BRM04/01 (400V)
100000
F=100
F=50
F=20
F=10
F=2
F=5
F=1
F=0.5
PBdyn [W]
10000
1000
100
0
0,5
1
1,5
Braking time [s]
378
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
2
2,5
3
Compax3 Accessories
Parker EME
9.4.1.12
Permissible braking pulse power: BRM04/02 with
C3S150V2
BRM04/02 (230V)
10000
F=20
F=10
F=2
F=0.5
F=1
PBdyn [W]
F=5
1000
0
0,5
1
1,5
2
2,5
3
3,5
4
Braking time [s]
9.4.1.13
Permissible braking pulse power: BRM04/02 with
C3S300V4
BRM04/02 (400V)
100000
F=100
F=50
PBdyn [W]
F=10
F=5
F=2
F=1
F=0.5
F=20
10000
1000
0
0,5
1
1,5
2
2,5
3
Braking time [s]
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
379
Compax3 Accessories
C3I30T11 / C3I31T11
9.4.1.14
Permissible braking pulse power: BRM04/03 with
C3S300V4
BRM04/03 (400V)
100000
F=100
F=50
F=20
PBdyn [W]
F=10
F=5
F=1
F=2
F=0.5
10000
1000
0
0,5
1
1,5
2
2,5
3
3,5
4
Braking time [s]
9.4.1.15
Permissible braking pulse power: BRM11/01 with
C3H0xxV4
BRM11/01 (400V/480V)
PBdyn [W]
100000
F=50
F=20
F=10
0,5
1
1,5
F=5
F=2
F=1
F=0.5
10000
1000
0
2
Braking time [s]
380
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
2,5
3
3,5
4
Compax3 Accessories
Parker EME
9.4.1.16
Permissible braking pulse power: BRM12/01 with
C3H1xxV4
BRM12/01 (400V/480V)
100000
PBdyn [W]
F=50
F=20
F=10
F=5
F=2
F=1
F=0.5
10000
1000
0
0,5
1
1,5
2
2,5
3
3,5
4
Braking time [s]
9.4.1.17
Permissible braking pulse power: BRM13/01 with
PSUP10D6
on request
9.4.1.18
Permissible braking pulse power: BRM14/01 with
PSUP10D6
on request
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
381
Compax3 Accessories
9.4.2.
C3I30T11 / C3I31T11
Dimensions of the braking resistors
In this chapter you can read about:
BRM8/01braking resistors ..............................................................................................382
BRM5/01 braking resistor...............................................................................................382
Braking resistor BRM5/02, BRM9/01 & BRM10/01 .........................................................382
Ballast resistor BRM4/0x and BRM10/02 .......................................................................383
Braking resistor BRM11/01 & BRM12/01 .......................................................................383
Ballast resistor BRM13/01 & BRM14/01 .........................................................................384
9.4.2.1
BRM8/01braking resistors
40
6
Dimensional drawing:
7,5
225
240
9.4.2.2
20
BRM5/01 braking resistor
Dimensional drawing:
101
73
222
245
48
6,5
12
9.4.2.3
Braking resistor BRM5/02, BRM9/01 & BRM10/01
Dimensional drawing:
120
92
250
64
6,5
330
12
64
95 97
1
96
382
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
98
Compax3 Accessories
Parker EME
9.4.2.4
Ballast resistor BRM4/0x and BRM10/02
Dimensional drawing:
120
92
A
C
B
6,5
12
95
97
C
1
96
98
1: thermal overcurrent relay
Dimensions in mm:
Size:
BRM4/01
BRM4/02
BRM4/03 & BRM10/02
A
250
300
540
B
330
380
620
C
64
64
64
9.4.2.5
Braking resistor BRM11/01 & BRM12/01
Dimensional drawing:
H
490
380
Ø10,5
B2
B1
B
Dimensions in mm:
BRM11/01
BRM12/02
B
330
B1
295
B2
270
H
260
Weight
6.0
7.0
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
383
Compax3 Accessories
C3I30T11 / C3I31T11
9.4.2.6
Ballast resistor BRM13/01 & BRM14/01
Dimensional drawing:
303
2
60
54±0,2
C
74
°
,2
,2
°
74
A-A
A
337
17
C (5 : 1)
1,4
1
10
Stated in mm
384
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
10
5,4
30
5,4
10
17
10
26±0,2
3
A
Compax3 Accessories
Parker EME
9.5
Condenser module C4
Order code condenser module
for C3S300V4
1100µF
C4
Modules
Technical Characteristics
Type
Module C4
Capacity
Cable length
1100µF
~30 cm
Dimensions in mm
Module C4
A
B
C
C1
D
E
F
G
H
430
190
90
120
370
15
18
30
∅6
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
385
Compax3 Accessories
9.6
C3I30T11 / C3I31T11
Operator control module BDM
Order Code operating module
/
Operating module (for Compax3S and Compax3F)
BDM
0
1
/
0
1
Flexible service and maintenance
Functions:
Mobile or stationary handling: can remain on the unit for display and diagnostic
purposes, or 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 values.
 Display of Compax3 messages.
 Duplication of device properties and IEC61131-3 program to another Compax3
with identical hardware.
 Additional information can be found int he BDM manual This can be found on the
Compax3 CD or on our Homepage: BDM-manual
(http://divapps.parker.com/divapps/EME/EME/Literature_List/dokumentatio
nen/BDM.pdf).

386
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.7
EAM06: Terminal block for inputs and outputs
Order Code terminal block
/
for I/Os without luminous indicator
for I/Os with luminous indicator
for X11, X12, X22
for X12, X22
EAM
EAM
0
0
6
6
/
/
0
0
1
2
The terminal block EAM06/.. can be used to route the Compax3 plug connector
X11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.
or
Via a supporting rail (Design:
mounting rail in the switch cabinet.
) the terminal unit can be attached to a
EAM06/ is available in 2 variants:
EAM06/01: Terminal block for X11, X12, X22 without luminous indicator
 EAM06/02: Terminal block for X12, X22 with luminous indicator
Corresponding connecting cables EAM06 - Compax3 are available:
 from X11 - EAM06/01: SSK23/..
 from X12, X22 - EAM06/xx: SSK24/..

