Download Step/Direction and Analogue Command Input

Electromechanical Automation
Operating instructions Compax3 I10 T10
Step/Direction and Analogue
Command Input
I10 T10 192-120100 N9 - March 2004
Release 1/2004 (as from firmware V2.03)
We reserve the right to make technical changes.
The data correspond to the technical state at the time of printing.
10.03.04 08:46
I10 T10 192-120100 N9 - March 2004
Introduction
____________________________
Copyright © 2003 Parker Hannifin GmbH EME
All rights reserved.
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EME - Electromechanical Automation Europe
Germany:
Parker Hannifin GmbH
Electromechanical Automation
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Tel.: +49 (0)781 509-0
Fax: +49 (0)781 509-176
E-mail: [email protected] mailto:[email protected]
Internet: www.parker-eme.com http://www.parker-eme.com
England:
Parker Hannifin plc
Electromechanical Automation
21 Balena Close
Poole, Dorset England, BH17 /DX UK
Tel.: +44 (0)1202 69 9000
Fax: +44 (0)1202 69 5750
E-mail: [email protected] mailto:[email protected]
Internet: www.parker-eme.com http://www.parker-eme.com
Italy:
Parker Hannifin S. p. A
Electromechanical Automation
Via Gounod 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: +39 (0)2660 12459
Fax: +39 (0)2660 12808
E-mail: [email protected] mailto:[email protected]
Internet: www.parker-eme.com http://www.parker-eme.com
EMN - Electromechanical Automation North America
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
2
I10 T10 192-120100 N9 - March 2004
Device assignment
Parker EME
New Compax3 functions
Contents
1. Introduction .............................................................................................7
1.1
Device assignment .................................................................................. 7
1.2
Type specification plate .......................................................................... 8
1.3
Release 1/2004 ......................................................................................... 9
1.3.1.
1.3.2.
1.3.3.
1.4
New Compax3 functions ................................................................................... 9
1.3.1.1 Direct drives ............................................................................................ 9
1.3.1.2 Switching frequency of the power output stage can be set .................... 9
1.3.1.3 Predefined external setpoint value optimized via analogue input........... 9
1.3.1.4 UL certification ....................................................................................... 9
1.3.1.5 New machine zero modes .................................................................... 10
1.3.1.6 RS485 / RS232 interface ...................................................................... 10
New functions of the Compax3 software tools............................................. 10
1.3.2.1 C3 ServoManager: configuration, setup and optimization of
Compax3............................................................................................... 10
1.3.2.2 C3 MotorManager: configuration of almost any motors........................ 11
1.3.2.3 C3 IEC61131-3 - Debugger .................................................................. 11
1.3.2.4 CoDeSys - IEC61131-3 - development tool.......................................... 11
1.3.2.5 CamEditor: cam creation for C3 T40 .................................................... 11
Complements / corrections in manual and online help ............................... 11
Safety Instructions................................................................................. 12
1.4.1.
1.4.2.
1.4.3.
General hazards ............................................................................................... 12
Safety-conscious working .............................................................................. 12
Special safety instructions ............................................................................. 13
1.5
Warranty conditions .............................................................................. 13
1.6
Conditions of utilization ........................................................................ 14
1.6.1.
1.6.2.
Conditions of utilization for CE-conform operation..................................... 14
Conditions of utilization for UL permission.................................................. 16
2. Compax3 with analogue and step/direction input ..............................17
3. Compax3 device description................................................................19
3.1
Plug and connector assignment Compax3.......................................... 20
3.1.1.
3.1.2.
3.1.3.
3.1.4.
3.1.5.
3.1.6.
3.1.7.
3.1.8.
Function of the LEDs on the front panel ....................................................... 21
Power supply plug X1 for 230VAC devices................................................... 21
Power supply plug X1 for 400 VAC devices.................................................. 22
Ballast resistor / high voltage supply plug X2 for 230VAC devices ........... 22
Ballast resistor / high voltage supply plug X2 for 400VAC devices ........... 23
Motor / Motor brake (plug X3)......................................................................... 24
Control voltage 24VDC / enable (plug X4)..................................................... 25
RS232 / RS485 interface (plug X10) ............................................................... 26
I10 T10 192-120100 N9 - March 2004
3
Introduction
New Compax3 functions
3.1.9.
Analog / Encoder (plug X11)........................................................................... 27
3.1.9.1 Wiring of the analog input ..................................................................... 27
3.1.9.2 Wiring of analog outputs ....................................................................... 28
3.1.10. Digital inputs/outputs (plug X12) ................................................................... 28
3.1.10.1 Input wiring of digital inputs................................................................... 29
3.1.10.2 Output wiring of digital outputs.............................................................. 29
3.1.10.3 Energize motor X12/6="24VDC"........................................................... 30
3.1.10.4 Command value release X12/7="24VDC" ............................................ 30
3.1.11. Resolver / Feedback (connector X13)............................................................ 30
3.2
Installation and dimensions Compax3................................................. 32
3.2.1.
3.2.2.
3.2.3.
3.2.4.
Installation and dimensions of Compax3 S0xx V2....................................... 32
Installation and dimensions of Compax3 S038 and S075 V4...................... 33
Installation and dimensions of Compax3 S150 V4....................................... 34
Installation and dimensions of Compax3 S300 V4....................................... 35
4. Setting up Compax3..............................................................................36
4.1
Configuration ......................................................................................... 36
4.1.1.
4.1.2.
4.1.3.
4.1.4.
4.1.5.
4.1.6.
4.1.7.
4.2
Test commissioning: Compax3 S0xx V2 I10 ....................................... 50
4.2.1.
4.2.2.
4.2.3.
4.2.4.
4.2.5.
Analog command interface +/-10V with encoder simulation ...................... 51
Step/Direction Input RS422............................................................................. 51
Encoder input RS422....................................................................................... 51
Encoder input 24V ........................................................................................... 52
Step/Direction Input 24V ................................................................................. 52
4.3
Device status.......................................................................................... 53
4.4
Optimization ........................................................................................... 55
4.4.1.
4
Motor selection ................................................................................................ 38
Ballast resistor ................................................................................................. 38
Optimize motor reference point and switching frequency of the
power output stage.......................................................................................... 39
Command interface ......................................................................................... 41
4.1.4.1 ±10V analogue speed setpoint commanding and encoder
emulation............................................................................................... 42
4.1.4.2 Step/Direction Input RS422 .................................................................. 43
4.1.4.3 Step/Direction Input 24V ....................................................................... 43
4.1.4.4 Encoder input RS422............................................................................ 44
4.1.4.5 Encoder input 24V ................................................................................ 44
4.1.4.6 ±10V analogue current setpoint commanding and encoder
emulation............................................................................................... 45
Setpoint control ............................................................................................... 47
Limit and monitoring settings ........................................................................ 48
4.1.6.1 Nominal value window .......................................................................... 48
4.1.6.2 Current Limit ......................................................................................... 49
4.1.6.3 Maximum operating speed.................................................................... 49
Configuration name / comments.................................................................... 49
Control dynamics ............................................................................................ 55
4.4.1.1 Stiffness of the speed controller ........................................................... 56
4.4.1.2 Damping of the speed controller ........................................................... 57
4.4.1.3 Filter for speed value ............................................................................ 57
4.4.1.4 Advanced control parameters ............................................................... 58
4.4.1.5 Controller settings ................................................................................. 60
I10 T10 192-120100 N9 - March 2004
Device assignment
Parker EME
New Compax3 functions
4.4.2.
4.4.3.
Calibration of the analog input....................................................................... 63
4.4.2.1 Offset alignment.................................................................................... 64
4.4.2.2 Gain alignment...................................................................................... 64
Turning the motor holding brake on and off................................................. 65
5. Status values .........................................................................................66
5.1
Device ..................................................................................................... 67
5.2
Motor ....................................................................................................... 67
5.3
Positions................................................................................................. 68
5.4
Speeds .................................................................................................... 69
5.5
Currents .................................................................................................. 70
5.6
Inputs ...................................................................................................... 72
5.7
CAM......................................................................................................... 73
5.8
IEC61131-3.............................................................................................. 73
5.9
Transmitter ............................................................................................. 74
6. Error .......................................................................................................76
6.1
Error list.................................................................................................. 76
7. Compax3 Accessories ..........................................................................89
7.1
Order code for Compax3 ....................................................................... 89
7.2
Accessories order code ........................................................................ 90
7.3
Parker servo motors .............................................................................. 92
7.3.1.
7.3.2.
7.4
Direct drives ..................................................................................................... 92
7.3.1.1 Transmitter systems for direct drives .................................................... 92
7.3.1.2 Linear motors ........................................................................................ 93
7.3.1.3 Torque motors....................................................................................... 93
Rotary servo motors........................................................................................ 94
7.3.2.1 Motor data table for standard motors.................................................... 97
Holding brake ....................................................................................................... 98
Pulse encoder systems ........................................................................................ 98
Dimensions of the SMH(A)-motors ...................................................................... 99
Dimensions of the MH(A)105-motors................................................................. 100
Dimensions of the MH(A)145 and MH(A)205 motors ........................................ 101
7.3.2.2 Order code for SMH/MH motors ......................................................... 102
Connections to the motor ................................................................... 103
7.4.1.
7.4.2.
7.4.3.
7.4.4.
7.4.5.
Resolver cable................................................................................................ 103
SinCos-Kabel.................................................................................................. 104
Overview of motor cables ............................................................................. 104
Motor cable with plug.................................................................................... 105
Motor cable for terminal box ........................................................................ 106
I10 T10 192-120100 N9 - March 2004
5
Introduction
New Compax3 functions
7.5
EMC measures ..................................................................................... 107
7.5.1.
7.5.2.
7.6
Mains filter ...................................................................................................... 107
7.5.1.1 Mains filter NFI01/01........................................................................... 107
7.5.1.2 Mains filter NFI01/02........................................................................... 108
7.5.1.3 Mains filter for NFI01/03...................................................................... 108
Motor output filter.......................................................................................... 109
7.5.2.1 Motor output filter MDR01/04.............................................................. 109
7.5.2.2 Motor output choke MDR01/01 ........................................................... 109
7.5.2.3 Motor output choke MDR01/02 ........................................................... 110
7.5.2.4 Wiring of the motor output filter........................................................... 110
External ballast resistors .................................................................... 111
7.6.1.
7.6.2.
7.6.3.
7.6.4.
BRM8/01 ballast resistors ............................................................................. 112
BRM5/01 ballast resistor ............................................................................... 112
Ballast resistor BRM6/02............................................................................... 112
Ballast resistor BRM4/0x............................................................................... 113
7.7
Operator control module BDM............................................................ 114
7.8
EAM06 terminal block for inputs and outputs................................... 115
7.9
ZBH plug set......................................................................................... 118
7.10 Interface cable...................................................................................... 119
7.10.1.
7.10.2.
7.10.3.
7.10.4.
7.10.5.
RS232 cable.................................................................................................... 119
RS485 cable to Pop ....................................................................................... 120
I/O interface X12............................................................................................. 121
Ref X11............................................................................................................ 122
Encoder cable ................................................................................................ 123
8. Technical Data.....................................................................................124
9. Index.....................................................................................................131
6
I10 T10 192-120100 N9 - March 2004
Introduction
Parker EME
1. Introduction
In this chapter you can read about:
Device assignment ...........................................................................................................................7
Type plate ........................................................................................................................................8
Release 1/2004 ................................................................................................................................9
Safety instructions ..........................................................................................................................12
Warranty conditions........................................................................................................................13
Conditions of utilization...................................................................................................................14
1.1
Device assignment
This manual applies to the following devices:
!
Compax3 S025 V2 + supplement
!
Compax3 S063 V2 + supplement
!
Compax3 S038 V4 + supplement
!
Compax3 S075 V4 + supplement
!
Compax3 S150 V4 + supplement
!
Compax3 S300 V4 + supplement
With the supplement:
!
F10 (Resolver)
!
F11 (SinCos)
!
F12 (linear and rotary direct drives)
!
I10 T10
I10 T10 192-120100 N9 - March 2004
7
Introduction
1.2
Type specification plate
You will find the exact description of the device on the type specification
plate, which is located on the right side of the device:
Compax3 - Type
specification plate:
1
10
2
9
8
3
7
5
4
6
Explanation:
1
Type designation
The complete order designation of the device (2, 5, 6, 10, 9)
2
C3S025V2
C3: Abbreviation for Compax3
S: Single axis device with direct AC mains power supply
025: Device current drain in 100mA (025=2.5A)
V2: 230VAC (single phase); V4: 400VAC (three phase)
3
Unique number of the particular device
4
Nominal power supply voltage of the device
5
Designation of the feedback system
F10: Resolver
F11: SinCos© / Single- or Multiturn
F12: Feedback module for direct drives
6
Device interface
I10: Analog, Step/Direction and Encoder Input
I11: Digital inputs/outputs
I20: Profibus DP
I21: CANopen
7
Corresponding fuse protection
8
Date of factory test
9
Options
10
Technology function
T10: Servo Controller
T11: Positioning
T30: Motion control programmable according to IEC61131-3
T40: Electronic cam control
8
I10 T10 192-120100 N9 - March 2004
Introduction
Parker EME
1.3
Release 1/2004
In this chapter you can read about:
New Compax3 functions...................................................................................................................9
New functions of the Compax3 software tools ................................................................................10
Complements / corrections in manual and online help ....................................................................11
1.3.1.
New Compax3 functions
In this chapter you can read about:
Direct drives .....................................................................................................................................9
Switching frequency of the power output stage can be set................................................................9
Optimization of the predefined external setpoint via the analog input ................................................9
UL certification..................................................................................................................................9
New machine zero modes ..............................................................................................................10
RS485 / RS232 interface ................................................................................................................10
1.3.1.1
Direct drives
The feedback module F12 supports the following feedback systems:
1.3.1.2
!
Distance coding with 1VSS - Interface
!
Distance coding with RS422 - Interface (Encoder)
Switching frequency of the power output stage can be set
The switching frequency of the power output stage (see on page 39) can be
increased if necessary. This helps mainly to reduce motor sounds.
Please note that power output stage losses increase with rising switching
frequency. Therefore the nominal device currents must be reduced.
1.3.1.3
Predefined external setpoint value optimized via analogue input
Given an external discrete signal read in via the analog input (possible with I10 T10
and T40), signal steps can only be avoided by averaging (see on page 43 ).
1.3.1.4
UL certification
Compax3 now with UL certification. (see on page 16)
I10 T10 192-120100 N9 - March 2004
9
Introduction
1.3.1.5
New machine zero modes
!
!
!
1.3.1.6
Several new machine zero modes with limit switch: MN-Mode 1,2 7-10, 11-14,
17,18, 23-26, 27-30
New machine zero modes in connection with the feedback module F12 F12
(direct drives) and distance coded feedback system: MN-Mode 130 - 133
Limit switch can be configured
RS485 / RS232 interface
Compax3 objects can be read and written in via RS232 and RS485.
1.3.2.
New functions of the Compax3 software tools
In this chapter you can read about:
C3 ServoManager: configuring Compax3, setup and optimization ..................................................10
C3 MotorManager: configuration of almost any motors ...................................................................11
C3 IEC61131-3 - Debugger ............................................................................................................11
CoDeSys - IEC61131-3 – development tool .................................................................................11
CamEditor: Cam creation for C3 T40 ..............................................................................................11
1.3.2.1
C3 ServoManager: configuration, setup and optimization of
Compax3
A modified recipe array can be loaded separately (without complete download) into
the device.
Firmware - Download
The Compax3 firmware can only be modified resp. updated with the aid of the C3
ServoManager.
For this you will need a so-called “firmware-package“ (File: .*.fwp).
Setup support
You can set up all Compax3 technology functions easily in the optimization
window.
10
I10 T10 192-120100 N9 - March 2004
Introduction
Parker EME
1.3.2.2
C3 MotorManager: configuration of almost any motors
New:
!
Integration of distance coded feedback systems
!
Export / Import of user defined (customer’s) motor
!
Calibration of commutation also for linear motors with small travel path
Changes
1.3.2.3
!
Linear motors with brakes can be configured
!
Calculation of the recommended number of poles was corrected
!
Calibration of SinCos motors was corrected
!
The minimum moment of inertia was reduced from 10kgmm2 to 1kgmm2
!
Configuration of rotatory motors with analog hall sensors was completed
C3 IEC61131-3 - Debugger
Forcing of the inputs for T30 and T40 is possible.
1.3.2.4
CoDeSys - IEC61131-3 - development tool
New CoDeSys version 2.3.2.6
1.3.2.5
CamEditor: cam creation for C3 T40
-
1.3.3.
Complements / corrections in manual and online help
New structure of the manual:
!
!
All technology functions are described in a help.
Manuals (PDF files) have a new structure:
! I10 T10 manual
! I11 T11 manual
! I20 T11 manual
! I21 T11 manual
! A single manual for all devices programmable according to IEC
(I11 T30, I20 T30, T21 T30, I11 T40, I20 T40, I21 T40)
The assignment of the respective chapters is indicated.
I10 T10 192-120100 N9 - March 2004
11
Introduction
1.4
Safety Instructions
In this chapter you can read about:
General hazards .............................................................................................................................12
Working safely................................................................................................................................12
Special safety instructions ..............................................................................................................13
1.4.1.
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 can combined by interconnecting several of these devices. Mutual
interlocking functions must be incorporated for this purpose.
1.4.2.
Safety-conscious working
This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:
!
!
!
!
Persons who, by 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.
12
I10 T10 192-120100 N9 - March 2004
Introduction
Parker EME
1.4.3.
Special safety instructions
!
Check the correct association of the device and its documentation.
!
Never detach electrical connections while voltage is applied to them.
!
!
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.
!
Ensure that motors and any linear drives present are mounted securely.
!
1.5
Safety devices must be provided to prevent human contact with moving or
rotating parts.
Check that all live terminals are secured against contact. Fatal voltage levels of to
750V occur.
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.
When installing the device, make sure the heat dissipater receives sufficient air.
Attach the devices according to the mounting instructions, using the provided
fixing holes. We cannot provide any guarantee for any other mounting methods.
Note on exchange of options
Compax3 options must be exchanged in the factory to ensure hardware and
software compatibility.
I10 T10 192-120100 N9 - March 2004
13
Introduction
1.6
1.6.1.
Conditions of utilization
Conditions of utilization for CE-conform operation
- Industry and trade The EC guidelines for electromagnetic compatibility 89/336/EEC and for electrical
operating devices for utilization within certain voltage limits 73/23/EEC 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.
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 plant mains input or separately at
the mains input to each device.
Commercial and residential area (limit values of Class A in accordance with
EN 61800-3)
The following mains filters are available for independent utilization:
Device: Compax3
Order No.: Condition:
S0xx V2:
NFI01/01
Only for motor lines longer than 10m
S038, S075, S150 V4:
NFI01/02
Only for motor lines longer than 10m
S300
NFI01/03
Only for motor lines longer than 10m
Industrial area (limit values in accordance with EN 61800-3)
Longer motor cable lengths are possible in industrial areas without a mains power
filter.
Connection length: connection between mains filter and device:
unshielded:
shielded:
Motor and resolver
cable:
< 0.5m
< 5m (fully shielded on ground – e.g. ground of control cabinet)
Operation of the devices only with Parker motor and resolver cables (their
plugs contain a special full surface area screening).
The following cable lengths are permitted:
Motor cable
14
< 100 m (the cable should not be rolled up!)
A motor output filter is required for motor cables >20 m.
!
MDR01/04 (max. 6.3A rated motor current)
!
MDR01/01 (max. 16A rated motor current)
!
MDR01/02 (max. 30A rated motor current)
I10 T10 192-120100 N9 - March 2004
Introduction
Parker EME
Shielding connection of the motor cable
The motor cable should be fully screened and connected to the Compax3 housing.
We offer a special shield connecting terminal as accessory item (see on page
118).
Resolver cable
< 100 m
Motors:
Operation with standard motors.
Control:
Use only with aligned controller (to avoid control loop oscillation).
Grounding:
Connect the filter housing and the Compax3 (grounding screw on the underside) 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!
Cable installation:
Signal lines and power lines should be installed as far apart as possible.
Signal leads should never pass close to excessive sources of interference (motors,
transformers etc.).
Accessories:
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.
I10 T10 192-120100 N9 - March 2004
15
Introduction
1.6.2.
Conditions of utilization for UL permission
UL certification
conform to UL:
!
according to UL508C
Certified
!
E-File_No.: E235 342
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 terminals are suitable for field wiring.
!
Tightening torque of the field wiring terminals (green Phoenix plugs)
!
!
!
!
C3SxxxV2
0.57-0.79Nm
5 - 7Lb.in
!
C3SxxxV4 exept C3S300V4
0.57-0.79Nm
5 - 7Lb.in
!
C3S300V4
1.25-1.7Nm
11 - 15Lb.in
Temperature rating of field installed conductors shall be at least 60°C Use
copper conductors only
Please use the cables described in the accessories chapter ( see on page 89)
they do have a temperature rating of at least 60°C.
Maximum ambient temperature: 45°C.
Suitable for use on a circuit capable of delivering not more than 500 rms
symmetrical amperes, 400 volts maximum.
ATTENTION
Danger of electric shock.
Discharge time of the bus capacitator is 5 minutes.
!
!
!
16
The drive provides internal motor overload protection.
This must be set so that 200% of the nominal motor current are not exceeded.
Cable cross-sections
! Mains input: corresponding to the recommended fuses (see on page 124)
! Motor cable: ( see on page 105) corresponding to the nominal output
currents (see on page 124)
2
! Maximum cross-section limited by the terminals mm / AWG
2
! C3SxxxV2
2.5mm
AWG 12
!
C3SxxxV4 exept C3S300V4
4.0mm2
AWG 10
!
C3S300V4
6.0mm
AWG 7
2
Circuit protection
In addition to the branch circuit protection, the devices have to be protected with
the supplementary protector S 261 L, manufactured by ABB.
! C3S025V2: ABB, nom 400V 10A, 6kA
! C3S063V2: ABB, nom 400V, 16A, 6kA
! C3S038V4: ABB, nominal 400V, 10A, 6kA
! C3S075V4: ABB, nominal 400V, 16A, 6kA
! C3S150V4: ABB, nominal 400V, 20A, 6kA
! C3S300V4: ABB, nominal 400V, 25A, 6kA
! C3S300V4: ABB, nominal 400V, 25A, 6kA
I10 T10 192-120100 N9 - March 2004
Parker EME
Compax3 with analogue and step/direction input
2. Compax3 with analogue and
step/direction input
The complete modular structure of the Compax3 optimizes the integration of
intelligent servo-drives for various applications efficiently. With its analogue
interface or alternatively with step/direction or encoder step signals, the Compax3
I10 gives you easy and reasonably priced access to the world of servo-drive
technology. With its simple, standardized setpoint interface, the Compax3 I10 is
particularly suitable if you want to migrate to servo-drive systems for technical
reasons. Irrelevant of whether you have a PLC or PC central control unit, this
remains unchanged. The Compax3 I10 represents an ideal way of migrating from
analogue +/- 10V drives to digital, intelligent servo-drives.
Compax3 control
technology
Model / standards /
auxiliary material
High-performance control technology and openness for various sender systems
are fundamental requirements for a fast and high-quality automation of movement.
The structure and size of the device are of considerable importance. Powerful
electronics is an important feature which made it possible to manufacture the
Compax3 so small and compact. All connectors are located on the front of the
Compax3.
Internal 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 114 )) for
Compax3 makes it possible to exchange devices quickly without the need for a PC.
I10 T10 192-120100 N9 - March 2004
17
Compax3 with analogue and step/direction input
Operating modes
You can choose between the different operating modes:
!
!
±10V rotation speed setpoint with encoder simulation for actual position value
feedback.
±10V predefined current setpoint with encoder emulation for actual position value
feedback and configurable holding functions.
Step/direction command Input
! With step/direction signals as 24V logic levels or
! With step/direction logic signals conforming to RS422.
! Encoder input
! RS422
! 24V level
!
Configuration
18
Configuration is made on a PC using the Compax3 ServoManager.
Install the program on your PC and connect the PC with the Compax3X10 via the
RS232 interface (Cable plan (see on page 119 )).
I10 T10 192-120100 N9 - March 2004
Compax3 device description
Parker EME
3. Compax3 device description
In this chapter you can read about:
Plug and connector assignment Compax3......................................................................................20
Installation and dimensions Compax3.............................................................................................32
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19
Compax3 device description
Conditions of utilization for UL permission
3.1
Plug and connector assignment Compax3
In this chapter you can read about:
Function of the LEDs on the front panel..........................................................................................21
Power supply plug X1 for 230VAC devices .....................................................................................21
Power supply plug X1 for 400VAC devices .....................................................................................22
Ballast resistor / High voltage supply plug X2 for 230VAC devices .................................................22
Ballast resistor / High voltage supply plug X2 for 400VAC devices .................................................23
Motor / Motor brake (plug X3) .........................................................................................................24
Control voltage 24 VDC / enable (plug X4) .....................................................................................25
RS 232 / RS485 interface (plug X10) ..............................................................................................26
Analog / Encoder (Plug X11) ..........................................................................................................27
Digital inputs/outputs (plug X12) .....................................................................................................28
Resolver / Feedback (plug X13)......................................................................................................30
Connection assignment based on the example of Compax3 S025 V2:
X1 AC Versorgung
AC supply
X2
Ballast / DC LS
Ballast / DC HV
X10
RS232 / RS485
X11
Analog/Encoder
Analog/Encoder
X3
Motor / Bremse
Motor / Brake
X12
Ein-/Ausgänge
Inputs/Outputs
X4
24VDC / Freigabe
24 VDC / Enable
X13
Geber
Feedback
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes after
switching off the power supply!
20
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Plug and connector assignment Compax3
Parker EME
Function of the LEDs on the front panel
Caution!
When the control voltage is missing there is no indication whether or
not high voltage supply is available.
3.1.1.
Function of the LEDs on the front panel
State
LED red
LED green
Voltages missing
off
off
While booting
alternately flashing
off
Axis without current excitation
off
Flashes slowly
Power supplied to axis; commutation calibration
running
off
Flashes quickly
Axis with current excitation
off
on
Axis in fault status / fault present
on
off
!
!
!
3.1.2.
No configuration present.
SinCos feedback not detected.
IEC program not compatible with the
firmware.
For F12: Hall signals invalid.
flashing
!