EAM6/01: Terminal block without luminous indicator for X11, X12 or X22
Figure similar
Width: 67.5 mm
EAM6/02: Terminal block with luminous indicator for X12, X22
Figure similar
Width: 67.5 mm
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
387
Compax3 Accessories
C3I30T11 / C3I31T11
Cable plan SSK23/..: X11 to EAM 06/01
Compax3
Pin 1
Lötseite
solder side
15
10
14
13 9
12 8
11 7
6
5
4
3
2
1
I/O Modul
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Pin 1
Lötseite
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
23 mm
6 mm
2 mm
Cable plan SSK24/..: X12 to EAM 06/xx
Compax3
Pin 1
Lötseite
solder side
6
11
7
12
8
13 9
14
10
15
1
2
3
4
5
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
I/O Modul
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
23 mm
2 mm
388
6 mm
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
Pin 1
Lötseite
9
10
11
12
13
14
15
1
2
3
4
5
6
7
8
Compax3 Accessories
Parker EME
9.8
Interface cable
In this chapter you can read about:
RS232 cable .................................................................................................................. 389
RS485 cable to Pop....................................................................................................... 390
I/O interface X12 / X22 .................................................................................................. 391
Ref X11 ......................................................................................................................... 391
Encoder coupling of 2 Compax3 axes ............................................................................ 392
Modem cable SSK31 ..................................................................................................... 393
Order code for interface cables and plugs
/
...(1
...
...(1
...(1
...(1
...(1
...(1
...(6
SSK
SSK
SSK
SSK
SSK
SSK
SSK
SSK
0
3
2
2
2
2
2
2
1
3
1
2
3
4
5
7
/
/
/
/
/
/
/
/
...
...
...
...
...
...
...
../
SSK
2
8
/
../ ...(5
SSK
2
9
/
... ...(1
SSK
3
1
/
...
Compax3H adapter cable  SSK01 (length 15cm, delivered with the device)
SSK
3
2
/
2
Compax3H X10 RS232 connection control  Programming interface (delivered with the device)
VBK
1
7
/
0
1
Bus terminal connector (for the 1st and last Compax3 in the HEDA Bus/or multi-axis system)
BUS
0
7
/
0
1
Profibus cable (2
non prefabricated
SSL
0
1
/
... ...(1
Profibus plug
CAN bus cable (2
CANbus connector
non prefabricated
BUS
SSL
BUS
0
0
1
8
2
0
/
/
/
0
1
... ...(1
0
1
PC – Compax3 (RS232)
PC – PSUP (USB)
on X11 (Ref/Analog) and X13 at C3F001D2
on X12 / X22 (digital I/Os)
on X11 (Ref /Analog)
on X12 / X22 (digital I/Os)
PC  POP (RS232)
Compax3  POP (RS485) for several C3H on request
Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC
Compax3 I30  Compax3 I30 or C3M-multi-axis communication
Profinet, EtherCAT, Ethernet Powerlink
Compax3 X11  Compax3 X11 (encoder coupling of 2 axes)
with flying leads
with flying leads
for I/O terminal block
for I/O terminal block
Compax3 X10  Modem
(x
9.8.1.
0
Note on cable (see on page 353)
RS232 cable
SSK1/..
X10 <---
--->PC
6
1
1
6
9
5
5
9
n.c.
RxD
TxD
DTR
DSR
GND
RTS
CTS
+5V
1
2
3
4
6
5
7
8
9
2
3
4
6
5
7
8
RxD
TxD
DTR
DSR
GND
RTS
CTS
7 x 0,25mm + Schirm/Shield
You can find the length code in the Order Code Accessories (see on page 350)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
389
Compax3 Accessories
9.8.2.
C3I30T11 / C3I31T11
RS485 cable to Pop
SSK27: Connection Pop - Compax3 - Compax3 - ...
Länge / Length B
Länge / Length A
Compax3_n
Länge / Length B
Pin 1
Pin 1
Compax3_2
Pin 1
Compax3_1
Pin 1
15
8
CHA+ 14
X2
BN
BN
6
X3
YE
YE
WH
WH
CHA-
5
GND
X4
1
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
1-4
7 - 13
15
TxD_RxD
3
TxD_RxD
Lötseite
solder side
1
2
3
4
Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
GN
1
7
NC
NC
NC
5
NC
2,4,6,8
R21 nur im letzten Stecker
R21 only on the last connector
6 mm
BN
GN
4 mm
6
7
8
9
1 Brücke /
9 Bridge
RD
26 mm
GND
7
TxD_RxD
3
TxD_RxD
Lötseite
solder side
1
2
WH
3
GND
5
4
Schirm großflächig auf Gehäuse legen 5
Place sheath over large area of housing
YE
RD
NC
6
7
8
9
1 Brücke /
9 Bridge
2,4,6,8
R21 = 220 Ohm
(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example SSK27/nn/01)
Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there is
more than 1 Compax3, i.e. nn greater than 01)
Number n (the last two digits)
Examples include:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connecting from Pop to one Compax3
390
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.8.3.
I/O interface X12 / X22
SSK22/..: Cable for X12 / X22 with flying leads
Compax3
Pin 1
Lötseite
solder side
6
11
7
12
8
13
9
14
10
15
1
2
3
4
5
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
WH
BN
GN
YE
GY
PK
BU
RD
BK
VT
GYPK
RDBU
WHGN
BNGN
WHYE
YEBN
WHGY
GYBN
Screen
23 mm
2 mm
6 mm
You can find the length code in the Order Code Accessories (see on page 350)
9.8.4.
Ref X11
SSK21/..: Cable for X11 with open ends
Compax3
Pin 1
Lötseite
solder side
15
5
10
14
4
9
13
3
8
12
2
7
11
1
6
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
WH
WH
BN
BN
GN
GN
YE
YE
GY
GY
PK
PK
BU
BU
RD
RD
BK
BK
VT
VT
GYPK
GYPK
RDBU
RDBU
WHGN
WHGN
BNGN
BNGN
WHYE
WHYE
YEBN
YEBN
WHGY
WHGY
GYBN
GYBN
Screen
23 mm
2 mm
6 mm
You can find the length code in the Order Code Accessories (see on page 350)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
391
Compax3 Accessories
9.8.5.
C3I30T11 / C3I31T11
Encoder coupling of 2 Compax3 axes
SSK29/..: Cable from Compax3 X11 to Compax3 X11
Pin 1
Pin 1
zu Compax3 (X11)
to Compax3 (X11)
von Compax3 (X11)
from Compax3 (X11)
Lötseite
solder side
15
10
14
9
13 8
12 7
11 6
5
4
3
2
1
YE
7
A
A/
6
B
8
B/
12
N
14
2x0,25
WH
2x0,25
BU
RD
BU
RD
2x0,25
GY
7
A
6
A/
8
B
12
B/
14
N
13
N/
Lötseite
solder side
PK
15
10
14
9
13 8
12 7
11 6
5
4
3
2
1
GY
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
NC
NC
NC
NC
NC
NC
NC
NC
NC
BN
WH
PK
1
2
3
4
5
9
10
11
15
YE
GN
BN
13
N/
2x0,25
GN
23 mm
2 mm
1
2
3
4
5
9
10
11
15
NC
NC
NC
NC
NC
NC
NC
NC
NC
6 mm
You can find the length code in the Order Code Accessories (see on page 350)
Compax3 HEDA  Compax3 HEDA or PC  C3powerPLmC
Compax3 I30  Compax3 I30 or C3M-multi axis communication
Profinet, EtherCAT, Ethernet Powerlink
Layout of SSK28:
1
WH/OG
2
WH/OG
3
OG
OG
6
3
WH/GN
WH/GN
1
GN
2
BU
7
WH/BU
8
WH/BN
4
BN
5
6
GN
4
BU
5
WH/BU
7
WH/BN
8
BN
2x0,14
2x0,14
2x0,14
2x0,14
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
Pin 8
Pin 7
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
392
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
9.8.6.
Modem cable SSK31
SSK31/..
Pin 1
Pin 1
Lötseite
solder side
1
2
3
4
5
Lötseite
solder side
Compax3 (X10)
Modem
6
7
8
9
RxD
2
TxD
3
GND
5
BN
BN
YE
YE
WH
WH
GN
GN
2
TxD
3
RxD
5
GND
1
2
3
4
5
6
7
8
9
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
4
brücken (Litze 0,25)
connect (wire 0,25)
8
4
brücken (Litze 0,25)
connect (wire 0,25)
8
26 mm
1,6,7,9
NC
NC
4 mm
1,6,7,9
6 mm
You can find the length code in the Order Code Accessories (see on page 350)
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
393
Compax3 Accessories
9.9
C3I30T11 / C3I31T11
Options M1x
In this chapter you can read about:
Input/output option M12 ................................................................................................. 394
HEDA (motion bus) - Option M11 .................................................................................. 395
Option M10 = HEDA (M11) & I/Os (M12) ...................................................................... 397
9.9.1.
Input/output option M12
An optional input/output extension is available for Compax3. This option is named
M12 (or M10: with HEDA) and offers 8 digital 24V inputs and 4 digital outputs on
X22.
9.9.1.1
Assignment of the X22 connector
Pin
X22/
1
2
3
4
5
Input/output
Configurable in the C3
ServoManager *:
n.c.
O0/I0
O1/I1
O2/I2
O3/I3
I/O /X22
High density/Sub D
factory use
Output 0 / Input 0 - adjustable
Output 1 / Input 1 - adjustable
Output 2 / Input 2 - adjustable
Output 3 / Input 3 - adjustable
6
O4/I4
Output 4 / Input 4 - adjustable
*
7
O5/I5
Output 5 / Input 5 - adjustable
8
O6/I6
Output 6 / Input 6 - adjustable
9
O7/I7
Output 7 / Input 7 - adjustable
10
O8/I8
Output 8 / Input 8 - adjustable
11
I
24 VDC power supply
12
O9/I9
Output 9 / Input 9 - adjustable
13
O10/I10
Output 10 / Input 10 - adjustable
14
O11/I11
Output 11 / Input 11 - adjustable
15
E
GND24V
*
*
(not 24VDC)
* Configurable as input or output in the wizard window “I/O assignment” in groups
of 4.
All inputs and outputs have 24V level.
Maximum load on an output: 100mA
Maximum capacitive load: 50nF (max. 4 Compax3 inputs)
Caution! The 24VDC power supply (X22/11) must be supplied from an
external source and must be protected by a 1.2A delayed fuse!
394
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Compax3 Accessories
Parker EME
Input wiring of digital inputs
Compax3
SPS/PLC
24VDC
24VDC
X22/11
22KΩ
100KΩ
X22/6
22KΩ
10nF
22KΩ
10KΩ
F1
X22/15
The circuit example is valid for all digital inputs!
F1: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
Output wiring of digital outputs
Compax3
X22/11
24VDC
SPS/
PLC
X12/2
22KΩ
F1
X22/15
The circuit example is valid for all digital outputs!
The outputs are short circuit proof; a short circuit generates an error.
F1: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
9.9.2.
HEDA (motion bus) - Option M11
Pin
1
2
3
4
5
6
7
8
RJ45 (X20)
RJ45 (X21)
HEDA in
Rx
Rx/
Lx
Lx/
-
HEDA out
Tx
Tx/
Lx
factory use
factory use
Lx/
factory use
factory use
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
395
Compax3 Accessories
C3I30T11 / C3I31T11
Function of the HEDA LEDs
Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 Terminal plug is missing
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 Terminal plug is missing
 no transmission from one or several receive slots (neither by the master nor by
another slave)
HEDA-wiring:
HEDA-Master
SSK28/..
BUS07/01
SSK28/..
Layout of SSK28 (see on page 352, see on page 392)
Design of the HEDA bus terminator BUS 07/01:
Pin 8
Pin 7
Pin 6
Pin 5
Pin 4
Pin 3
Pin 2
Pin 1
Jumpers: 1-7, 2-8, 3-4, 5-6
396
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
SSK28/..
BUS07/01
Compax3 Accessories
Parker EME
Function of the HEDA LEDs
Green LED (left)
HEDA module energized
Red LED (right)
Error in the receive area
Possible causes:
 at the Master
 no slave sending back
 Wrong cabling
 Terminal plug is missing
 several masters are sending in the same slot
 at the slave
 several masters in the system
 no master active
 Terminal plug is missing
 no transmission from one or several receive slots (neither by the master nor by
another slave)
9.9.3.
Option M10 = HEDA (M11) & I/Os (M12)
The M10 option includes the M12 input/output option and the HEDA M11 option.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
397
Technical Characteristics
C3I30T11 / C3I31T11
10. Technical Characteristics
Mains connection Compax3S0xxV2 1AC
Controller type
Supply voltage
Input current
Maximum fuse rating per device
(=short circuit rating)
S025V2
S063V2
Single phase 230VAC/240VAC
80-253VAC / 50-60Hz
6Arms
13Arms
10 A (MCB miniature 16A (automatic circuit
circuit breaker, K
breaker K)
characteristic)
Mains connection Compax3S1xxV2 3AC
Controller type
Supply voltage
Input current
Maximum fuse rating per device
(=short circuit rating)
S100V2
S150V2