Power supply plug X1 for 230VAC devices
PIN
Description
1
L
2
N
3
PE
Mains connection: Compax3 S0xx V2
Controller type
S025 V2
S063 V2
Mains voltage
Single phase 230VAC + 10%
80-230VAC+10% / 50-60Hz
Rated input current
6Aeff
Maximum fuse rating per device
10A (automatic circuit 16 A (automatic circuit
breaker K)
breaker K)
16Aeff
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes after
switching off the power supply!
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21
Compax3 device description
Power supply plug X1 for 400 VAC devices
3.1.3.
Power supply plug X1 for 400 VAC devices
PIN
Description
1
L1
2
L2
3
L3
4
PE
Mains connection Compax3 Sxxx V4
Controller type
S038 V4
S075 V4
Mains voltage
Three-phase 3*400VAC
S150 V4
S300 V4
16Aeff
22Aeff
80-480 VAC+10% / 50-60 Hz
Rated input current
6Aeff
Maximum fuse rating per 10A (automatic
device
circuit breaker
K)
10 Aeff
16 A (automatic circuit
breaker K)
25A (automatic
circuit breaker
K)
Always switch devices off before wiring them!
Dangerous voltages are still present until 5 minutes after
switching off the power supply!
3.1.4.
Ballast resistor / high voltage supply plug X2 for 230VAC
devices
PIN
Description
1
+ Ballast resistor
2
- Ballast resistor
3
PE
4
+ DC high voltage supply
5
- DC high voltage supply
Caution! The connector assignment of X2 is changed!
Please note the screen printing on the front plate of the
device: this is valid
22
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Plug and connector assignment Compax3
Parker EME
Ballast resistor / high voltage supply plug X2 for 400VAC devices
Brake operation Compax3 Sxxx V2
Controller type
S025 V2
S063 V2
Capacitance / storable energy
560µF / 15Ws
1120µF /30Ws
Minimum ballast - resistance
100Ω
56Ω
Recommended nominal power rating
20 ... 60W
60 ... 180W
Pulse power rating for 1s
1kW
2.5kW
Caution!
The power voltage DC of two Compax3 V2 devices (230V devices) must not
be connected.
3.1.5.
Ballast resistor / high voltage supply plug X2 for 400VAC
devices
PIN
Description
1
+ Ballast resistor
2
- Ballast resistor
3
PE
4
+ DC high voltage supply
5
- DC high voltage supply
Caution! The connector assignment of X2 is changed!
Please note the screen printing on the front plate of the
device: this is valid
Compax3 Sxxx V4 brake operation
Controller type
S038 V4
Capacitance / storable
energy
235µF / 37Ws 470µF / 75Ws 690µF /
110Ws
1100µF /
176Ws
Minimum ballast resistance
100Ω
56Ω
22Ω
15Ω
Recommended nominal
power rating
60 ... 250W
60 ... 500 W
60 ... 1000 W
60 ... 1000 W
Pulse power rating for 1s
2.5kW
5kW
10 kW
42kW
I10 T10 192-120100 N9 - March 2004
S075 V4
S150 V4
S300 V4
23
Compax3 device description
Motor / Motor brake (plug X3)
Connection of the power voltage of 2 Compax3 V4 devices (400V
devices)
In order to improve the conditions during brake operation, the DC power voltage of
2 devices may be connected.
The capacity as well as the storable energy are increased; furthermore the braking
energy of one device may be utilized by a second device, depending on the
application.
Please connect as follows:
Device 1 X2/4 to device 2 X2/4
Device 1 X2/5 to device 2 X2/5
Please note the following:
Caution! In case of non-compliance with the following instructions, the
device may be destroyed!
!
!
3.1.6.
You can only connect two similar devices (same power supply; same rated
currents)
Connected devices must always be fed separately via the AC power supply.
Motor / Motor brake (plug X3)
PIN
Description
1
U (motor)
2
V (motor)
3
W (motor)
4
PE (motor)
5
BR+
Motor holding brake
6
BR-
Motor holding brake
Screening connection of the motor cable
The motor cable should be fully screened and connected to the Compax3 housing.
We offer a special shield connecting terminal as accessory item (see on page
118).
Connect the brake only on motors which have a holding
brake! Otherwise make no brake connections at all.
Motor holding brake output
Controller type
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
proof)
1.6 A
Motor cable (see on page 105)
24
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Compax3 device description
Parker EME
3.1.7.
Control voltage 24VDC / enable (plug X4)
PIN
Description
1
+24 V
2
Gnd24 V
3
Enable_in
4
Enable_out_a
5
Enable_out_b
Control voltage 24 VDC
Controller type
Compax3
Voltage range
21 - 27VDC
Current drain of the device
0.8 A
Total current drain
0.8 A + Total load of the digital outputs +
current for the motor holding brake
Ripple
0.5Vpp
Requirement according to safe extra
low voltage (SELV)
yes
Power stage enable: X4/3=24 VDC
Tolerance range: 18.0 V – 33.6 V / 720 Ω
The +24V supply can be taken, for example, from Pin 1.
Safe standstill (X4/3=0V)
For implementation of the "Safe standstill" safety feature in accordance with the
“protection against unexpected start-up“ described in EN1037. Please refer to the
respective chapter (in the paper version “Installation Manual Compax3) with the
respective 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
Power output
stage is
Contact opened
activated
Contact closed
deactivated
Series connection of these contacts permits certain determination of whether all
drives are de-energized.
Relay contact data:
Switching voltage (AC/DC): 100 mV – 60 V
Switching current: 10 mA – 0.3 A
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25
Compax3 device description
3.1.8.
RS232 / RS485 interface (plug X10)
Interface selectable by contact functions assignment of X10/1:
X10/1=0V RS232
X10/1=5V RS485
RS232
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 two wire (Sub D)
Pin 1 and 9 jumpered externally
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
26
PIN
X10
RS485 four wire (Sub D)
Pin 1 and 9 jumpered externally
1
2
3
4
5
6
7
8
9
Enable RS485 (+5V)
RxD
TxD/
res.
GND
res.
TxD
RxD/
+5V
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Compax3 device description
Parker EME
3.1.9.
Analog / Encoder (plug X11)
PIN X11 Reference
High Density Sub D
1
+24V (output for encoder) max. 70mA
2
Reserved
3
D/A monitor channel 1 (±10V, 8-bit resolution)
4
D/A monitor channel 0 (±10V, 8-bit resolution)
5
+5V (output for encoder) max. 150mA
6
- Input: steps RS422 (5V - level)
A/ (encoder input/emulation)
7
+ Input: steps RS422 (5V - level)
A (encoder input/emulation)
8
+ Input: direction RS422 (5V - level)
B (encoder input/emulation)
9
Ain0 +: analogue setpoint input + (14Bit)
10
Reserved
11
Ain0 +: analogue setpoint input + (14Bit)
12
- Input: direction RS422 (5V - level)
B/ (encoder input/emulation)
13
Reserved
N/ (Encoder simulation)
14
Reserved
N (Encoder simulation)
15
GND
Encoder simulation exists with an analogue input command interface of ±10V.
3.1.9.1
Wiring of the analog input
2.2KΩ
10nF
Ain+
Ain-
X11/9 10KΩ
10KΩ
X11/11
2.2KΩ
10nF
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27
Compax3 device description
3.1.9.2
Wiring of analog outputs
332Ω
X11/4
X11/3
+/-10V/1mA
(max: 3mA)
X11/15
3.1.10. Digital inputs/outputs (plug X12)
PIN
Input/output
X12/
I/O /X12
High density/Sub D
1
O
+24VDC output (max. 400mA)
2
O0 = "1"
no error (max. 100mA)
3
O1 = "1"
Actual value in setpoint window (max. 100mA)
4
O2 = "1"
No power output stage current (max. 100mA)
5
O3 = "1"
Motor stationary with current, with setpoint 0 (max. 100mA)
6
I0 = "1"
Energize motor (see on page 30) & deactivate motor holding
brake ( see on page 65)
Motor stationary in controlled state with setpoint = 0
7
I1 = "1"
Enable target value
8
I2 = "1"
Quit (positive edge)
9
I3 = "1"
Brake open
10
I4 = "1"
Keep position / speed 0 (configurable) (only in the "±10V analogue
current setpoint value“ operating mode)
11
I
24V input for the digital outputs Pins 2 to 5
12
-
n.c.
Zero pulse
13
I
Step input (24V level)
A (24V level)
14
I
Direction input (24V level)
B (24V level)
15
O
Gnd 24 V
All inputs and outputs have 24V level.
Maximum capacitive load on the outputs: 50 nF (max. 4 Compax3 inputs)
28
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Compax3 device description
Parker EME
3.1.10.1
Input wiring of digital inputs
SPS/PLC
X12/1
F1 X4/1 24V
F2
100KΩ
22KΩ
X12/6
22KΩ
22KΩ
10KΩ
X12/15
X4/2 0V
The circuit example is valid for all digital inputs!
F1: Delayed action fuse
F2: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
3.1.10.2
Output wiring of digital outputs
24V
F1
X4/1
F2 X12/1
SPS/
PLC
X12/11
X12/2
18.2KΩ
0V X4/2
X12/15
The circuit example is valid for all digital outputs!
The outputs are short circuit proof; a short circuit generates an error.
F1: Delayed action fuse
F2: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.
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29
Compax3 device description
3.1.10.3
Energize motor X12/6="24VDC"
This input effects the state of the power stage and therefore that of the motor:
X12/6="0V":
De-energize motor
With a rotating motor, this will be delayed to a speed of 0 via a
settable delay ramp.
Thereafter current switch-off and Motor holding brake
activated (see on page 65).
X12/6="24 V DC":
Energize motor
The motor holding brake is deactivated (see on page 65),
current is applied to the motor and the motor is accelerated to the
commanded speed setpoint via an adjustable accelerating ramp.
Precondition: X12/7 "Enable setpoint" = 24VDC
In response to X12/7 "Enable setpoint" = 0VDC the control loop
adjusts to setpoint = 0.
Setting values for "Energize motor"
See also: Setpoint control (see on page 47)
3.1.10.4
Command value release X12/7="24VDC"
This input effects the state of the power stage and therefore that of the motor:
X12/7="0V":
Set motor to command value=0
With a rotating motor, this will be delayed to a speed of 0 via a
settable delay ramp.
X12/7="24 V DC":
Current command value active
The motor will be accelerated via a settable acceleration ramp to
the predefined command value.
Precondition: X12/6 "Energize the motor" = 24VDC
Setting values for "Command value release":
See also: Setpoint control (see on page 47)
3.1.11. Resolver / Feedback (connector X13)
PIN
X13
30
Feedback /X13
High Density /Sub D (dependent on the Feedback Module)
Resolver (F10)
SinCos (F11)
Direct drives (F12)
1
res.
res.
Sense -
2
res.
res.
Sense +
3
GND
GND
Hall1
4
REFres+
Vcc (+8V)
Vcc (+5V) (controlled on the encoder
side) max. 200mA load
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Compax3 device description
Parker EME
5
+5V (for temperature sensor)
+5V (for temperature and hall
sensors)
6
CLKfbk
CLKfbk
Hall2
7
SIN-
SIN-
SIN- / A- (Encoder)
8
SIN+
SIN+
SIN+ / A+ (Encoder)
9
CLKfbk/
CLKfbk/
Hall3
10
Tmot
Tmot
Tmot
11
COS-
COS-
COS- / B- (Encoder)
12
COS+
COS+
COS+ / B+ (Encoder)
13
res.
DATAfbk
N+
14
res.
DATAfbk/
N-
15
REFres-
GND (Vcc)
GND (Vcc)
Note on F12:
+5V (Pin 4) is measured and controlled directly at the end of the line via Sense –
and Sense +.
Maximum length of cable: 100m
Caution! Pin 4 and Pin 5 must under no circumstances be connected!
Resolver cable (see on page 103)
SinCos cablel (see on page 104)
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31
Compax3 device description
3.2
Installation and dimensions Compax3
In this chapter you can read about:
Installation and dimensions Compax3 S0xx V2...............................................................................32
Installation and dimensions Compax3 S038 and S075 V4 ..............................................................33
Installation and dimensions Compax3 S150 V4 ..............................................................................34
Installation and dimensions Compax3 S300 V4 ..............................................................................35
3.2.1.
Installation and dimensions of Compax3 S0xx V2
Mounting:
3 socket head screws M5
Mounting spacing:
Device separation 15
mm
32
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Compax3 device description
Parker EME
3.2.2.
Installation and dimensions of Compax3 S038 and S075 V4
Mounting:
3 socket head screws M5
Mounting spacing:
Device separation 15 mm
259
248
267
279
40
65
7,5
Compax3 S038 V4:
100
Compax3 S075 V4:
115
80
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33
Compax3 device description
3.2.3.
Installation and dimensions of Compax3 S150 V4
Mounting:
4 socket head screws M5
Mounting spacing:
259
248
267
279
Device separation 15 mm
80
158
34
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39
Compax3 device description
Parker EME
3.2.4.
Installation and dimensions of Compax3 S300 V4
Mounting:
4 socket head screws M5
Mounting spacing:
412
400
80
175
6
380
391
Device separation 15 mm
Compax3 S300 V4 is force-ventilated via a fan integrated into the heat
dissipater!
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35
Setting up Compax3
4. Setting up Compax3
In this chapter you can read about:
Configuration ..................................................................................................................................36
Test commissioning Compax3 S0xx V2 I10 ....................................................................................50
Device states..................................................................................................................................53
Optimization ...................................................................................................................................55
4.1
Configuration
In this chapter you can read about:
Motor selection ...............................................................................................................................38
Ballast resistor................................................................................................................................38
Optimize motor reference point and switching frequency of the power output stage ......................39
Setpoint inputs................................................................................................................................41
Setpoint control ..............................................................................................................................47
Limit and monitoring settings ..........................................................................................................48
Designation of configuration /comments .........................................................................................49
Caution!
De-energize the motor before downloading the configuration software.
N.B.!
Incorrect configuration settings entail danger when energizing the
motor. 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.
36
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Configuration
Parker EME
Installation and dimensions of Compax3 S300 V4
Configuration sequence:
Installation of the C3
ServoManager
The Compax3 ServoManager can be installed directly from the Compax3 CD.
Click on the appropriate hyperlink or start the installation program
"C3Mgr_Setup_V.... .exe" and follow the instructions.
Minimum requirements
For successful installation, your PC must meet the following minimum
requirements:
!
Windows 98, Windows Me, Windows NT 4.0 (Intel) with Service Pack 6, Windows
2000 or Windows XP.
!
Administrator authorisation* on the system
!
Microsoft Internet Explorer 4.01 (SP2) or higher
!
Pentium-PC (300 MHz or faster is recommended)
!
64 MB RAM (128 MB recommended)
Required HD capacity
! CD-Installation: 350 MB before installation, 200 MB after installation
! Super VGA-Monitor (with a resolution of at least 800 x 600, setting: small fonts)
!
* you do not need administrator authorization for an update version!
Connection between
PC and Compax3
Your PC is connected with the Compax3 via an RS232 cable (SSK1 (see on page
119 )) (COM 1/2 interface on the PC based on X10 Compax3).
Start the Compax3 ServoManager and make the setting for the selected interface
in the menu Options: Port (RS232) COM 1 or COM 2.
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.
I10 T10 192-120100 N9 - March 2004
37
Setting up Compax3
Motor selection
4.1.1.
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 you can enter brake deceleration
times. See also brake delay times (see on page 65).
Please note the following equivalence that applies regarding terms to linear
motors:
!
Rotary motors / linear motors
!
Revolutions ≡ Pitch
!
Rotation speed ≡ Speed
!
Torque ≡ Power
!
Moment of inertia ≡ Load
Notes on direct drives (see on page 92 ) (Linear and Torque - Motors)
4.1.2.
Ballast resistor
If the regenerative brake output exceeds the amount of energy that can be
stored by the servo-controller (see on page 127), an error will be generated. To
ensure safe operation, it is then necessary to either
!
reduce the accelerations resp. the decelerations,
!
or an external ballast resistor (see on page 111) is required.
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 ballast
resistor.
38
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Configuration
Parker EME
Optimize motor reference point and switching frequency of the power output stage
4.1.3.
Optimize motor reference point and switching frequency of the
power output stage
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.
Optimizing the
switching frequency
of the power output
stage
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 power output stage 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 power output stage switching frequency depends on the performance
variant of the Compax3 device.
The respective Compax3 devices can be set as follows:
I10 T10 192-120100 N9 - March 2004
39
Setting up Compax3
Optimize motor reference point and switching frequency of the power output stage
Resulting nominal and peak currents depending on the switching
frequency of the power output stage
Compax3 S0xx V2 at 230VAV
Power output
stage switching
frequency
S025 V2
S063 V2
8kHz
Inominal
2.5Aeff
6.3Aeff
pre-set
Ipeak (<5s)
5.5Aeff
12.6Aeff
16kHz
Inominal
2.5Aeff
5.5Aeff
Ipeak (<2,5s)
5.5Aeff
12.6Aeff
Compax3 S0xx V4 at 3*400VAC
Power output
stage switching
frequency
4kHz
8kHz
16kHz
S038 V4
S075 V4
S150 V4
S300 V4
Inominal
-
-
15Aeff
30Aeff
Ipeak (<5s)
-
-
30Aeff
60Aeff
Inominal
3.8Aeff
7.5Aeff
10.0Aeff
26Aeff
Ipeak (<2,5s)
9.0Aeff
15.0Aeff
20.0Aeff
52Aeff
Inominal
2.5Aeff
3.7Aeff
5.0Aeff
14Aeff
Ipeak (<2,5s)
5.0Aeff
10.0Aeff
10.0Aeff
28Aeff
S038 V4
S075 V4
S150 V4
S300 V4
Compax3 S0xx V4 at 3*480VAC
Power output
stage switching
frequency
4kHz
Inominal
-
-
13.9Aeff
30Aeff
pre-set
Ipeak (<5s)
-
-
30Aeff
60Aeff
8kHz
Inominal
3.8Aeff
6.5Aeff
8.0Aeff
21.5Aeff
Ipeak (<2,5s)
7.5Aeff
15.0Aeff
16.0Aeff
43Aeff
Inominal
2.0Aeff
2.7Aeff
3.5Aeff
10Aeff
Ipeak (<2,5s)
4.0Aeff
8.0Aeff
7.0Aeff
20Aeff
16kHz
The values marked with grey are the pre-set values (standard values)!
40
I10 T10 192-120100 N9 - March 2004
Configuration
Parker EME
Command interface
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.
Minimum moment of inertia / minimum load
Maximum moment of inertia / maximum load
Enter minimum = maximum moment of inertia when the load does not vary.
4.1.4.
Command interface
Make you selection from the following command interfaces:
!
±10V analogue setpoint commanding and encoder emulation (rotation speed
control mode)
!
Step/direction input RS422 (5V push-pull signal)
!
Step/direction input 24V level
!
Encoder input RS422 (5V push-pull signal)
!
Encoder input 24V level
!
±10V analogue current setpoint commanding and encoder emulation (rotation
speed control mode) with different holding functions.
I10 T10 192-120100 N9 - March 2004
41
Setting up Compax3
Command interface
4.1.4.1
±10V analogue speed setpoint commanding and encoder
emulation
Input:
!
±10V analogue;
!
14Bit resolution;
!
62.5µs scanning rate
speedmax
10V
Setting values:
Rotational speed/velocity at a setpoint of +10V
Unit:
rpm or m/s
Range: +/-0... 1.2 * reference value
Standard value:
Reference value
Defining the reference system.
Reference value = Nominal speed/velocity of the motor.
Resolution of the encoder simulation
Unit: Increments per
rotation / pitch
Range: 4 - 16384
Standard value: 1024
Adjustable in powers of two (2n):
1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384
Limit frequency: 620 kHz i. e.
Increments per revolution
Max. speed
1024
36000 rpms
4096
9000 rpms
16384
2250 rpms
Rotation direction reversal
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.
42
I10 T10 192-120100 N9 - March 2004
Configuration
Parker EME
Command interface
Time frame predefined setpoint value
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 cylce time) of the signal
source is entered.
T
t
This function is only available if the analog interface +/-10V is used!
4.1.4.2
Step/Direction Input RS422
Input:
RS422
Setting values:
Increments per motor revolution / pitch
Unit: increments
Range:
Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
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.
4.1.4.3
Step/Direction Input 24V
Increments per motor revolution / pitch
Unit: increments
Range:
Standard value: 1024
Number of steps per motor revolution / pitch
I10 T10 192-120100 N9 - March 2004
43
Setting up Compax3
Command interface
Rotation direction reversal
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.
4.1.4.4
Encoder input RS422
A
A\
RS422
B
B\
The zero pulse is not evaluated!
Increments per motor revolution / pitch
Unit: increments
Range:
Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
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.
4.1.4.5
Encoder input 24V
24V
A
24V
B
The zero pulse is not evaluated!
Increments per motor revolution / pitch
Unit: increments
Range:
Standard value: 1024
Number of steps per motor revolution / pitch
Rotation direction reversal
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.
44
I10 T10 192-120100 N9 - March 2004
Configuration
Parker EME
Command interface
4.1.4.6
±10V analogue current setpoint commanding and encoder
emulation
Input:
!
±10V analogue;
!
14Bit resolution;
!
62.5µs scanning rate
A
Imax
10V
Holding function “keep Position / speed 0“ via E4
The input I4 can be assigned with an additional function. You may choose
between:
without holding function I4
Keep rotational speed / velocity 0 via I4
Predefine speed setpoint value = 0 via I4 = “1“.
External forces can be compensated via corresponding motor moments.
The state “internal current setpoint“ reflects the external forces.
Keep position via I4
With I4 = “1“ position setpoint = 0 is predefined.
External forces can be compensated via corresponding motor moments.
If the motor is shifted from its position by too high external forces (current limit is
reached), the drive moves to ist original position (after the reduction of the external
forces).
Setting values:
Current at setpoint +10V
Unit: mA
Range: +/-0... I(max)
Standard value: I(nom)
Define reference system: 10V = current; I(nom)= nominal current of the motor.
I(max): is the smaller value from motor peak current and device peak current
I10 T10 192-120100 N9 - March 2004
45
Setting up Compax3
Command interface
Resolution of the encoder simulation
Unit: Increments per
rotation / pitch
Range: 4 - 16384
Standard value: 1024
Adjustable in powers of two (2n):
1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384
Limit frequency: 620 kHz i. e.
Increments per revolution
Max. speed
1024
36000 rpms
4096
9000 rpms
16384
2250 rpms
Rotation direction reversal
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.
Time frame predefined setpoint value
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 cylce time) of the signal
source is entered.
T
t
This function is only available if the analog interface +/-10V is used!
46
I10 T10 192-120100 N9 - March 2004
Configuration
Parker EME
Setpoint control
4.1.5.
Setpoint control
Servo-drive behaviour after activating or deactivating the X12/6 "energize motor"
and X12/7 "command value release" inputs can be set using ramps.
Ramps are not supported in the operating mode "±10V analogue current
setpoint value“
1
2
4
3
X12/6
X12/7
Ramp
Description
Signal
1
Acceleration ramp after "command value release"
I1=X12/7=24VDC
2
Delay ramp after deactivating "command value
release".
I1=X12/7=0VDC
3
Acceleration ramp after "energize motor"
E0=X12/6=24VDC
4
Delay ramp after deactivating "energize motor"
E0=X12/6=0VDC
See also: energize motor (see on page 30) and command value release (see on
page 30).
Acceleration ramp: "command value release"
Unit: U/(s*s)
Range: 10 ... 10000
Standard value: 50
The entered value specifies the number of revolutions per second (rps) by which the
rotation speed / velocity changes in one second
Deceleration ramp "Enable setpoint"
Unit: U/(s*s)
Range: 10 ... 10000
Standard value: 50
The entered value specifies the number of revolutions per second (rps) by which the
rotation speed changes in one second.
Deceleration ramp: "energize motor"
Unit: U/(s*s)
Range: 10 ... 10000
Standard value: 100
The entered value specifies the number of revolutions per second (rps) by which the
rotation speed changes in one second.
I10 T10 192-120100 N9 - March 2004
47
Setting up Compax3
Limit and monitoring settings
Acceleration ramp: "energize motor"
Unit: U/(s*s)
Range: 10 ... 10000
Standard value: 100
The entered value specifies the number of revolutions per second (rps) by which the
rotation speed / velocity changes in one second
4.1.6.
Limit and monitoring settings
In this chapter you can read about:
Nominal value window ....................................................................................................................48
Current limit ....................................................................................................................................48
Maximale Betriebsdrehzahl.............................................................................................................49
4.1.6.1
Nominal value window
The setpoint window is not supported in the operating mode "±10V analogue
current setpoint value“!
1
X12/3
X12/3 = 24VDC indicates that the current rotation speed or position lies in the
setpoint window (1).
Nominal value window
Unit:rpm or increments Range: +/-0... 10000
Standard value: +/-10
Control deviation (setpoint / actual value) < setpoint window: output " setpoint in window"
=24V
Control deviation (setpoint / actual value) > setpoint window: output " setpoint in window"
=0V
48
I10 T10 192-120100 N9 - March 2004
Configuration
Parker EME
Configuration name / comments
4.1.6.2
Current Limit
The current required by the speed controller is limited to the current limit.
Torque limit
Unit: % of M(nominal)
Range: 0 ... 400
Standard value: 200
The torque limit is specified as a percentage of the rated motor torque and is the maximum
permitted continuous output torque of the servo controller.
If the value is greater than 100% the motor may become overloaded and signal too high
temperature so that the servo controller switches off.
4.1.6.3
Maximum operating speed
The speed limitation is deduced from the maximum operating speed. In order to
esure 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.
“Switching off limit of speed“ with predefined analogue current command
value
In the operating mode "±10V analogue current command value and encoder
simulation“ the speed setpoint is not limited actively.
If the speed actual value exceeds the preset “switching off limit speed“ error
0x7310 is triggered.
4.1.7.
Configuration name / comments
Here you can name the current configuration as well as write a comment.
I10 T10 192-120100 N9 - March 2004
49
Setting up Compax3
4.2
Test commissioning: Compax3 S0xx V2 I10
In this chapter you can read about:
Analog setpoint input +/-10V with encoder simulation .....................................................................51
Step/direction input RS422 .............................................................................................................51
Encoder input RS422 .....................................................................................................................51
Encoder input 24V ..........................................................................................................................52
Step/direction input 24V..................................................................................................................52
For testing and understanding the function of the device, the required input
connections are specified below for making simple movements.