Three phase 3* 230VAC/240VAC
80-253VAC / 50-60Hz
10Arms
13Arms
16A
20A
MCB miniature circuit breaker, K characteristic
Mains connection Compax3SxxxV4 3AC
Controller type
Supply voltage
S015V4
S038V4
S075V4
S150V4
Three phase 3*400VAC/480VAC
80-528VAC / 50-60Hz
Input current
3Aeff
6Arms
10Arms
16Arms
Maximum fuse rating per 6A
10A
16A
20A
device(=short circuit
MCB miniature circuit breaker, K characteristic
rating)
398
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
S300V4
22Arms
25A
D*
Technical Characteristics
Parker EME
Mains connection PSUP10D6
Device type PSUP10
Supply voltage
Rated voltage
Input current
Output voltage
Output power
Pulse power (<5s)
Power dissipation
Maximum fuse rating per
device (=short circuit rating)
230V
400V
480V
230VAC ±10%
400VAC ±10%
480VAC ±10%
50-60Hz
50-60Hz
50-60Hz
3AC 230V
3AC 400V
3AC 480V
22Arms
22Arms
18Arms
325VDC ±10%
565VDC ±10%
680VDC ±10%
6kW
10 kW
10 kW
12kW
20kW
20kW
60W
60W
60W
Measure for line and device protection:
MCB miniature circuit breaker (K characteristic) 25A in
accordance with UL category DIVQ
Recommendation: (ABB) S203UP-K 25(480VAC)
Mains connection PSUP20D6
Device type PSUP20
Supply voltage
Rated voltage
Input current
Output voltage
Output power
Pulse power (<5s)
Power dissipation
Maximum fuse rating per
device (=short circuit rating)
2 circuit breakers in line are
required
230V
400V
480V
230VAC ±10%
400VAC ±10%
480VAC ±10%
50-60Hz
50-60Hz
50-60Hz
3AC 230V
3AC 400V
3AC 480V
44Arms
44Arms
35Arms
325VDC ±10%
565VDC ±10%
680VDC ±10%
12kW
20kW
20kW
24kW
40kW
40kW
120W
120W
120W
Cable protection measure:
MCB (K characteristic) with a rating of 50A / 4xxVAC
(depending on the input voltage)
Recommendation: (ABB) S203U-K50 (440VAC)
Device protection measure:
Circuit breakers 80A / 700VAC per supply leg in
accordance with UL category JFHR2
Requirement: Bussmann 170M1366 or 170M1566D
Mains connection Compax3HxxxV4 3*400VAC
Device type Compax3
H050V4
H090V4
Three-phase 3*400VAC
350-528VAC / 50-60Hz
Input current
66Arms
95Arms
Output current
50Arms
90Arms
Maximum fuse rating per 80A
100A
device(=short circuit
rating)
JDDZ Class K5 or H
Branch circuit protection JDRX Class H
according to UL
H125V4
H155V4
Supply voltage
143Arms
125Arms
160A
164Arms
155Arms
200A
Mains connection Compax3HxxxV4 3*480VAC
Device type Compax3
H050V4
H090V4
Three-phase 3*480VAC
Supply voltage
350-528VAC / 50-60Hz
Input current
54Arms
82Arms
Output current
43Arms
85Arms
Maximum fuse rating per 80A
100A
device(=short circuit
rating)
JDDZ Class K5 or H
Branch circuit protection JDRX Class H
according to UL
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
H125V4
118Arms
110Arms
160A
H155V4
140Arms
132Arms
200A
399
Technical Characteristics
C3I30T11 / C3I31T11
Control voltage 24VDC Compax3S and Compax3H
Controller type
Voltage range
Current drain of the device
Total current drain
Ripple
Requirement according to safe extra
low voltage (SELV)
Short-circuit proof
Compax3
21 - 27VDC
0.8 A
0.8 A + Total load of the digital outputs + current
for the motor holding brake
0.5Vpp
yes
conditional (internally protected with 3.15AT)
Control voltage 24 VDC PSUP
Device type
Voltage range
Ripple
PSUP
21 - 27VDC
0.5Vpp
Requirement according to safe extra
low voltage (SELV)
yes (class 2 mains module)
Current drain PSUP
Electric current drain Compax3M
400
PSUP10: 0.2A
PSUP20 / PSUP30: 0.3A
C3M050D6: 0.85
3M100D6: 0.85A
C3M150D6: 0.85A
C3M300D6: 1.0 A
+ Total load of the digital outputs + current for
the motor holding brake
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Output data Compax3S0xx at 1*230VAC/240VAC
Controller type
Output voltage
Nominal output current
Pulse current for 5s
Power
Switching frequency
Power loss for In
S025V2
3x 0-240V
2.5Arms
5.5Arms
1kVA
16kHz
30W
S063V2
3x 0-240V
6.3Arms
12.6Arms
2.5kVA
16kHz
60W
Output data Compax3S1xx at 3*230VAC/240VAC
Controller type
Output voltage
Nominal output current
Pulse current for 5s
Power
Switching frequency
Power loss for In
S100V2
3x 0-240V
10Arms
20Arms
4kVA
16kHz
80W
S150V2
3x 0-240V
15Arms
30Arms
6kVA
8kHz
130W
Output data Compax3Sxxx at 3*400VAC
Controller type
Output voltage
Nominal output current
Pulse current for 5s
Power
S015V4
S038V4
3x 0-400V
1.5Arms
3.8Arms
4.5Arms
9.0Arms
1kVA
2.5kVA
S075V4
S150V4
S300V4
7.5Arms
15Arms
5kVA
15Arms
30Arms
10kVA
30Arms
60Arms*
20kVA
Switching frequency
Power loss for In
16kHz
60W
16kHz
120W
8kHz
160W
8kHz
350W
16kHz
80W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 385)”.
Output data Compax3Sxxx at 3*480VAC
Controller type
S015V4
S038V4
S075V4
S150V4
S300V4
Output voltage
3x 0-480V
Nominal output current
1.5Arms
3.8Arms
6.5Arms
13.9Arms
30Arms
Pulse current for 5s
Power
Switching frequency
Power loss for In
4.5Arms
1.25kVA
16kHz
60W
7.5Arms
3.1kVA
16kHz
80W
15Arms
6.2kVA
16kHz
120W
30Arms
11.5kVA
8kHz
160W
60Arms*
25kVA
8kHz
350W
* With cyclic peak currents (S8 or S9 operation), the device utilization (683.2) may
not be > 70%; otherwise it is necessary to use a condenser module “C4Module
(see on page 385)”.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
401
Technical Characteristics
C3I30T11 / C3I31T11
Output data Compax3Mxxx at 3*230VAC
Device type Compax3
M050D6
M100D6
M150D6
M300D6
Input voltage
Output voltage
Nominal output current
Pulse current for 5s*
Power
Switching frequency
Power loss for In
325VDC ±10%
3x 0-230V (0...500Hz)
5Arms
10Arms
10Arms
20Arms
2kVA
4kVA
8kHz
8kHz
70W+**
90W+**
15Arms
30Arms
6kVA
8kHz
120W+**
30Arms
60Arms
12kVA
8kHz
270W+**
*Electrical turning frequency for pulse current: f>5 Hz; with an electrical turning frequency of f<5 Hz, the
maximum pulse current time is 100ms
** Maximum additional losses with option card 5 W.
Output data Compax3Mxxx at 3*400VAC
Device type Compax3
M050D6
M100D6
M150D6
M300D6
Input voltage
Output voltage
Nominal output current
Pulse current for 5s*
Power
Switching frequency
Power loss for In
565VDC ±10%
3x 0-400V (0...500Hz)
5Arms
10Arms
10Arms
20Arms
3.33kVA
6.66kVA
8kHz
8kHz
70W+**
90W+**
15Arms
30Arms
10kVA
8kHz
120W+**
30Arms
60Arms
20kVA
8kHz
270W+**
*Electrical turning frequency for pulse current: f>5 Hz; with an electrical turning frequency of f<5 Hz, the
maximum pulse current time is 100ms
** Maximum additional losses with option card 5 W.
Output data Compax3Mxxx at 3*480VAC
Device type Compax3
M050D6
Input voltage
Output voltage
Nominal output current
Pulse current for 5s*
Power
Switching frequency
Power loss for In
M100D6
680VDC ±10%
3x 0-480V (0...500Hz)
4Arms
8Arms
8Arms
16Arms
3.33kVA
6.66kVA
8kHz
8kHz
70W+**
90W+**
M150D6
M300D6
12.5Arms
25Arms
10kVA
8kHz
120W+**
25Arms
50Arms
20kVA
8kHz
270W+**
*Electrical turning frequency for pulse current: f>5 Hz; with an electrical turning frequency of f<5 Hz, the
maximum pulse current time is 100ms
** Maximum additional losses with option card 5 W.
402
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Output data Compax3Hxxx at 3*400VAC
Controller type
Output voltage
Nominal output current
Pulse current for 5s *
Power
Switching frequency
Power loss for In
H050V4
3x 0-400V
50Arms
75Arms
35kVA
8kHz
880W
H090V4
H125V4
H155V4
90Arms
135Arms
62kVA
8kHz
900W
125Arms
187.5Arms
86kVA
8kHz
1690W
155Arms
232.5Arms
107kVA
8kHz
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
Output voltage
Nominal output current
Pulse current for 5s*
Power
Switching frequency
Power loss for In
H050V4
3x 0-480V
43Arms
64.5Arms
35kVA
8kHz
850W
H090V4
H125V4
H155V4
85Arms
127.5Arms
70kVA
8kHz
1103W
110Arms
165Arms
91kVA
8kHz
1520W
132Arms
198Arms
109kVA
8kHz
1800W
* 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
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
403
Technical Characteristics
C3I30T11 / C3I31T11
Resulting nominal and peak currents depending on the switching
frequency
Compax3S0xxV2 at 1*230VAC/240VAC
Switching
frequency*
16kHz
32kHz
S025V2
S063V2
Inom
Ipeak (<5s)
2.5Arms
5.5Arms
6,3Arms
12,6Arms
Inom
2.5Arms
5.5Arms
Ipeak (<5s)
5.5Arms
12,6Arms
Compax3S1xxV2 at 3*230VAC/240VAC
Switching
frequency*
8kHz
16kHz
32kHz
S100V2
S150V2
Inom
-
15Arms
Ipeak (<5s)
-
30Arms
Inom
10Arms
12.5Arms
Ipeak (<5s)
20Arms
25Arms
Inom
8Arms
10Arms
Ipeak (<5s)
16Arms
20Arms
Compax3S0xxV4 at 3*400VAC
Switching
frequency*
8kHz
16kHz
32kHz
S015V4 S038V4
S075V4
S150V4
S300V4
-
-
-
15Arms
30Arms
Ipeak (<5s) -
-
-
30Arms
60Arms
1.5Arms
3.8Arms
7.5Arms
10.0Arms
26Arms
Ipeak (<5s) 4.5Arms
9.0Arms
15.0Arms
20.0Arms
52Arms
Inom
1.5Arms
2.5Arms
3.7Arms
5.0Arms
14Arms
Ipeak (<5s) 3.0Arms
5.0Arms
10.0Arms
10.0Arms
28Arms
S075V4
S150V4
S300V4
-
-
13.9Arms
30Arms
30Arms
60Arms
1.5Arms
3.8Arms
6.5Arms
8.0Arms
21.5Arms
Ipeak (<5s) 4.5Arms
7.5Arms
15.0Arms
16.0Arms
43Arms
Inom
1.0Arms
2.0Arms
2.7Arms
3.5Arms
10Arms
Ipeak (<5s) 2.0Arms
4.0Arms
8.0Arms
7.0Arms
20Arms
Inom
Inom
Compax3S0xxV4 at 3*480VAC
Switching
frequency*
8kHz
16kHz
32kHz
S015V4 S038V4
Inom
Ipeak (<5s) Inom
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
404
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Resulting nominal and peak currents depending on the switching
frequency
Compax3MxxxD6 at 3*400VAC
Switching
frequency*
8kHz
16kHz
32kHz
M050D6 M100D6
M150D6
M300D6
Inom
5Arms
10Arms
15Arms
30Arms
Ipeak (<5s)
10Arms
20Arms
30Arms
60Arms
Inom
3.8Arms
7.5Arms
10Arms
20Arms
Ipeak (<5s)
7.5Arms
15Arms
20Arms
40Arms
Inom
2.5Arms
3.8Arms
5Arms
11Arms
Ipeak (<5s)
5Arms
7.5Arms
10Arms
22Arms
Compax3MxxxD6 at 3*480VAC
Switching
frequency*
8kHz
16kHz
32kHz
M050D6 M100D6
M150D6
M300D6
Inom
4Arms
8Arms
12.5Arms
25Arms
Ipeak (<5s)
8Arms
16Arms
25Arms
50Arms
Inom
3Arms
5.5Arms
8Arms
15Arms
Ipeak (<5s)
6Arms
11Arms
16Arms
30Arms
Inom
2Arms
2.5Arms
4Arms
8.5Arms
Ipeak (<5s)
4Arms
5Arms
8Arms
17Arms
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
Resulting nominal and peak currents depending on the switching
frequency
Compax3HxxxV4 at 3*400VAC
Switching
frequency*
8kHz
16kHz
H050V4 H090V4 H125V4 H155V4
Inom
50Arms
90Arms
125Arms
155Arms
Ipeak (<5s)
75Arms
135Arms
187.5Ar
232.5Ar
ms
ms
82Arms
100Arms
123Arms
150Arms
49Arms
59Arms
Inom
33Arms
75Arms
Ipeak (<5s)
49.5Arms 112.5Ar
ms
32kHz
Inom
19Arms
45Arms
Ipeak (<5s)
28.5Arms 67.5Arms 73.5Arms 88.5Arms
Compax3HxxxV4 at 3*480VAC
Switching
frequency*
8kHz
H050V4 H090V4 H125V4 H155V4
Inom
43Arms
85Arms
Ipeak (<5s)
64.5Arms 127.5Ar
110Arms
132Arms
165Arms
198Arms
ms
16kHz
32kHz
Inom
27Arms
70Arms
84Arms
Ipeak (<5s)
40.5Arms 105Arms
70Arms
105Arms
126Arms
Inom
16Arms
40Arms
40Arms
48Arms
Ipeak (<5s)
24Arms
60Arms
60Arms
72Arms
The values marked with grey are the pre-set values (standard values)!
*corresponds to the frequency of the motor current
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
405
Technical Characteristics
C3I30T11 / C3I31T11
Resolution of the motor position
For option F10: Resolver
Position resolution: 16 Bits (= 0.005°)
Absolute accuracy: ±0.167°
 Position resolution: 13.5 Bits / Encoder sine period
=> 0.03107°/encoder resolution
 Maximum position resolution
 Linear: 24 Bits per motor magnet spacing
 Rotary: 24 Bits per motor revolution
 Resolution for Sine-Cosine encoders (e.g. EnDat) with
1Vss signal):
13.5 bits / graduation of the scale of the encoder
 For RS 422 encoders: 4x encoder resolution
 Accuracy of the feedback zero pulse acquisition =
accuracy of the feedback resolution.
 Resolution for analog hall sensors with 1Vss signal:
13.5 Bits / motor magnet spacing