Required wiring:
X1: Mains supply
X10 to PC
RS232 / RS485
/1: 230V AC +10%
/2: 0V
/3: PE
X11 (see below)
Analog/Encoder
X3
Motor / Brake
X12 (see below)
Inputs/Outputs
X4: 24VDC
/3: enable with
24VDC
X13 to the motor
position transmitter
Operational enable of the servo controller:
Plug/Pin
Assignment
X12/6 (Energize the motor)
= 24V DC (jumper to X12/1)
X12/7 (command value release)
= 24V DC (jumper to X12/1)
X4/3 (Enable power output stage)
= 24V DC (jumper to X4/1)
Further assignment of plug X11: "analogue / encoder" and X12: "digital
inputs/outputs" depends on the selected operating mode.
50
I10 T10 192-120100 N9 - March 2004
Setting up Compax3
Parker EME
4.2.1.
Analog command interface +/-10V with encoder simulation
Required wiring:
Plug/Pin
Assignment
X11/9
Analogue setpoint input; positive terminal
X11/11
Analogue setpoint input; negative terminal
Encoder simulation
4.2.2.
Plug/Pin
Assignment
X11/6
A/
X11/7
A
X11/8
B
X11/12
B/
X11/13
N/
X11/14
N
Step/Direction Input RS422
Required wiring:
4.2.3.
Plug/Pin
Assignment
X11/6
Steps -
X11/7
Steps +
X11/12
Direction -
X11/8
Direction +
Encoder input RS422
Required wiring:
Plug/Pin
Assignment
X11/6
A/
X11/7
A
X11/12
B/
X11/8
B
X11/13
N/ (is not evaluated)
X11/14
N (is not evaluated)
I10 T10 192-120100 N9 - March 2004
51
Setting up Compax3
4.2.4.
Encoder input 24V
Required wiring:
4.2.5.
Plug/Pin
Assignment
X12/12
N (is not evaluated)
X12/13
A
X12/14
B
X11/15
0V
Step/Direction Input 24V
Required wiring:
52
Plug/Pin
Assignment
X12/13
Step
X12/14
Direction
X11/15
0V
I10 T10 192-120100 N9 - March 2004
Setting up Compax3
Parker EME
4.3
Device status
Motor energized – enable external setpoint value
/I1
I0 & I1
/I0
Acceleration
ramp I0 „energize
motor"
/I0
I1
Deceleration
ramp I0 „energize
motor"
/I1
Acceleration
ramp I1 „enable
setpoint value"
/I0
/I0
Deceleration
ramp I1 „enable
setpoint value"
/I1
/I1
I1
Motor energized /
Setpoint value disabled
/I0
Energize
motor with
delay
/I0
De-energize
motor with
delay
Energize
motor with
delay
I0 & I1
I0 & /I1
I2
Motor de-energized (the motor holding brake may be released via I3
Quit
Error
Error
with reaction 2
Deceleration
ramp
„energize
motor"
De-energize
motor with
delay
I10 T10 192-120100 N9 - March 2004
with reaction 5
Error
53
Setting up Compax3
Key:
!
I0, I1, I3: input = 24VDC
!
/I0, /I1: Input = 0V
!
"I2: positive edge on I2
The device can be brought into various states via the inputs:
!
I0: energise motor,
!
I1: Enable setpoint and
!
I2: Quit
!
I3: release brake
The device is brought into various device states.
The transitions are implemented via different ramps (see on page 47) and the
defined switching of the motor brake (see on page 47).
The ramps are not used in the "±10V analogue current setpoint“ operating
mode!
An error can occur in any device state. The reactions to the individual error causes
are described in the list of errors (see on page 76).
54
I10 T10 192-120100 N9 - March 2004
Setting up Compax3
Parker EME
4.4
Optimization
In this chapter you can read about:
Controller dynamic..........................................................................................................................55
Calibration of the analog input ........................................................................................................63
Engaging and disengaging the motor holding brake .......................................................................65
The controller optimization of the Compax3 is carried out in 2 steps:
!
!
4.4.1.
Via the standard settings (stiffness, damping, rotation speed controller and
rotation speed filter), with the help of which many applications can be optimized in
a simple manner.
With advanced settings for users familiar with control loops.
Control dynamics
In this chapter you can read about:
Stiffness of speed controller............................................................................................................56
Damping of speed controller ...........................................................................................................57
Filter actual speed value.................................................................................................................57
Advanced control parameters ........................................................................................................58
I10 T10 192-120100 N9 - March 2004
55
Setting up Compax3
4.4.1.1
Stiffness of the speed controller
The stiffness is proportional to the control loop speed.
Nominal value: 100%
On increasing stiffness:
Control action becomes faster. The control loop oscillates above a critical threshold
value. Set the stiffness with an adequate safety margin with respect to the
oscillation threshold value.
On decreasing stiffness:
Control action becomes slower. This increases the tracking error. Current limiting
will be reached later.
3 =100%
3 >100%
1
3 <100%
2
t
1: target value
2: actual value
3: stiffness
2100.2: Stiffness of the speed controller
Unit: %
Range: 10 ... 100 000
The stiffness is proportional to the control loop speed.
56
I10 T10 192-120100 N9 - March 2004
Standard value: 100%
Setting up Compax3
Parker EME
4.4.1.2
Damping of the speed controller
The damping influences the target value overshoot magnitude and the decay
time constant of control loop oscillation.
Nominal value: 100%
On increasing the damping:
Overshoot decreases. High frequency oscillation of the servo drive takes place as
from a certain threshold value.
On decreasing the damping:
The target value overshoot of the actual value increases, and the actual value
oscillates for a longer time above and below the target value. As from a certain
threshold value the servo drive oscillates continuously.
t
1: target value
2: actual value
3: damping
2100.3: Damping of the speed controller
Unit: %
Range: 0 ... 500
Standard value: 100%
The damping influences the target value overshoot magnitude and the decay time constant
of control loop oscillation.
4.4.1.3
Filter for speed value
Can be used to improve (filter) the rotation speed signal. The greater the value, the
stronger becomes the filter effect. However, the rotation speed delay increases
with this value, so that the maximum possible control loop dynamic range becomes
smaller with values which are too large.
!
!
Set the value to 0 when using motors with SinCos.
In the case of large load inertia in relation to the moment of inertia of the motor, a
large value can achieve further improvement in the attainable stiffness.
2100.5: Filter actual speed value
Unit: %
Range: 0 ... 550
Standard value: 100%
This is used to improve signals (filtering) of the speed control signal
I10 T10 192-120100 N9 - March 2004
57
Setting up Compax3
4.4.1.4
Advanced control parameters
The status values are divided into 2 groups (unser levels):
standard: here you can find all important status values
advanced: advanced status values, require a better knowledge
Switching of the
user level
The user level can be changed in the optimization window (left hand side lower part
under selection (TAB) "optimization") with the following button.
Controller structures
In this chapter you can read about:
Controller structure step/direction or encoder input.........................................................................58
±10V analogue speed setpoint .......................................................................................................59
±10V analogue current setpoint ......................................................................................................59
Controller structure step/direction or encoder input
2011.2 Filter external acceleration feedforward
680 .6 Tracking error
680.12 Target position without absol. reference
681.4 Target speed of setpoint encoder
681.5 Actual speed unfiltered
681.6 Control deviation of speed
681.9 Actual speed filtered
681.10 Target speed
682.5 Actual acceleration
682.6 Actual acceleration filtered
688.1 Target current effective
688. 8 Control deviation of current effective
682.4 Target acceleration of setpoint encoder
2010.2 Acceleration feedforward
681.4
2010.1 Speed feedforward
2010.4 Current feedforward
681.11 Speed and acceleration feedforward
2011.1 Filter external
speed feedforward
Position controller /
688.14 Current and jerk feedforward effective
PID - speed controller
2100.3 Damping (speed controller)
2100.2 Stiffness (speed controller )
2100.4 Moment of inertia
688.8
PI - Current controller
680.6
688.11
Voltage
control signal
680.12
681.10
681.6
2100.8
2100.7
D-component of
speed controller
688.1
2100.9
Bandwidth
current controller
Damping
current controller
682.6
681.9
680.13 Actual position without absolute reference
58
I10 T10 192-120100 N9 - March 2004
Acceleration actual value
2100.11 Filter 2
2100.6 Filter
682.5
Speed actual value
2100.10 Filter 2
2100.5 Filter
681.5
Measuring of actual value
688.2Actual current effective
Setting up Compax3
Parker EME
±10V analogue speed setpoint
2011.2 Filter external acceleration feedforward
682.4 Target acceleration setpoint encoder
2010.2 Acceleration feedforward
2010.4 Current feedforward
PID - Speed controller
681.10
2010.1 Speed
feedforward
Interpolation
688.14 Current and jerk feedforward effective
2100.2 Stiffness (Speed controller )
2100.3 Damping (Speed controller)
2100.4 Moment of inertia
688.8
PI - current controller
688.11
Voltage control signal
Speed
Target value
T
681.11
681.6
2100.8 Bandwidth
current controller
2100.9 Damping
current controller
688.1
2100.7
D-component of
speed
controller
680 .6 Tracking error
680.12 Target position without absolute reference
681.4 Target speed setpoint encoder
681.5 Actual speed unfiltered
681.6 Control deviation of speed
681.9 Actual speed filtered
681.10 Target speed
681.11 Speed and acceleration feedforward
682.5 Actual acceleration
682.6 Actual acceleration filtered
688.1 Target current effective
688. 8 Control deviation of current effective
682.6
681.9
688.2 Actual current effective
Acceleration actual value
2100.11 Filter 2
2100.6 Filter
682.5
Speed actual value
2100.10 Filter 2
2100.5 Filter
681.5
Measuring of actual value
2011.1 Filter external
speed feedforward
±10V analogue current setpoint
2011.3 Filter Rising of current
2010.5 Rising of current
Fine interpolation
688.1 Target current effective
Current
688.8 Control deviation
of current effective
Target value
PI - current controller
688.11
Voltage control signal
T
2011.2 Filter current target value
2100.8 Bandwidth
current controller
2100.9 Damping
current controller
CurrentLimiting
688.2Actual current effective
2220.11 Filter current actual value
I10 T10 192-120100 N9 - March 2004
IMeasuring of actual value
681.4
59
Setting up Compax3
4.4.1.5
Controller settings
2100.8: Current controller bandwidth
Unit: %
Range: 10 ... 200
Standard value: 50%
2100.9: Damping current controller
Unit: %
Range: 0 ... 500
Standard value: 100%
2100.7: D component speed controller
Unit: %
Range: 0 ... 4 000 000
Standard value: 0
2100.6: Actual acceleration value filter
Unit: %
Range: 0 ... 550
Standard value: 100
2100.4: Moment of inertia
Unit: %
Range: 10 ... 500
Standard value: 100%
Forward control measures
Forward control of rotation speed, acceleration and current
Advantages:
Principle:
!
Minimizes tracking error
!
Improves the transient response
!
Gives greater dynamic range with lower maximum current
A positioning is calculated in the target value plate and specified as the target value
for the position controller. This provides the target value plate with the preliminary
information on changes in speed, acceleration and current required for positioning.
Switching this information to the controller then makes it possible to reduce
tracking errors to a minimum. The transient response of the controller is also
improved and the drive dynamics are increased.
The stability of the control loop is unaffected by the forward control.
60
I10 T10 192-120100 N9 - March 2004
Setting up Compax3
Parker EME
Positioning without forward control:
1
2
t
4
3
t
2010.1: Forward speed control
Unit: %
Range: 0 ... 500
Standard value: 100%
Effect of the rotation speed forward control
1
2
t
3
4
t
1: target speed value
2: actual speed value
3: motor current
4: tracking error
2011.1: Filter external rotation speed feed forward
Unit: %
Range: 0 ... 550
Standard value: 500*
* Depending on the operating mode
With ±10V analog setpoint control the standard value = 0; otherwise 500.
I10 T10 192-120100 N9 - March 2004
61
Setting up Compax3
2010.2: Acceleration forward control
Unit: %
Range: 0 ... 500
Standard value: 100%
Additional effect of forward acceleration control
2
1
t
3
4
t
1: target speed value
2: actual speed value
3: motor current
4: tracking error
2011.2: Filter external acceleration feed forward
Unit: %
Range: 0 ... 550
Standard value: 500%
2010.4: Current forwards control
Unit: %
62
Range: 0 ... 500
I10 T10 192-120100 N9 - March 2004
Standard value: 0%
Setting up Compax3
Parker EME
Additional effect of forward current control
2
1
t
3
4
t
1: target speed value
2: actual speed value
3: motor current
4: tracking error
Rising of current (Para)
2010.5: Rising of current
Unit: %
Range: 0 ... 500
Standard value: 0%
Influences the rising of current
Filter rising of current (Para)
2011.3: Filter rising of current
Unit: %
4.4.2.
Range: 0 ... 550
Standard value: 500%
Calibration of the analog input
In this chapter you can read about:
Offset alignment .............................................................................................................................64
Gain alignment ...............................................................................................................................64
I10 T10 192-120100 N9 - March 2004
63
Setting up Compax3
4.4.2.1
Offset alignment
Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: analog input.
Enter the offset value at 0V input voltage under “701: Offset“
The currently entered value is shown in the status value "analogue 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.
4.4.2.2
Gain alignment
Performing an offset alignment when working with the ±10V analog interface in the
optimization window under optimization: analog input: 702: amplification.
A gain factor of 1 has been entered as default value.