For option F11: SinCos©
For option F12:
Accuracy
The exactitude of the position signal is above all determined by the exactitude of
the feedback system used.
Motors and feedback systems supported
Motors
Direct drives


Sinusoidally commutated synchronous motors
 Maximum electrical turning frequency: 1000Hz*
 Max. velocity at 8 pole motors: 15000 rpm.
 General max. Velocity:
60*1000/number of pole pairs in [rpm]
 Max. number of poles = 600
 Sinusoidal commutated asynchronous motors
 Maximum electrical turning frequency: 1000Hz
 Max. velocity: 60*1000/number of pole pairs - slip in
[rpm].
 Field weakening: typically up to triple (higher on
request).
 Temperature sensor: KTY84-130
(insulated in accordance with EN60664-1 or
IEC60664-1)
 3 phase synchronous direct drives

Linear motors
Torque motors
Position encoder
(Feedback)
LTN:
Tamagawa:
Option F10: Resolver
RE-21-1-A05, RE-15-1-B04
TS2610N171E64, TS2620N21E11, TS2640N321E64,
TS2660N31E64
Tyco (AMP)  V23401-T2009-B202


Option F11: SinCos©
 Singleturn (SICK|Stegmann)
 Multiturn (SICK|Stegmann) Absolute position up to
4096 motor revolutions.
 SEK52, SEL52, SEK37, SEL37, SEK160, SEK90
®
 Rotary feedback with HIPERFACE interface:
e.g.: SRS50, SRM50, SKS36, SKM36, SEK52
* higher values on request
406
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Special encoder systems for direct
drives
Option F12
Sine-Cosine signal (max. 5Vss*; typical
1Vss) 90° offset
 U-V signal (max. 5Vss*; typical 1Vss)
120° offset.
 Sine-Cosine (max. 5Vss*; typical 1Vss)
(max. 400kHz) or
 TTL (RS422) (max. 5MHz; track A o. B)
with the following modes of commutation:
 Automatic commutation (see on page
355) or
 U, V, W or R, S, T commutation signals
(NPN open collector) e.g. digital hall
sensors, incremental encoders made by
Hengstler (F series with electrical
ordering variant 6)
 All EnDat 2.1 or EnDat 2.2 (Endat01,
Endat02) feedback systems with
incremental track (sine-cosine track)
 linear or rotary
 max. 400kHz Sine-Cosine
 Distance coding with 1VSS - Interface
 Distance coding with RS422 - Interface
(Encoder)

Analog hall sensors
Encoder
(linear or rotatory)
Digital, bidirectional interface
Distance coded feedback systems
*Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
Feedback error compensation
Feedback error compensation

Automatic feedback error compensation (offset &
amplification) for analog hall sensors and sinecosine encoder can be activated in the
MotorManager.
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
407
Technical Characteristics
C3I30T11 / C3I31T11
Motor holding brake output
Motor holding brake output
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
1.6A
proof)
Securing of brake Compax3M
3.15A
Braking operation Compax3S0xxV2 1AC
Controller type
Capacitance / storable energy
S025V2
S063V2
560µF / 15Ws
1120µF / 30Ws
Minimum braking- resistance
100Ω
20 ... 60W
8A
56Ω
60 ... 180W
15A
Recommended nominal power rating
Maximum continuous current
Braking operation Compax3S1xxV2 3AC
Controller type
Capacitance / storable energy
S100V2
S150V2
780µF / 21Ws
1170µF / 31Ws
Minimum braking- resistance
22Ω
60 ... 450W
20A
15Ω
60 ... 600W
20A
Recommended nominal power rating
Maximum continuous current
Braking operation Compax3SxxxV4 3AC
Controller type
S015V4
Capacitance / storable energy
400V / 480V
235µF
235µF
37 / 21 Ws 37 / 21 Ws
470µF
690µF
1230µF
75 / 42 Ws 110 / 61 Ws 176 / 98 Ws
Minimum braking- resistance
100Ω
60 ...
100W
100Ω
60 ... 250W
56Ω
60 ... 500
W
33Ω
60 ... 1000
W
15Ω
60 ... 1000
W
10A
10A
15A
20A
30A
Recommended nominal power
rating
Maximum continuous current
S038V4
S075V4
S150V4
S300V4
Braking operation Compax3MxxxD6 (axis controller)
Device type
Compax3
Capacity/
storable energy
M050
M100
M150
M300
110µF/
18Ws at 400V
10Ws at 480V
220µF/
37Ws at 400V
21Ws at 480V
220µF/
37Ws at 400V
21Ws at 480V
440µF/
74Ws at 400V
42Ws at 480V
Braking operation of Compax3HxxxV4
Controller type
H050V4
Capacitance / storable energy 2600 µF
400V / 480V
602 / 419 Ws
Minimum braking- resistance 24 Ω
Maximum continuous current
408
11 A
H090V4
H125V4
H155V4
3150 µF
5000 µF
5000 µF
729 / 507 Ws 1158 / 806 Ws 1158 / 806 Ws
15 Ω
17 A
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
8Ω
31 A
8Ω
31 A
Technical Characteristics
Parker EME
Ballast resistors for Compax3
Ballast resistor (see on page 371)
Device
Rated output
BRM08/01 (100Ω)
Compax3S025V2
Compax3S015V4
Compax3S038V4
Compax3S063V2
Compax3S075V4
Compax3S075V4
Compax3S150V4
Compax3S150V4
Compax3S150V2
Compax3S300V4
PSUP20D6
Compax3S150V2
Compax3S300V4
PSUP20D6
Compax3S300V4
PSUP20D6
Compax3S100V2
Compax3H0xxV4
PSUP10D6
PSUP20D6**
PSUP10D6*
PSUP20D6
Compax3H1xxV4
60 W
BRM05/01 (56Ω)
BRM05/02 (56Ω)
BRM10/01 (47Ω)
BRM10/02 (470Ω)
BRM04/01 (15Ω)
BRM04/02 (15Ω)
BRM04/03 (15Ω)
BRM09/01 (22Ω)
BRM11/01 (27Ω)
BRM13/01 (30Ω)
BRM14/01 (15Ω)
BRM12/01 (18Ω)
180 W
570 W
570 W
1500 kW
570 W
740 W
1500 W
570 W
3500 W
500 W
500 W
4500 W
*for PSUP10D6 2x15Ω in series
**for PSUP20D6 2x30Ω parallel
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
409
Technical Characteristics
C3I30T11 / C3I31T11
Size / weight Compax3S
Controller type
Dimensions
HxWxD [mm]
191 x 84 x 172
191 x 100 x 172
248 x 84 x 172
248 x 115 x 172
248 x 158 x 172
248 x 100 x 172
248 x 115 x 172
248 x 158 x 172
380 x 175 x 172
Compax3S025V2
Compax3S063V2
Compax3S015V4
Compax3S100V2
Compax3S150V2
Compax3S038V4
Compax3S075V4
Compax3S150V4
Compax3S300V4
Weight [kg]
2.0
2.5
3.1
4.3
6.8
3.5
4.3
6.8
10.9
Minimum mounting distance: 15mm at the sides, above & below 100mm
Protection type IP20
Drawings, Mounting (see on page 73, see on page 79)
Size / weight PSUP/Compax3M
Dimensions HxWxD
[mm]
360 x 50 x 263
Weight
[kg]
3.95
PSUP20D6 & PSUP30D6
360 x 100 x 263
6.3
Compax3M050D6
360 x 50 x 263
3.5
Compax3M100D6
360 x 50 x 263
3.6
Compax3M150D6
360 x 50 x 263
3.6
Compax3M300D6
360 x 100 x 263
5.25
Device type
PSUP10D6
Protection type IP20
Size / weight Compax3H
Mounting (see on page 73, see on page 79)
Controller type
Compax3H050V4
Compax3H090V4
Compax3H125V4
Compax3H155V4
Dimensions
HxWxD [mm]
453 x 252 x 245
668.6 x 257 x 312
720 x 257 x 355
720 x 257 x 355
Weight [kg]
17.4
32.5
41
41
Protection class IP20 when mounted in a control cabinet (not for
Compax3H1xxxV4)
Mounting
410
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Safety technology Compax3S
Safe torque-off in accordance with EN
ISO 13849: 2008, Category 3, PL d/e
Certified.
Test mark IFA 1003004
For implementation of the “protection
against unexpected start-up” function
described in EN1037.
 Please note the circuitry examples (see
on page 82).

Compax3S STO (=safe torque off)
Nominal voltage of the
inputs
Required isolation of the
24V control voltage
Protection of the STO
control voltage
Grouping of safety level
24 V
Grounded protective extra low voltage, PELV
1A
STO switch-off via internal safety relay & digital
input: PL e, PFHd=2.98E-8
STO switch-off via internal safety relay & fieldbus:
PL d, PFHd=1.51E-7
A MTTFd=15 of the external PLC and STO cycles/year
< 500 000 are assumed.
Safety technology Compax3M
Safe torque-off in accordance with EN
ISO 13849-1: 2007, Category 3, PL=e
Certified.
Test mark MFS 09029

Please respect the stated safety
technology on the type designation
plate (see on page 13) and the circuitry
examples (see on page 97)
Compax3M S1 Option: Signal inputs for connector X14
Nominal voltage of the
inputs
Required isolation of the
24V control voltage
Protection of the STO
control voltage
Number of inputs
Signal inputs via
optocoupler
24V
Grounded protective extra low voltage, PELV
1A
2
Low = 0...7V DC or open
High = 15...30V DC
Iin at 24V DC: 8mA
STO1/
Low = STO activated
High = STO deactivated
Reaction time max. 3ms
STO2/
Low = STO activated
High = STO deactivated
Reaction time max. 3ms
Switch-off time with
unequal input statuses
(max. reaction time)
Grouping of safety level
20 seconds
Category 3
PL=e
(according to table 4 in EN ISO 13849-1 this
corresponds to SIL 3)
PFHd=4.29E-8
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
411
Technical Characteristics
C3I30T11 / C3I31T11
UL certification for Compax3S
conform to UL:

Certified

according to UL508C
E-File_No.: E235342
The UL certification is documented by a "UL" logo on the
device (type specification plate).
“UL” logo:
UL-approval for PSUP/Compax3M
conform to UL:

according to UL508C
Certified

E-File_No.: E235342
The UL certification is documented
by a “UL” logo on the device (type
specification plate).
Insulation requirements
Enclosure rating
Protection against human contact
with dangerous voltages
Overvoltage category
Degree of contamination
Protection class in accordance with EN 60664-1
In accordance with EN 61800-5-1
Voltage category III in accordance with
EN 60664-1
Degree of contamination 2 in accordance with
EN 60664-1 and EN 61800-5-1
Environmental conditions Compax3S and Compax3H
General ambient conditions
In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation
storage
transport
0 to +45 °C
–25 to +70 °C
–25 to +70 °C
Tolerated humidity:
no condensation
<= 85% class 3K3
<= 95% class 2K3
<= 95% class 2K3
Operation
storage
transport
Elevation of operating site
Mechanic resonances:
Sealing
412
class 3K3
class 2K3
class 2K3
(Relative humidity)
<=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
EN 60068-2-6 (sinusoidal excitation)
Protection type IP20 in accordance with
EN 60 529
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Cooling Compax3S and Compax3H
Cooling mode:
C3S025V2 ... S150V4: Convection
C3S300V4 & C3H: Forced air ventilation with
fan in the heat dissipator
Air flow rate:459m³/h (C3H)
C3S300V4, C3H050, C3H090 internal
C3H125, C3H155 external
220/240VAC: 140W, 2.5µF, Stator - 62Ω
Optionally on request:
110/120VAC: 130W, 10µF, Stator - 16Ω
Circuit breaker:3A
Supply:
EMC limit values Compax3S and Compax3H
EMC interference emission
EMC disturbance immunity
Limit values in accordance with EN 61 800-3,
Limit value class C3/C4 without additional
mains filter:
Information on C2 limit value classes (see on
page 19)
Industrial area limit values in accordance with
EN 61 800-3
Ambient conditions PSUP/Compax3M
General ambient conditions
In accordance with EN 60 721-3-1 to 3-3
Climate (temperature/humidity/barometric
pressure): Class 3K3
Permissible ambient temperature:
Operation
storage
transport
0 to +40 °C
-25 to +70 °C
-25 to +70 °C
Tolerated humidity:
no condensation
<= 85% class 3K3
<= 95%
<= 95%
Operation
storage
transport
Elevation of operating site
Sealing
Mechanic resonances:
Class 3K3
(Relative humidity)
<=1000m above sea level for 100% load ratings
<=2000m above sea level for 1% / 100m power
reduction
please inquire for greater elevations
Protection type IP20 in accordance with
EN 60 529
Class 2M3, 20m/s2;8-200Hz
Cooling PSUP/Compax3M
Cooling mode:
Forced air ventilation with fan in the heat
dissipator
EMV limit values PSUP/Compax3M
EMC interference emission
Limit values in accordance with EN 61 800-3,
Limit value class C3 with mains filter.
EMC disturbance immunity
Industrial area limit values in accordance with
EN 61 800-3
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
413
Technical Characteristics
C3I30T11 / C3I31T11
EC directives and applied harmonized EC norms
EC low voltage directive
2006/95/EG
EN 61800-5-1, Standard for electric power
drives with settable speed; requirements to
electric safety
EN 60664-1, isolation coordinates for electrical
equipment in low-voltage systems
EN 60204-1, machinery norm partly applied
EN 61800-3, EMC standard
Product standard for variable speed drives
EC-EMC-directive
2004/108/EC
COM ports
RS232
115200 baud
Word length: 8 bits, 1 start bit, 1 stop bit
 Hardware handshake XON, XOFF
 9600, 19200, 38400, 57600 or 115200
baud
 Word length 7/8 bit, 1 start bit, 1 stop bit
 Parity (can be switched off) even/odd
 2 or 4-wire
 USB 2.0 Full Speed compatible