The currently entered value is shown in the status value “analogue input“
(optimising window at the top right).
The status value "analogue input" shows the corrected value.
64
I10 T10 192-120100 N9 - March 2004
Setting up Compax3
Parker EME
4.4.3.
Turning the motor holding brake on and off
COMPAX controls the stationary state holding brake of the motor and the power
output stage. The time behavior can be set.
Application:
For an axis to which torque is applied in the stationary state (e.g. for a z-axis) the
drive can be switched on and off in a manner such that no load movement 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
!
I0=X12/6="0"
Thereafter the motor is braked to zero rotation speed on the set ramp.
When zero speed is reached, the motor is de-energized with the delay "brake
closing delay time".
1
2
t
3
4
5
t
1: Motor energized
2. Motor deenergized
3: Open brake
4: Apply brake
5: brake closing delay time
The power output stage is enabled by:
!
Quit (after error; precondition X12/6 = 24V)
!
I0=X12/6 = 24V
!
after power on (only when device is already configured)
The motor is energized with the delay "delay time for brake release".
1
2
t
3
4
5
t
I10 T10 192-120100 N9 - March 2004
65
Status values
5. Status values
1: Motor energized
2. Motor deenergized
3: Open brake
4: Apply brake
5: Delay time for brake release
In this chapter you can read about:
Device ............................................................................................................................................67
Motor ..............................................................................................................................................67
Positions.........................................................................................................................................68
Speeds ...........................................................................................................................................69
Currents .........................................................................................................................................70
Inputs .............................................................................................................................................72
CAM ...............................................................................................................................................73
IEC61131-3 ....................................................................................................................................73
Feedback system ...........................................................................................................................74
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 (unser levels):
standard: here you can find all important status values
advanced: advanced status values, require a better knowledge
Switching of the
user level
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).
The reference for the output voltage can be entered individually in the reference
unit of the D/A monitor.
Note
The unit of measurement of the D/A monitor values differs from the unit of
measurement of the status values.
66
I10 T10 192-120100 N9 - March 2004
Status values
Parker EME
5.1
Device
Status of device utilization
Object 683.2
Available in technology function:
Unit of
measurement
D/A monitor output
Remark:
Device utilization
T10, T30, T40
%
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Stated in % of the nominal device current
Status of power output stage temperature
Object 684.1
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
C
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Power output stage temperature
Status of auxiliary voltage
Object 685.1
Available in technology function:
Unit of
measurement
D/A monitor output
Remark:
Control voltage
T10, T30, T40
V
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Status DC bus voltage
Object 685.2
Available in technology function:
5.2
Unit of
measurement
D/A monitor output
Remark:
unfiltered signal
T10, T30, T40
V
User level
standard
possible
D/A monitor: measurement unit
of the reference value
V
Motor
Status of motor temperature
Object 684.2
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
C
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Motor temperature
measured via the sensor in the motor, correct display only with KTY84
Status of short-term motor utilization
Object 683.4
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
%
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
I10 T10 192-120100 N9 - March 2004
67
Status values
Remark:
Motor pulse utilization,
Stated in & of the motor pulse current.
Dynamic motor utilization with reference to the nominal motor current
resp., in the case of a selected motor reference point, with reference to
the motor reference current. For the monitoring the impulse current and
the impulse current time are required in order to calculate a time
constant. 1.15*I can be set permanently. Error object 500.6 Bit 6, Error
Code 7180
Status of long-term motor utilization
Object 683.3
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
%
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Motor utilization,
Stated in & of the motor pulse current.
Effective motor utilization with reference to the nominal motor current
resp. if a motor reference point is selected, with reference to the motor
reference current. For the monitoring the thermal time constant Tau is
required. 1.05*I can be set permanently. Error object 500.1 Bit 13, Error
Code 2311
5.3
Positions
Status target position
Object 680.4
Available in technology function:
T30, T40
Unit of
measurement
D/A monitor output
Unit
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Remark:
Revolutions
Stated in user units, reset position
Status actual position
Object 680.5
Available in technology function:
T30, T40
Unit of
measurement
D/A monitor output
Unit
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Revolutions
Remark:
Stated in user units, reset position
Status of tracking error
Object 680.6
Available in technology function:
T30, T40
Unit of
measurement
D/A monitor output
Unit
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Revolutions
Remark:
Stated in user units, difference between target and actual value of
position
Status target position without absolute reference
Available in technology function:
Unit of
measurement
D/A monitor output
68
Object 680.12
T30, T40
Unit
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Revolutions
I10 T10 192-120100 N9 - March 2004
Status values
Parker EME
Remark:
Stated in user units, continuous position
Status actual position without absolute reference
Available in technology function:
5.4
Object 680.13
T30, T40
Unit of
measurement
D/A monitor output
Unit
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Remark:
Revolutions
Stated in user units, continuous position
Speeds
Status target speed of setpoint encoder
Object 681.4
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Rev/s
Remark:
Target value according to the fine interpolator
Status target speed controller input
Object 681.10
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Remark:
Rev/s
Nominal speed
Target speed value on the controller input including feed forward
Status actual speed filtered
Object 681.9
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Remark:
Rev/s
Actual speed filtered
Status actual speed unfiltered
Object 681.5
Available in technology function:
Unit of
measurement
D/A monitor output
T10, T30, T40
Unit/s
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Rev/s
Remark:
Status control deviation of speed
Object 681.6
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s
User level
standard
possible
D/A monitor: measurement unit
of the reference value
Rev/s
Remark:
Difference between speed target value and filtered actual value
I10 T10 192-120100 N9 - March 2004
69
Status values
Status target acceleration
Object 682.4
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s²
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Target acceleration of setpoint encoder
Stated in user units
Output value of the fine interpolator
Status of speed and acceleration feed forward
Available in technology function:
Object 681.11
T30, T40
Unit of
measurement
D/A monitor output
Unit/s
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Speed and acceleration feed forward
Status of filtered actual acceleration
Object 682.6
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s²
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Rev/s²
Remark:
Signal is smoothed by acceleration filter 1 and 2 resp. by the rotational
speed monitor and acceleration filter 2.
Signal is the source of the D-component in the (rotational) speed
controller
Status of actual acceleration unfiltered
Object 682.5
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Unit/s²
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Rev/s²
Remark:
Please note that this signal is often rather noisy.
Status of external influences monitored
Object 683.5
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
%
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
Remark:
%
Load moment resp. load force detected by the (rotational) speed
monitor.
Unit is % of Mnominal resp. of Fnominal
(100% = Moment resp. force given the configured nominal resp.
reference current)
5.5
Currents
Status of effective target current (torque forming)
Object 688.1
Available in technology function:
T10, T30, T40
Unit of
measurement
70
mA
User level
I10 T10 192-120100 N9 - March 2004
standard
Status values
Parker EME
D/A monitor output
possible
D/A monitor: measurement unit
of the reference value
Remark:
Effective target current (torque forming)
O
Cross-flow target value including current and jerk feed forward
Status of effective actual current (torque forming)
Object 688.2
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
mA
User level
standard
possible
D/A monitor: measurement unit
of the reference value
O
Remark:
Effective actual current (torque forming), actual value after filter
Status of control deviation of effective current
Object 688.8
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
mA
User level
advanced
possible
D/A monitor: measurement unit
of the reference value
O
Remark:
Control deviation of effective current (torque forming)
Status of voltage control signal
Object 688.11
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
Remark:
-
Control signal of current controller (torque forming)
0.577 correspond to full range (Terminal voltage=DC bus voltage)
Status of current phase U
Object 688.9
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
mA
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
Remark:
-
Phase current U, Output as peak value
Actual value after oversampling
Status of current phase V
Object 688.10
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
mA
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
Remark:
-
Phase current V, Output as peak value
Actual value after oversampling
Status of target jerk setpoint encoder
Available in technology function:
Unit of
measurement
D/A monitor output
Object 688.13
T30, T40
Unit/s³
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
-
I10 T10 192-120100 N9 - March 2004
71
Status values
Remark:
Target jerk of setpoint encoder
Stated in user units
Output value of the fine interpolator
Status of effective current and jerk forward feed
Object 688.14
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
mA
User level
advanced
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Forward feed of effective current and jerk
Stated in amperes RMS
after filter
5.6
Inputs
Status of analog input 0
Object 685.3
Available in technology function:
Unit of
measurement
D/A monitor output
Remark:
Analog input 0
T10, T30, T40
V
User level
standard
possible
D/A monitor: measurement unit
of the reference value
10V
Analog input on plug X11/9 and X11/11
Indication of the voltage measured on the input in volts
Status of analog input 1
Object 685.4
Available in technology function:
Unit of
measurement
D/A monitor output
Remark:
Analog input 1
T10, T30, T40
V
User level
standard
possible
D/A monitor: measurement unit
of the reference value
10V
Analog input on plug X11/10 and X11/2
Indication of the voltage measured on the input in volts
Status of encoder input 0 (5V)
Object 680.10
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
Revolutions
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Encoder input 0 (5V), counter state in turns of the encoder
Status of encoder input 0 (24V)
Object 680.11
Available in technology function:
72
T10, T30, T40
Unit of
measurement
D/A monitor output
Revolutions
User level
standard
not possible
D/A monitor: measurement unit
of the reference value
-
Remark:
Encoder input 1 (24V), counter state in turns of the encoder
I10 T10 192-120100 N9 - March 2004
Status values
Parker EME
5.7
CAM
Status of signal source of master position monitoring
Available in technology function:
Unit of
measurement
D/A monitor output
Object 3021.2
- T40
Revolutions
User level
standard
possible
D/A monitor:
measurement unit of the
reference value
Revolutions
Remark:
Status of master position
Object 3030.1
Available in technology function:
Unit of
measurement
D/A monitor output
Remark:
reset
- T40
Munit
User level
standard
possible
D/A monitor:
measurement unit of the
reference value
Units
Status of slave position
Object 3032.1
Available in technology function:
5.8
- T40
Unit of
measurement
D/A monitor output
Unit
User level
standard
possible
D/A monitor:
measurement unit of the
reference value
Units
Remark:
reset position after cam table [Units]
IEC61131-3
Status of cycle time of the control program
Object 50.3
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
standard
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Current cycle time [unit: 1=500 µs] of the control program
Status of maximum cycle time
Object 50.4
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
standard
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Maximum cycle time [unit : 1=500 µs]
Very large values may occur here with the command "Save objects
permanently". Then the control program will no longer be executed for
the execution time (about 1.5 sec)
I10 T10 192-120100 N9 - March 2004
73
Status values
Setpoint for analog output 0
Object 634.4
Available in technology function:
T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Setpoint for analog output 0 (DA0 - X11/4); can be used as a DA
monitor.
This output must be previously activated to be able to access it. You
can do this in the ServoManager in the optimization window in the
partial window at the bottom left under DA monitor.
Convert the signal source to IEC61131.
Setpoint for analog output 1
Object 635.4
Available in technology function:
T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Setpoint for analog output 1 (DA1 - X11/3); can be used as DA monitor.
This output must be previously activated to be able to access it. You
can do this in the ServoManager in the optimization window in the
partial window at the bottom left under DA monitor.
Convert the signal source to IEC61131.
5.9
Transmitter
Status of sine in signal processing
Object 692.1
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Sinus trace resolver, für F10 devices
The value 1 corresponds to 2.5 Volts
The amplitude must be <1 and > 0.1 at the resolver; otherwise a level
error is reported.
Status of cosine in signal processing
Object 692.2
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
74
n/a
User level
advanced
not possible
D/A monitor:
measurement unit of the
reference value
-
I10 T10 192-120100 N9 - March 2004
Status values
Parker EME
Remark:
Cosine trace of resolver, for F10 devices
The value 1 corresponds to 2.5 Volts
The amplitude must be <1 and > 0.1 at the resolver; otherwise a level
error is reported.
Status of analog input sine
Object 692.3
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Sine trace of encoder, für F11 and F12 devices (0.5 = 2.5V)
Status of analog input cosine
Object 692.4
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
n/a
User level
advanced
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Cosine trace of encoder, für F11 and F12 devices
Status of feedback level
Object 692.5
Available in technology function:
T10, T30, T40
Unit of
measurement
D/A monitor output
V
User level
advanced
not possible
D/A monitor:
measurement unit of the
reference value
-
Remark:
Feedback level, for F11 and F12 devices, display in Vpp
(=sqrt(sin²+cos²))
I10 T10 192-120100 N9 - March 2004
75
Error
6. Error
All errors lead to error status.
Reaction 2: downramp with “deenergize ramp” then apply brake (see on page 65)
and deenergize.
Reaction 5: De-energize immediately (with no ramp), close 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
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).
6.1
Error list
0x2311
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x2311
Monitor (Effective Motor Current)
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x2312
Device rms current monitoring
Reaction 2: downramp / apply brake / deenergize.
0x2320
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x2320
Overcurrent (Power output Stage)
Reaction 5: deenergize immediately (without ramps), apply brake.
Check motor cable
Origin is a hardware signal
0x3210
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x3210
DC bus voltage too high
Reaction 5: deenergize immediately (without ramps), apply brake.
0x2312
76
Adjustable monitoring (with motor parameter: thermal time constant and
reference current)
The current value can be read with the "Motor utilization" status display.
An error message is generated for a motor load of 105%.
Adjustable monitoring (dependant on device parameters)
The current value can be read with object 683.2 or the "Device utilization"
status display.
The voltage on the output bus has exceeded the maximum permissible
value
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
0x3222
0x4210
0x4310
0x5111
0x5112
0x5116
0x5117
0x5380
0x5420
0x5421
0x5480
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x3222
Voltage in DC bus too low (< 70V)
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x4210
Temperature of power output stage / device
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x4310
Motor temperature
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5111
Auxiliary voltage 15V defective
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5112
Overvoltage 24V
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5116
Undervoltage 24V
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5117
Undervoltage options
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5380
Short circuit at digital output
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5420
Ballast resistor overload, pulse current
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5421
Braking Resistor overloaded (Continuous Current)
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
0x5480
Short Circuit - Motor Brake
None
Measurement via PAP
Measurement via PAP; source from power stage
Source is motor temperature signal
Measurement via PAP
Measurement via PAP
Measurement via PAP
Used for M expansion with I/O if the external power supply is missing
Applies to the 4 on-board outputs
Setting via tool input
Setting via tool input
I10 T10 192-120100 N9 - March 2004
77
Error
0x5481
0x5491
0x54A0
Note:
Diagnostic lines from power stage interface
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5481
Open Circuit - Motor Brake
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x5491
Disable power output stage
Reaction 5: deenergize immediately (without ramps), apply brake.
Error code (hex):
Error:
Error reaction:
Measure:
0x54A0
Limit switch E5 (X12/12) active
Reaction 2: downramp / apply brake / deenergize.
Move axis into the travel range. The error may occur if E5 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IECprogram.
Limit switch on input 5 is active. Is only set with rising edge.
Note:
0x54A1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
Hardware input (safe standstill)
0x54A1
Limit switch E6 (X12/13) active
Reaction 2: downramp / apply brake / deenergize.
Move axis into the tavel range. The error may occur if E6 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IEC
program.
Limit switch on input 6 is active. Is only set with rising edge.
0x6011
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x6011
Runtime overflow 31.25us
Reaction 2: downramp / apply brake / deenergize.
0x6012
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x6012
Runtime overflow 500us
Reaction 2: downramp / apply brake / deenergize.
0x6280
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x6280
IEC61131-3 Division by zero
Reaction 2: downramp / apply brake / deenergize.
Debug IEC program
Division by zero occurred in the IEC program. Execution is aborted at this
point and the cycle is restarted after the selected cycle time.
0x6281
Error code (hex):
Error:
Error reaction:
Measure:
0x6281
IEC61131-3 cycle time exceeded
Reaction 2: downramp / apply brake / deenergize.
Optimize program (runtime), increase target cycle time, suppress timeintensive processes (for example saving objects in Flash)
Preset nominal cycle time could not be kept. Execution is aborted and the
cycle is restarted after the selected cycle time.
Note:
78
Diagnostic lines from power stage interface
Runtime monitoring. Internal error
0x6282
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x6282
IEC61131-3 Program stack overflow
Reaction 2: downramp / apply brake / deenergize.
Reduce nesting depth in function and subprogram calls
Stack overflow in IEC runtime. Execution is aborted at this point and the
cycle is restarted after the selected cycle time.
0x6283
Error code (hex):
Error:
0x6283
IEC61131-3 FB stack overflow
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
Error reaction:
Measure:
Note:
Reaction 2: downramp / apply brake / deenergize.
Reduce the number of or the nesting depth of function module instances
Stack overflow in the IEC runtime caused by too many function module
entities. Execution is aborted at this point and the cycle is restarted after the
selected cycle time.
0x6284
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x6284
IEC61131-3 Invalid command
Reaction 2: downramp / apply brake / deenergize.
Recompile the program / download and verify the compiler version
Invalid opcode in the IEC program Execution is aborted at this point and the
cycle is restarted after the selected cycle time.
0x7121
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7121
Motor stalled
Reaction 5: deenergize immediately (without ramps), apply brake.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7180
Motor impulse current monitoring
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7310
Rotation speed too high
Reaction 5: deenergize immediately (without ramps), apply brake.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7320
Tracking error
Reaction 2: downramp / apply brake / deenergize.
Error code (hex):
Error:
Error reaction:
Measure:
0x7381
Resolver level too high
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable or feedback
Note: The feedback excitation voltage is deactivated for level errors!
Level limit exceeded, can only be reset by powering on the device again.
0x7180
0x7310
0x7320
0x7381
Note:
0x7382
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7391
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x7392
Error code (hex):
Error:
Speed controller signal at limit for specific time
Adjustable monitoring (with motor parameters: pulse current time and pulse
current)
The current value can be read with the "Motor impulse utilization" status
display.
An error message is generated for a motor impulse utilization of 115%.
Rotation speed too high
Monitoring of tracking error window incl. time
0x7382
Resolver level too low
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable or feedback
Note: The feedback excitation voltage is deactivated for level errors!
Level has fallen below limit, can only be reset by powering on the device
again.
0x7391
Encoder level too high
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable (shield, abort, short-circuit) or feedback
Note: The feedback power supply voltage is deactivated for F11!
SinCos feedback/encoder: Level of Sine/Cosine trace too high, can only be
reset by powering on the device again. The limit for Firmware >V2.x.x is at
the physical limit 2.5Vss.
0x7392
Encoder level too low
I10 T10 192-120100 N9 - March 2004
79
Error
Error reaction:
Measure:
Note:
0x73A0
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73A5
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73A6
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73A7
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73A0
Hall commutation: invalid combination of hall signals
Reaction 5: deenergize immediately (without ramps), apply brake.
Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.
A hall combination that is not permitted with correct wiring was recorded
during hall commutating. Can only be reset by PowerOn.
0x73A5
Automatic commutation: no standstill of the drive on start
Reaction 2: downramp / apply brake / deenergize.
Check the signal quality of the feedback (noise), bring the drive to a
standstill
(Filtered) speed of the motor within 10 s after the start of automatic
commutation not zero
0x73A6
Automatic commutation: more than 60 degrees of electrical movement
Reaction 2: downramp / apply brake / deenergize.
Malfunction (motion caused by external source) of the motor during
automatic commutation, starting current too great, incorrect parameter for
commutation direction (use MotorManager to determine the values). Check
feedback resolution and/or number of feedback or motor poles.
The motor has moved more than permitted during automatic commutation.
0x73A7
Automatic commutation: More than 5 degrees of electrical movement during
Phase 2
Reaction 2: downramp / apply brake / deenergize.
Eliminate external influence on the motor or device current is too small resp.
friction is too great.
Motor is not following controlled movement. In this case, the motor should
stand still.
0x73A8
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73A8
Automatic commutation: no standstill during phase 3
Reaction 2: downramp / apply brake / deenergize.
Eliminate external influence on the motor. Check feedback.
The motor is not following controlled movement (in this case: motor does not
come to a standstill).
0x73A9
Error code (hex):
Error:
Error reaction:
Measure:
0x73A9
Auto commutation: Timeout during phase 3
Reaction 2: downramp / apply brake / deenergize.
Increase the starting current and eliminate very high direction dependence
or friction if any. Check feedback resolution and/or number of feedback or
motor poles.
The maximum time for automatic commutation has been exceeded.
Note:
0x73AA
0x73AB
80
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable (shield, abort, short-circuit) or feedback
Note: The feedback power supply voltage is deactivated for F11!
SinCos feedback/encoder: Level of Sine/Cosine or A/B trace too low, can
only be reset by powering on the device again. The limit for Firmware
>V2.x.x is at 0.4Vss. With RS422 feedback one or both traces are missing.
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73AA
Automatic commutation: too many trials during phase 3
Reaction 2: downramp / apply brake / deenergize.
Increase the starting current or eliminate external influence on the motor.
Check feedback resolution and/or number of feedback or motor poles.
The motor is not following assigned controlled movement.
Error code (hex):
Error:
Error reaction:
0x73AB
Automatic commutation: timeout
Reaction 2: downramp / apply brake / deenergize.
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
Measure:
Note:
Increase automatic commutation starting current, eliminate motor block,
check parameters for motor current (too small, device extremely underdimensioned), current controller unstable.
It was not possible to successfully complete automatic commutation within
30 s.
0x73AC
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73AC
Automatic commutation: mo motor connected
Reaction 2: downramp / apply brake / deenergize.
Connect motor resp. check wiring
Current controller setting full voltage without current flowing.
0x73B0
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x73B0
Distance coding: invalid position of reference mark
Reaction 2: downramp / apply brake / deenergize.
0x8120
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x8120
CRC error or passive mode (CAN)
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x8121
Bus off (CAN)
None
0x8130
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x8130
FB Timeout
None
Check connection and master
Field bus communication failure
Field bus error: adjustable reaction (none, reaction2)
0x8181
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x8181
Invalid velocity
None
Reduce setpoint value
Preset speed ins too high (also externally); command was rejected
0x8182
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0x8182
Error CAM command
Reaction 2: downramp / apply brake / deenergize.
0x8183
Error code (hex):
Error:
Error reaction:
Measure:
0x8183
Watchdog test movement
Reaction 2: downramp / apply brake / deenergize.
Acknowledge Error occurs for example if the response times of the PC are
too long for RS232 communication.
Error is triggered if o40.3=0. Watchdog cannot be deactivated via o40.3=-1.
Watchdog time=o40.3*100ms
0x8121
Note:
0x8612
Error code (hex):
Error:
Error reaction:
Measure:
Note:
Field bus error: adjustable reaction (no, reaction 2)
CAN Bus inactive status
Field bus error: adjustable reaction (no, reaction 2)
0x8612
Reference Limit
Reaction 2: downramp / apply brake / deenergize.
Reference position could not be accessed. One of the limit switches was
detected twice. There was no home switch or feedback zero pulse. Homing
was aborted
No reference point for machine zero detected within the travel range. The
homing sequence was aborted. Check reference point feedback.
I10 T10 192-120100 N9 - March 2004
81
Error
0xFF03
0xFF04
0xFF05
0xFF06
0xFF07
0xFF08
0xFF10
0xFF11
0xFF12
0xFF13
0xFF14
82
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF03
Object is "read only"
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF04
Object cannot be read
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF05
Version conflict; object data not valid in flash
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF06
No object for process data; object cannot be mapped
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF07
Data not valid
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF08
No convert function
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF10
Command syntax error
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF11
Value not valid
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF12
Checksum error
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF13
Timeout error
None
Error code (hex):
Error:
Error reaction:
Measure:
0xFF14
Overflow error
None
No write access
No read access
Internal error
This object cannot be mapped on the cyclic data
No OPM text present
Internal error
Syntax error
Argument incorrect
Checksum CRC incorrect
Active in binary protocol; 5 ms
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
Note:
Utype error
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF15
Parity error
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF16
Frame error
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF20
Flash sector delete failed
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF21
Program flash cell failed
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF22
Checksum error of prog. Flash area
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF23
DOWN/UPLOAD activated
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF24
DOWN/UPLOAD not activated
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF30
EEPROM Delay Count Error
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF40
Not enough memory for OSZI or AWL reserved
None
0xFF42
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF42
No objects available
None
Load application data into device (objects)
Application data error; no valid objects present
LED red flashing
0xFF43
Error code (hex):
Error:
0xFF43
No IEC61131 program
0xFF15
0xFF16
0xFF20
0xFF21
0xFF22
0xFF23
0xFF24
0xFF30
0xFF40
Utype error
Utype error
Error while deleting flash
Error while programming flash
Error for flash checksum
Download or upload is active
Download or upload is inactive
Internal error
An attempt was made to reserve too much memory (IEC, osci)
I10 T10 192-120100 N9 - March 2004
83
Error
Error reaction:
Measure:
Note:
0xFF45
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF45
No FBI
None
De-energize motor, then perform function
Motor is energized! An attempt was made to execute a function at a time
when the motor must be de-energized, e.g. device duplication via BDM.
0xFF46
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF46
Motor energized
None
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF47
Different device types
None
0xFF90
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFF90
Feedback system does not correspond with feedback option
None
„Replace“ or update firmware, use device required for feedback.
The connected feedback system cannot be used with the firmware currently
in use. (for example with commutation wizard F12 feedback for F10/F11
device and vice-versa).
0xFF91
Error code (hex):
Error:
Error reaction:
Measure:
0xFF91
Invalid combination of hall signals gross commutation
None
Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.
Invalid hall combinations “000“ or “111“ were detected during hall
commutation.
0xFF47
Note:
0xFF92
Error code (hex):
Error:
Error reaction:
Measure:
Note:
84
None
Load application data into device (IEC61131 program). Turn device off and
back on again.
Application data error; no IEC61131 program available
LED red flashing
An attempt was made to perform a device duplication even though the
source and target device are different (different order code)
The hardware of the source is not compatible with the hardware of the target
for duplicating a device
0xFF92
Compax3 must be started again.
None
Switch device off and on again or execute commands 9 and 10 one after the
other.
Only for F12 devices: Compax3 must be started again, as the commutation
resp. the configured motor was changed by means of a configuration
download. The error cannot be acknowledged.
0xFFA1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA1
SinCos analog signals outside specification
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA2
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA2
SinCos internal angle offset fault
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA3
Error code (hex):
Error:
Error reaction:
0xFFA3
SinCos table was destroyed via data field partition
Reaction 2: downramp / apply brake / deenergize.