RS485 (2 or 4-wire)
USB (Compax3M)
Load position control
Dual Loop Option

2. Feedback system for load position control
(see on page 161) possible.
Signal interfaces
Signal inputs / signal sources
Signal outputs
Signal transmission
414
Encoder input track A/B (RS422)
 up to max. 10MHz
 Internal quadrature of the resolution
 Step / direction input (24V-level)
Max. 300kHz at ≥50Ω source impedance
and minimum pulse width of 1.6µs.
 +/-10V analog input
14Bit; 62.5µs scanning rate.
 SSI - feedback
 Encoder simulation
 1...16384 increments/revolution or pitch
 Limit frequency 620kHz (track A or B)
 Bypass function for encoder feedback
with feedback module F12.(Limit
frequency 5MHz, track A or B).
HEDA (Option M10 or M11)
Transfer of process values:
 from Slave to Master
 from Slave to Master and
 from Slave to Slave.

192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Technical Characteristics
Parker EME
Ethernet Powerlink / EtherCAT characteristics
Profile
Baud rate
Bus file
Motion Control CiADS402
 100MBits (FastEthernet)

Ethernet Powerlink:
EtherCAT:
Service data object
Cycle time
Synchronicity accuracy
Deviations from the Device Profile
DSP402
C3_EPL_cn.EDS
C3_EtherCAT_xx.XML
 SDO
 >=1ms,
 maximum jitter: +/-25µs
 For the velocity mode profile the setpoint
acceleration is also applicable when
braking.
 Only one rotation speed is possible for
machine zero run start (objects 0x6099.1
and .2 are the same).


Functions
Operating modes:
Speed control
Direct positioning (position control)
 Positioning with set selection
 Cyclic predefined Setpoint value
 Up to 2 cyclic actual values
 Cyclic predefined Setpoint value
 Cyclic actual values
 Different motion functions
 up to 31 motion sets possible.
 Different motion functions
 Absolute positioning
 Relative positioning
 Electronic Gearbox (Gearing)
 Reg-related positioning
(exactitude < 1µs)
 Speed control
 Stop - Set
 Defining status bits for the sequence
control
 Specification of speed, acceleration,
deceleration and jerk
 Different machine zero modes
 Absolute / continuous operation
 Encoder simulation
 Resolution: 1 - 16384 increments /
revolution
 2 channels ±10 V analog
 Resolution: 8 Bit


Speed control
Direct positioning
Positioning with set selection
Motion functions
Actual position
Signal monitor
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
415
Index
C3I30T11 / C3I31T11
11. Index
+
+/-10V analog speed setpoint value as signal
source • 160
A
Absolute encoder • 119
Acceleration / deceleration for positioning • 138
Acceleration for positioning and velocity control
• 138
Access to the hazardous area • 92, 96
Activation • 254
Acyclic parameter channel • 328
Additional conditions of utilization • 21
Adjusting the basic address • 65
Adjusting the machine zero proximity switch •
133
Advanced • 214
Advantages of using the • 83
Alignment of the analog inputs • 250
Analog Inputs/Outputs • 347
Analogue / encoder (plug X11) • 70
Analyses in the time range • 256
Application parameters • 178
Approximation of a well-attenuated control loop
• 198
ASCII - record • 303
Assignment of the different motion functions •
316
Assignment of the X22 connector • 394
Asynchronous motors • 192
Extension of the controller structure • 195
Attenuation of the excitation amplitude • 266
Automated controller design • 205
Automatic controller design • 196
B
Ballast resistor • 37, 113, 408
Ballast resistor BRM13/01 & BRM14/01 • 384
Ballast resistor BRM4/0x and BRM10/02 • 383
Bandwidth filter 1 (O2150.2) / bandwidth filter 2
(O2150.5) • 227
Basic functions: • 95
Basic structure of the control with Compax3 •
176
Basics of frequency response measurement •
283
Binary record • 304
Bit sequence V2 • 346
Boundary conditions • 247
Brake delay times • 291
Braking resistor / high voltage DC C3S
connector X2 • 37
Braking resistor / high voltage supply
connector X2 for 3AC
400VAC/480VAC_C3S devices • 40
416
Braking resistor / high voltage supply plug X2
for 1AC 230VAC/240VAC devices • 37
Braking resistor / high voltage supply plug X2
for 3AC 230VAC/240VAC devices • 38
Braking resistor / supply voltage C3H • 61
Braking resistor / temperature switch PSUP
(mains module) • 49
Braking resistor BRM11/01 & BRM12/01 • 383
Braking resistor BRM5/02, BRM9/01 &
BRM10/01 • 382
BRM10/02 • 371, 376, 383
BRM5/01 braking resistor • 382
BRM8/01braking resistors • 382
Byte string OS • 346
C
C3 ServoSignalAnalyzer • 252
C3 settings for RS485 four wire operation •
301
C3 settings for RS485 two wire operation • 300
Calculation of the BRM cooling time • 373
Calculation of the reference current from the
characteristic line. • 181
Calling up the input simulation • 243
Capacitors • 15
Cascade control • 202
Cascade structure of Compax3 • 203
Change assignment direction reversal / limit
switches • 137
Change initiator logic • 137
Changing the switching frequency and the
reference point • 191
Characteristics of a control loop setpoint
response • 201
CiA405_SDO_Error (Abort Code)
UDINT • 328
Circuit layout overview • 89
Circuit: • 90, 94
CN (Controlled Node) in Position Mode - Direct
Positioning • 313
CN (Controlled Node) in Velocity Mode velocity control • 312
CN (Controlled Node) with set selection • 315
CN Controlled Node (Slave) • 317
COM port protocol • 302
Commissioning window • 229
Communication • 292
Communication Compax3M • 64
Communication in the axis combination
(connector X30, X31) • 64
Communication interfaces • 63
Commutation settings • 185
Commutation settings of the automatic
commutation • 221
Compa3 communication variants • 292
Compax3 Accessories • 354
Compax3 device description • 29
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Index
Parker EME
Compax3 Xxxx I30T11 / I31T11 introduction •
27
Compax3H connections front plate • 57
Compax3H plugs/connections • 54
Compax3M STO application description • 100
Compax3S connectors • 31
Compax3Sxxx V2 • 36
Compax3Sxxx V4 • 39
Condenser module C4 • 385
Conditions of utilization • 19
Conditions of utilization for cables / motor filter
• 20
Conditions of utilization for CE-conform
operation • 19
Conditions of utilization for the STO function
with Compax3M • 98
Conditions of utilization for UL certification
Compax3H • 24
Conditions of utilization for UL certification
Compax3M • 23
Conditions of utilization for UL certification
Compax3S • 22
Conditions of utilization mains filter • 19
Conditions of utilization STO (=safe torque off)
Safety function • 87
Configuration • 107, 179
Configuration name / comments • 155
Configuration of load control • 162
Configuration of local modem 1 • 309
Configuration of remote modem 2 • 309
Configuring the signal Source • 157
Connect braking resistor C3H • 61
Connection of a braking resistor • 38, 40
Connection of terminal box MH145 & MH205 •
369
Connection of the digital Outputs/Inputs • 72
Connection of the power voltage • 55
Connection of the power voltage of 2 C3H 3AC
devices • 62
Connection of the power voltage of 2 C3S 3AC
devices • 40
Connections of Compax3H • 54
Connections of Compax3S • 31
Connections of the axis combination • 45
Connections of the encoder interface • 70
Connections on the device bottom • 44
Connections to the motor • 365
Connector and pin assignment C3S • 32
Control measures for drives involving friction •
228
Control path • 179
Control sctructures • 209, 215, 216
Control signal filter / filter of actual acceleration
value • 214
Control signal limitations • 210
Control voltage 24 VDC • 34
Control voltage 24 VDC C3H • 60
Control voltage 24VDC / enable connector X4
C3S • 34
Control voltage 24VDC PSUP (mains module)
• 46
Control word 1 (Controlword 1) • 320
Control word 2 • 321
Controller coefficients • 207
Controller optimization • 176
Controller optimization Advanced • 237
Controller optimization disturbance and
setpoint behavior (advanced) • 236
Controller optimization disturbance and
setpoint behavior (standard) • 233
Controller optimization guiding transmission
behavior • 239
Controller optimization of toothed belt drive •
235
Controller optimization standard • 234
Controlword /Statusword • 320
Correlation between the terms introduced •
205
Course of the automatic commutation function
• 223
Cubical interpolation (o3925.1=-3) • 326
Current (Torque) Limit • 141
Current control • 270
Current jerk response • 227
Current jerk response with the activated
saturation characteristic line • 228
Current on the mains PE (leakage current) • 25
Cut-off frequency for the field weakening range
• 194
D
D/A-Monitor • 347
Data formats of the bus objects • 345
Deadband following error • 228
Debouncing
Limit switch, machine zero and input 0 • 137
Defining jerk / ramps • 138
Defining the reference system • 114
Definition of the states of the programmable
status bits (PSBs): • 317
Demand behavior • 200
Depth filter 1 (O2150.3) / depth filter 2
(O2150.6) • 227
Description of jerk • 138
Detailed object list • 344
Determination of the commutation settings •
195
Device assignment • 11
Devices with the STO (=safe torque off) safety
function • 84
Digital inputs/outputs • 72
Digital inputs/outputs (plug X12) • 71
Dimensions of the braking resistors • 382
Direct drives • 354
Display of the commutation error in
incremental feedback systems • 222
Display of the measurement point at the cursor
position • 282
Display of the measurement result • 281
Distinction between signals and systems • 283
Disturbance behavior • 201
Disturbance jerk response • 205
D-term • 206
D-term of the KD velocity controller • 207
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
417
Index
C3I30T11 / C3I31T11
Dynamic positioning • 155
Dynamic stiffness • 204
Dynamics of a control • 196
E
EAM06
Terminal block for inputs and outputs • 387
Effect of the notch filter • 225
Electronic gearbox (Gearing) • 153
Electronic simulation of a disturbance torque
jerk with the disturbance current jerk • 204
EMC feedforward • 218
EMC measures • 357
Emergency stop and protective door
monitoring without external safety switching
device. • 103
Encoder A/B 5V, step/direction or SSI
feedback as signal source • 158
Encoder bypass with Feedback module F12
(for direct drives) • 143
Encoder cable • 370
Encoder coupling of 2 Compax3 axes • 392
Encoder simulation • 143
EnDat cable • 368
Energize and deenergize circuitry • 101
Error • 348
Position difference between load mounted and
motor feedback too high • 164
Error list • 348
Error Reaction on Bus Failure • 317
Error response • 154
Ethernet Powerlink (Option I30) / EtherCAT
(option I31) X23, X24 • 66
Ethernet Powerlink / EtherCAT • 311
Ethernet Powerlink / EtherCAT communication
profile (doc) • 346
Ethernet Powerlink objects • 330
ETHERNET-RS485 NetCOM 113 adapter •
298
Example
Electronic gearbox with position detection via
encoder • 158
Setting the Oscilloscope • 174
Example 1
Reg comes after the reg restriction window •
149
Example 2
Reg within the reg restriction window • 150
Example 3
Reg is missing or comes after termination of
the RegSearch motion set • 150
Example 4
Reg comes before the reg restriction window •
151
Example 5
The registration mark comes after the reg
restriction window, registration mark can,
however, not be reached without direction
reversal • 152
Examples are available as a movie in the help
file • 288
Examples in the help file • 145
418
Excitation Signal • 265
Extended cascade (structure variant 1) • 215
Extended cascade structure (structure variant
2 with disturbance variable observer) • 216
External braking resistors • 371
External Moment of Inertia • 191
external position correction • 161
External setpoint generation • 231
F
Feedback error compensation • 184
Feedforward channels • 212
Ferrite • 35
Filter • 218
Fixed point format C4_3 • 346
Fixed point format E2_6 • 345
Flow chart controller optimization of a direct
drive • 238
Following Error (Position Error) • 189
Following error limit • 142
Frequency filter 1 (O2150.1) / frequency filter 2
(O2150.4) • 226
Frequency response of the notch filter. • 226
Frequency response of the P-TE component
(value and phase) • 200
Frequency settings • 274
Friction compensation • 229
Front connector • 43
Function description for fieldbus applications
with T11 devices: • 102
Function principle of the automatic
commutation with movement • 223
Functionality of the measurement • 259, 262
G
Gain alignment • 250
General Description • 82
General drive • 113
General hazards • 16
General layout of the table • 316
H
Hardware end limits • 136
HEDA (motion bus) - Option M11 • 395
Homing modes with home switch (on X12/14) •
122
I
I/O Assignment • 144
I/O interface X12 / X22 • 391
I²t - monitoring of the motor • 185
Ignore zone (example) • 146
Important terms and explanations • 82
Increased following error • 183
Influence of the feedforward measures • 212
Input simulation • 243
Input wiring of digital inputs • 395
Input/output option M12 • 394
Instable behavior • 184
Installation • 254
Installation and dimensions Compax3 • 73
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Index
Parker EME
Installation enable of the ServoSignalAnalyzer
• 254
Installation instructions Compax3M • 41
Integer formats • 345
Intended use • 83
Interface • 182
Interface cable • 389
Internal setpoint generation • 229
Interpolated Position / Cyclic Synchronous
Position Mode • 322
Interpolation method • 323
Introduction • 11, 176
Introduction observer • 219
J
Jerk for STOP, MANUAL and error • 140
Jerk limit for positioning • 138
Jerk value • 138
L
Layout of the set table • 316
Leak effect and windowing • 260
LEDs • 29, 30
Level • 72
Limit and monitoring settings • 140, 191
Limitation behavior • 202
Limitation of the control voltage • 211
Limitation of the setpoint current • 211
Limitation of the setpoint velocity • 211
Linear Interpolation (o3925.1 = 0 or o3925.1 =
-1) • 324
Linear motors • 356
Linear Systems (LTI System) • 284
Linear two mass system • 287
Linearized motor characteristic lien for different
operating points • 186
Load control • 161, 219
Load control signal image • 164
Load identification • 229, 247
Logic proximity switch types • 72
Luenberg observer • 219
M
Machine Zero • 117
Machine zero modes overview • 120
Machine zero modes without home switch •
128
Machine zero only from motor reference • 130
Machine zero speed and acceleration • 133
Main flow chart of the controller optimization •
232
Main voltage supply C3S connector X1 • 36
Mains connection Compax3H • 60
Mains filter • 357
Mains filter for NFI01/03 • 359
Mains filter for PSUP30 • 364
Mains filter NFI01/01 • 358
Mains filter NFI01/02 • 358
Mains filter NFI02/0x • 359
Mains filter NFI03/01& NFI03/03 • 360
Mains filter NFI03/02 • 361
Mains filters • 364
Mains supply PSUP (mains module) X41 • 47
Mass inertia • 180
Maximum operating speed • 142
Meaning of the Bus LEDs (EtherCAT) • 67
Meaning of the Bus LEDs (Ethernet Powerlink)
• 66
Meaning of the status LEDs - Compax3 axis
controller • 29
Meaning of the status LEDs - PSUP (mains
module) • 30
Measure reference • 114
Measurement of frequency responses • 262
Measurement of frequency spectra • 259
Measurement of the motor temperature of
Compax3M (axis controller) • 53
Mechanical system • 270, 285
MN-M 1,2
Limit switch as machine zero • 132
MN-M 11...14
With direction reversal switches on the
negative side • 127
MN-M 128/129
Stromschwelle while moving to block • 128
MN-M 130, 131
Acquire absolute position via distance coding •
130
MN-M 132, 133
Determine absolute position via distance
coding with direction reversal switches •
132
MN-M 17,18
Limit switch as machine zero • 129
MN-M 19,20
MN-Initiator = 1 on the positive side • 122
MN-M 21,22
MN Initiator = 1 on the negative side • 123
MN-M 23...26
Direction reversal switches on the positive side
• 124
MN-M 27...30
Direction reversal switches on the negative
side • 124
MN-M 3,4
MN-Initiator = 1 on the positive side • 125
MN-M 33,34
MN at motor zero point • 130
MN-M 35
MN (machine zero) at the current position •
128
MN-M 5,6
MN-Initiator = 1 on the negative side • 126
MN-M 7...10
Direction reversal switches on the positive side
• 127
Mode 1
Time and maximum values are deduced from
Compax3 input values • 289
Mode 2
Compax3 input values are deduced from times
and maximum values • 290
Modem cable SSK31 • 393
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
419
Index
C3I30T11 / C3I31T11
Modem MB-Connectline MDH 500 / MDH 504
• 299
Monitor information • 168
Motion cycle with feedforward measures • 213
Motion cycle without feedforward control • 213
Motion functions • 148
Motion objects in Compax3 • 246
Motion profile at jerk-controlled setpoint
generation • 230
Motion set • 246
Motor / Motor brake (C3S connector X3) • 35
Motor / Motor brake C3H • 59
Motor / motor brake Compax3M (axis
controller) • 52
Motor cable • 368
Motor characteristic line of a synchronous
servo motor (torque via velocity) • 181
Motor Connection • 35
Motor continuous usage • 186
Motor holding brake • 35
Motor output filter • 362
Motor output filter MDR01/01 • 362
Motor output filter MDR01/02 • 363
Motor output filter MDR01/04 • 362
Motor parameters • 189, 218
Motor parameters relevant for the control • 180
Motor pulse usage • 187
Motor reference point • 191
Motor selection • 109
Motor types supported • 191
Mounting and dimensions C3H • 79
Mounting and dimensions Compax3S • 73
Mounting and dimensions Compax3S0xxV2 •
73
Mounting and dimensions Compax3S100V2
and S0xxV4 • 74
Mounting and dimensions Compax3S150V2
and S150V4 • 75
Mounting and dimensions Compax3S300V4 •
76
Mounting and dimensions PSUP/C3M • 77
Mounting and dimensions
PSUP10/C3M050D6, C3M100D6,
C3M150D6 • 77
Mounting and dimensions
PSUP20/PSUP30/C3M300D6 • 78
Mounting distances, air currents
Compax3H050V4 • 80
Mounting distances, air currents
Compax3H090V4 • 80
Mounting distances, air currents
Compax3H1xxV4 • 81
MoveAbs and MoveRel • 148
N
Noise • 183
Nominal point • 186
Nominal point data • 180
Non-linearities and their effects • 266
Notch filter • 225
Note on error switch-off • 88
Notes on the STO function • 87
420
O
Object for the load control (overview) • 164
Object Up-/Download via Ethernet Powerlink /
EtherCAT • 329
Objects for load control • 165
Offset alignment • 250
Open/Closed Loop frequency response
measurement • 264
Operating and status field • 279
Operating mode • 311
Cyclic Synchronous Position • 323
Operating Principle • 244
Operation with MultiTurn emulation • 119
Operator control module BDM • 386
Optimization • 166
Optimization parameter Advanced • 218
Optimization window • 167
Optimize motor reference point and switching
frequency of the motor current • 110
Option M10 = HEDA (M11) & I/Os (M12) • 397
Options M1x • 394
Order code • 349
Order code device
Compax3 • 349
Order code for accessories • 350
Order code for mains module
PSUP • 350
Oscillating plant • 196
Oscilloscope operating mode switch: • 170
Other • 225
Other motor • 190
Other settings • 277
Output wiring of digital outputs • 395
Overview of the user interface • 269
P
Packaging, transport, storage • 14
Parameterization by 3 objects. • 226
Parker Motor • 190
Parker servo motors • 354
Path optimized positioning • 145
PC - PSUP (Mains module) • 64
PC <-> C3M device combination (USB) • 296
PC <-> Compax3 (RS232) • 293
PC <-> Compax3 (RS485) • 295
Permissible braking pulse power
BRM04/01 with C3S150V2 • 378
BRM04/01 with C3S300V4 • 378
BRM04/02 with C3S150V2 • 379
BRM04/02 with C3S300V4 • 379
BRM04/03 with C3S300V4 • 380
BRM05/01 with C3S063V2 • 376
BRM05/01 with C3S075V4 • 377
BRM05/02 with C3S075V4 • 377
BRM08/01 with C3S015V4 / C3S038V4 • 374
BRM08/01 with C3S025V2 • 374
BRM09/01 with C3S100V2 • 375
BRM10/01 with C3S150V4 • 375
BRM10/02 with C3S150V4 • 376
BRM11/01 with C3H0xxV4 • 380
BRM12/01 with C3H1xxV4 • 381
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Index
Parker EME
BRM13/01 with PSUP10D6 • 381
BRM14/01 with PSUP10D6 • 381
Permissible braking pulse powers of the
braking resistors • 372
Plug and pin assignment C3H • 57
Plug assignment Compax3S0xx V2 • 34, 35,
36, 37, 63, 69
Position control • 272
Position correction • 161
Position loop • 206
Position measurement external • 161
Position mode in reset operation • 145
Positioning after homing run • 117, 118
Positioning window - Position reached • 141
Power supply • 36
Power supply connector X1 for 3AC
400VAC/480VAC-C3S devices • 39
Power supply plug X1 for 1 AC
230VAC/240VAC devices • 36
Power supply plug X1 for 3AC
230VAC/240VAC devices • 36
Power supply voltage DC C3H • 61
Prerequisites • 254
Prerequisites for the automatic commutation •
223
Principle • 247
Proceeding during configuration, setup and
optimization • 176
Proceeding during controller optimization • 231
Process of the automatic determination of the
load characteristic value (load identification)
• 248
ProfileViewer for the optimization of the motion
profile • 289
Programmable status bits (PSBs) • 147
PSUP/Compax3M Connections • 43
P-TE - Symbol • 198
P-term KV position loop • 207
Q
Quadratic interpolation (o3925.1=-2) • 325
Quality of different feedback systems • 182
R
Ramp upon error and de-energize • 140
Recommendations for preparing the modem
operation • 310
Reduction of the current ripple • 189
Ref X11 • 391
Reference point 1
higher velocity at reduced torque • 187
Reference point 2
Increased torque thanks to additional cooling •
188
Reg-related positioning (RegSearch,
RegMove) • 149
Reg-related positioning / defining ignore zone •
146
Relevant application parameters • 188
Remote diagnosis via Modem • 307
Replacement switching diagram - data for a
phase • 192
Resolution • 183
Resolver • 69
Resolver / feedback (plug X13) • 69
Resolver cable • 366
Resonance points and their causes • 286
Response • 202
Rigidity • 203
Rotary servo motors • 356
Rotary two mass system • 287
Rotor time constant • 195
RS232 cable • 389
RS232 plug assignment • 63
RS232/RS485 interface (plug X10) • 63
RS485 cable to Pop • 390
RS485 plug assignment • 63
RS485 settings values • 302
S
Safe torque off • 82
Safe torque off basic function • 91
Safe torque off description • 91, 95
Safe torque off layout with bus • 93
Safety function - STO (=safe torque off) • 82
Safety instructions • 16
Safety instructions concerning the frequency
response measurement • 262
Safety notes for the STO function in the
Compax3M • 98
Safety switching circuits • 97
Safety technology option for Compax3M (axis
controller) • 53
Safety-conscious working • 16
Saturation behavior • 194, 227
Saturation values • 182
Scope • 168
Scope of delivery • 11
Select signal source for Gearing • 157
Selection of the signal or system to be
measured. • 269
Selection of the supply voltage used • 109
Service Data Objects (SDO) • 328
ServoSignalAnalyzer - function range • 252
Set Ethernet Powerlink (option I30) bus
address • 66
Setpoint and disturbance behavior of a control
loop • 200
Setpoint generation • 229
Setting the axis function • 65
Setting the time basis XDIV • 170
Setting up Compax3 • 107
Settings for channels 1..4 • 171
Setup and optimization of the control • 208
Setup mode • 245
Shifting the working point into a linear range •
267
Signal analysis overview • 253
Signal filtering for external setpoint
specification and electronic cam • 241
Signal filtering for external setpoint
specification and electronic gearbox • 240
Signal filtering with external command value •
240
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
421
Index
C3I30T11 / C3I31T11
Signal flow chart Luenberg observer • 220
Signal interfaces • 69
Signal processing of the analog input 0 • 160
Signal processing of the analog inputs • 251
Signal source HEDA • 158
Signal source of the load feedback system •
157
SinCos© cable • 367
Slave with configuration via machine zero
(managing Node) • 311
Slip • 161
Slip Frequency • 193
Software end limits • 134
Software for supporting the configuration,
setup and optimization • 177
Special functions • 172
Special safety instructions • 17
Speed control • 274
Speed for positioning and velocity control • 138
Speed specification (Velocity) • 154
Stability problem in the high-frequency range: •
197
Stability problem in the low-frequency range: •
197
Stability, attenuation • 196
Standard • 208
Standard cascade structure • 209
Standard optimization parameters • 210
Standardized and manufacturer-specific
objects sorted according to bus object
names • 331
Standardized and manufacturer-specific
objects sorted according to object names •
338
State machine • 318
Static stiffness • 203
Status LEDs • 29, 30
Status values • 347
Status word 1 (Status word) • 322
Status word 2 • 322
Step response of a delay component • 198
Step response of the velocity loop depending
on the optimization parameter • 206
STO (= safe torque off) with Compax3m
(Option S1) • 97
STO (= safe torque off) with Compax3S • 85
STO application example (= safe torque off) •
89
STO delay times • 86, 99
STO function test • 104
STO function with safety switching device for
T11 applications with fieldbusses • 101
STO function with safety switching device via
Compax3M inputs • 100
STO Principle (= Safe Torque Off) with
Compax3S • 85
STO test protocol specimen • 105
Stop command (Stop) • 154
Storage • 15
Structure • 308
Structure of a cascade control • 203
Structure of a control • 196
422
Supply networks • 26
Switching frequency of the motor current /
motor reference point • 189
Synchronizations method • 326
T
Teach machine zero • 128
Technical Characteristics • 398
Technical Characteristics STO Compax3S •
92, 96
Technical details of the Compax3M S1 option •
106
Temperature switch PSUP (mains module) •
51
Test commissioning of a Compax3 axis • 109
Test functions • 201
The calculation of the physically possible
acceleration • 230
Time function and power density spectrum of
Compax3 setpoint generator with different
jerk settings • 231
Tips • 249
Too high overshoot on velocity • 183
Toothed belt drive as two mass system • 288
Toroidal core ferrite • 35
Torque motors • 356
Tracking filter • 240
Traditional generation of a disturbance
torque/force jerk • 204
Transmitter systems for direct drives • 355
Travel Limit Settings • 134
Trigger settings • 172
Turning the motor holding brake on and off •
291
Type specification plate • 13
Type specification plate data • 192
Typical problems of a non optimized control •
183
U
Unsigned - Formats • 345
Usage in accordance with intended purpose •
16
USB - RS232 converter • 63
USB-RS485 Moxa Uport 1130 adapter • 297
User interface • 169
V
Velocity Loop P Term • 207
Velocity, bandwidth • 197
Voltage decoupling • 219
W
Warranty conditions • 18
Wiring of analog interfaces • 70
Wiring of the motor output filter • 363
With direction reversal switches • 123, 126,
131
With motor reference point • 125, 130
With upper mounting, the housing design may
be different • 78
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
Index
Parker EME
Without direction reversal switches • 122, 125
Without motor reference point • 122, 128
Write into set table • 147
Wrongly set notch filter • 226
X
X1 • 36
X10 • 63
X11 • 70
X13 • 69
X2 • 37
X3 • 35
X4 • 34
Z
Zeitraster Signalquelle Master • 161
192-120115 N5 C3I30T11 / C3I31T11 - December 2010
423
Index
424
C3I30T11 / C3I31T11
192-120115 N5 C3I30T11 / C3I31T11 - December 2010