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
Measure:
Note:
Change feedback
Feedback reports error
0xFFA4
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA4
SinCos analog limits not available
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA5
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA5
SinCos Internal I²C-Bus not functioning
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA6
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA6
SinCos internal checksum error
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA7
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA7
SinCos feedback reset via program supervision
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA8
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA8
SinCos counter overflow
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFA9
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFA9
SinCos parity error
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAA
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFAA
SinCos checksum of transmitted data is faulty
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAB
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFAB
SinCos unknown command code
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAC
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFAC
SinCos number of transmitted data is faulty
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAD
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFAD
SinCos improper command argument transmitted
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAE
Error code (hex):
Error:
0xFFAE
SinCos the selected data field is not to be exceeded
I10 T10 192-120100 N9 - March 2004
85
Error
86
Error reaction:
Measure:
Note:
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFAF
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFAF
SinCos invalid access code
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFB0
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFB0
SinCos size of the stated data field is not variable
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFB1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFB1
SinCos stated word address outside data field
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFB2
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFB2
SinCos access to non-existent data field
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFBC
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFBC
SinCos absolute value control of the analog signals
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFBD
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFBD
SinCos transmitter current approaching limit
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFBE
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFBE
SinCos feedback temperature approaching limit
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFBF
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFBF
SinCos speed exceeds normal, no position generation permitted.
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFC0
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFC0
SinCos Position Singleturn unreliable
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFC1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFC1
SinCos position error Multiturn
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFC2
Error code (hex):
0xFFC2
I10 T10 192-120100 N9 - March 2004
Error
Parker EME
Error:
Error reaction:
Measure:
Note:
SinCos position error Multiturn
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFC3
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFC3
SinCos position error Multiturn
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error
0xFFD0
Error code (hex):
Error:
Error reaction:
Measure:
0xFFD0
SinCos CRC
Reaction 2: downramp / apply brake / deenergize.
Check wiring, check feedback Ensure EMC immunity by the aid of correct
screening
Communication error with SinCos feedback
Note:
0xFFD1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFD2
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFD3
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFD4
Error code (hex):
Error:
Error reaction:
Measure:
0xFFD1
SinCos RX Timeout
Reaction 2: downramp / apply brake / deenergize.
Check wiring, check feedback Ensure EMC immunity by the aid of correct
screening
Communication error with SinCos feedback
0xFFD2
SinCos RX Overrrun
Reaction 2: downramp / apply brake / deenergize.
Check wiring, check feedback Ensure EMC immunity by the aid of correct
screening
Communication error with SinCos feedback
0xFFD3
SinCos RX Parity
Reaction 2: downramp / apply brake / deenergize.
Check wiring, check feedback Ensure EMC immunity by the aid of correct
screening
Communication error with SinCos feedback
Note:
0xFFD4
SinCos RX Frame
Reaction 2: downramp / apply brake / deenergize.
Check wiring, check feedback Ensure EMC immunity by the aid of correct
screening
Communication error with SinCos feedback
0xFFD5
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFD5
Unknown SinCos encoder type
None
Update Compax3 firmware
The SinCos feedback sytem type connected is not supported
0xFFD6
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFD6
SinCos speed exceeds normal when writing encoder position
Reaction 2: downramp / apply brake / deenergize.
Ensure that the motor is at a standsill
The speed when writing the feedback position was too high
0xFFE0
Error code (hex):
Error:
Error reaction:
Measure:
0xFFE0
MC Home only allowed in standstill state
None
Do not call PLCopen function module MC_Home during an ongoing
positioning process or while a stop command is running.
Error in the IEC61131-3 program sequence. PLCopen function module
MC_home was called even though the axis was not at a standstill (state
standstill AND drive energized)
Note:
I10 T10 192-120100 N9 - March 2004
87
Error
0xFFE1
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFE2
Error code (hex):
Error:
Error reaction:
Measure:
Note:
0xFFE2
Invalid parameter transfer while calling a function module.
Reaction 2: downramp / apply brake / deenergize.
Call PLCopen function module with matching parameters.
Error in the IEC61131-3 program sequence. Function module was called
with incorrect parameters.
0xFFE3
Error code (hex):
Error:
0xFFE3
Coupling // decoupling only possible with C3_CamIN or C3_CamOut Mode
0
Reaction 2: downramp / apply brake / deenergize.
Coupling with a linear actuator only possible with Mode 0.
Error in the IEC61131-3 program sequence. An attempt was made with a
linear actuator to couple with another mode than 0.
Error reaction:
Measure:
Note:
88
0xFFE1
CamOut not possible during coupling process
Reaction 2: downramp / apply brake / deenergize.
PLCopen function module CamOut cannot be called during coupling
process.
Error in the IEC61131-3 program sequence. PLCopen function module
CamOut was called even though the axis was not yet coupled.
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7. Compax3 Accessories
In this chapter you can read about:
Order code Compax3 .....................................................................................................................89
Order code accessories..................................................................................................................90
Parker servo motors .......................................................................................................................92
Connections to the motor..............................................................................................................103
EMC measures.............................................................................................................................107
External ballast resistors...............................................................................................................111
BDM Operating module ................................................................................................................114
EAM06: Terminal block for inputs and outputs..............................................................................115
ZBH plug set.................................................................................................................................118
Interface cable..............................................................................................................................119
7.1
Order code for Compax3
C3
Device model:
Device currents
static
/ dynamic
/ Supply
voltage :
Single axis
S
2.5A / 5A / 230VAC (1-phase)
6.3 A / 12.6 A / 230 V AC (1-phase)
3.8A/7.5A / 400VAC (3-phase)
7.5 A / 15.0 A / 400 V AC (3-phase)
15.0A/30.0A / 400VAC (3-phase)
30.0 A / 60.0 A / 400 V AC (3-phase)
Feedback:
Resolver
SinCos© (Hiperface)
Encoder / Sine-cosine with/without hall
Interface:
Step/direction / analogue input
Positioning with inputs/outputs
With Profibus DP V0/V1/V2 (12 Mbaud)
With CANopen
With C3 powerPLmC (Multi-axis control)
TechnologyFunctions:
Options:
0
0
0
0
1
3
2
6
3
7
5
0
5
3
8
5
0
0
V
V
V
V
V
V
Positioning
Programmable motion control via IEC61131
Electronic cam generation
Expansion 12 digital I/Os & HEDA (Motionbus)
HEDA (Motionbus)
Expansion, 12 digital I/Os
2
2
4
4
4
4
F 1 0
F 1 1
F 1 2
I
I
I
I
C
1
1
2
2
1
0
1
0
1
0
T 1 0
T 1 1
-
-
-
T 1 1
T 3 0
T 4 0
M 1 0
M 1 1
M 1 2
Please note that HEDA (M10 or M11) can only be combined with electronic cam
T40!
I10 T10 192-120100 N9 - March 2004
89
Compax3 Accessories
7.2
Accessories order code
Accessories order code
/
Motor cable(2
Motor cable(2 (cable chain compatible)
(1.5mm2; < 13.8A);
for SMH / MH56 / MH70 / MH105(3 M O
for SMH / MH56 / MH70 / MH105(3 M O
for SMH / MH56 / MH70 / MH105(3 M O
K
5
5
/
... ...(1
Motor cable(2
Motor cable(2 (cable chain compatible)
(2.5mm2 < 18.9A);
K
5
4
/
... ...(1
K
5
6
/
... ...(1
Motor cable(2
Motor cable(2 (cable chain compatible)
(1.5mm2; < 13.8A);
K
5
7
/
... ...(1
K
6
0
/
... ...(1
(1.5mm2; < 13.8A);
for SMH / MH56 / MH70 / MH105(3 M O
M O
for MH145 / MH205(4
M O
for MH145 / MH205(4
K
6
3
/
... ...(1
Motor cable(2
Motor cable(2 (cable chain compatible)
(2.5mm2 < 18.9A);
(2.5mm2 < 18.9A);
for MH145 / MH205(4
for MH145 / MH205(4
M O
K
5
9
/
... ...(1
M O
K
6
4
/
... ...(1
Motor cable(2 (cable chain compatible)
Motor cable(2 (cable chain compatible)
(6mm2 < 32.3A);
for MH145 / MH205(4
for MH145 / MH205(4
M O
K
6
1
/
... ...(1
M O
K
6
2
/
... ...(1
R
E
K
4
2
/
... ...(1
(1.5mm2; < 13.8A);
(2.5mm2 < 18.9A);
(10mm2; < 47.3A);
Feedback cable(2 for Resolver
Feedback cable(2 for Resolver
(cable chain compatible)
R
E
K
4
1
/
... ...(1
Feedback cable(2 for SinCos© – encoder
(cable chain compatible)
G
B
K
2
4
/
... ...(1
G
B
K
2
3
/
... ...(1
Feedback cable Encoder – Compax3
Feedback cable for LXR linear motors
(cable chain compatible)
G
B
K
3
3
/
... ...(1
Feedback cable for BLMA linear motors
(cable chain compatible)
G
B
K
3
2
/
... ...(1
Interface cable: PC - Compax3 (RS232)
S
S
K
0
1
/
... ...(1
Interface cable on X11 with open ends (Ref /Analog)
S
S
K
2
1
/
... ...(1
Interface cable on X12 with open ends (I/Os digital)
S
S
K
2
2
/
... ...(1
Interface cable for I/O terminal block on X11 (ref /analog)
S
S
K
2
3
/
... ...(1
Interface cable for I/O terminal block on X12 (I/Os digital)
S
S
K
2
4
/
... ...(1
Interface cable PC # POP (RS232)
S
S
K
2
5
/
... ...(1
Interface cable Compax3 # POP (RS485)
S
S
K
2
7
/
.../ ...(6
Interface cable Compax3 HEDA # Compax3 HEDA or PC # C3powerPLmC
S
S
K
2
8
/
.../ ...(5
HEDA bus termination plug (for the first and last Compax3 in the HEDA - Bus)
Profibus cable(2 not prefabricated;
B
U
S
0
7
/
0
S
S
L
0
1
/
... ...(1
Profibus plug
B
U
S
0
8
/
0
CAN Bus cable(2 not prefabricated;
S
S
L
0
2
/
... ...(1
CANbus connector
1
1
B
U
S
1
0
/
0
1
(Plug set, EMC clamp)
Z
B
H
0
2
/
0
1
Connection set ZBH 02/02 for Compax3 S038 / S075 / S150 V4 (Plug set, EMC clamp)
Z
B
H
0
2
/
0
2
Connection set ZBH 02/03 for Compax3 S300 V4
Z
B
H
0
2
/
0
3
Operating module
B
D M
0
1
/
0
1
Terminal block for I/Os without indicator (for X11, X12)
E
A M
0
6
/
0
1
Connection set ZBH02/01 for Compax3 S0xx V2
(Plug set, EMC clamp)
Terminal block for I/Os with luminous indicator (for X12)
E
A M
0
6
/
0
2
Ballast resistor for Compax3 S063 V2 or S075 V4 (0.18 / 2.3 kW)
B
R M
0
5
/
0
1
Ballast resistor for Compax3 S025 V2 or S038 V4 (60 / 253W)
B
R M
0
8
/
0
1
Ballast resistor for Compax3 S150 V4 (0.57 / 6.9 kW)
B
R M
0
6
/
0
2
Ballast resistor for Compax3 S300 V4 (BRM4/01: 0.57 kW / ...4/02: 0.74 kW ...4/03: 1.5 kW)
B
R M
0
4
/
0
...
Mains power filter for Compax3 S025 V2 or S063 V2
N
F
I
0
1
/
0
1
Mains power filter for Compax3 S038 V4, S075 V4 or S150 V4
N
F
I
0
1
/
0
2
Mains power filter for Compax3 S300 V4
N
F
I
0
1
/
0
3
Motor output filter for up to 6.3A rated motor current
M
D
R
0
1
/
0
4
Motor output filter for up to 16A rated motor current
M
D
R
0
1
/
0
1
Motor output filter for up to 30A rated motor current
M
D
R
0
1
/
0
2
90
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
(1
Length code 1
Length [m]
Code
(5
1.0
2.5
5.0
7.5
10.0 12.5
01
02
03
04
05
06
Example: SSK01/09: Length 25 m
15.0
20.0
25.0
30.0
35.0
40.0
45.0
50.0
07
08
09
10
11
12
13
14
(2
Colors according to DESINA
(3
With motor connector
(4
With cable eye for motor terminal box
Length code 2 for SSK28
Length [m]
0.25
0.5
1.0
3.0
5.0
10.0
Code
20
21
01
22
03
05
(6
Order code: SSK27/nn/..
Length A (Pop - 1. Compax3) variable (the last two numbers according to the
length code for cable, for example 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:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connection from Pop to one Compax3
MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 and
BLMA.
I10 T10 192-120100 N9 - March 2004
91
Compax3 Accessories
7.3
Parker servo motors
In this chapter you can read about:
Direct drives ...................................................................................................................................92
Rotary servo motors .......................................................................................................................94
7.3.1.
Direct drives
In this chapter you can read about:
Transmitter systems for direct drives ..............................................................................................92
Linear motors .................................................................................................................................93
Torque motors ................................................................................................................................93
7.3.1.1
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)
Distance coded
feedback systems
Option F12
Sine - cosine signal (max. 5Vss1; typical
1Vss) 90° offset
2
! U-V Signal (max. 5Vss ; typical 1Vss)
120° offset.
3
! Sine-cosine (max. 5Vss ; typical 1Vss)
(max. 400kHz) or
! TTL (RS422) (max. 5MHz)
with the following modes of commutation:
! automatic commutation (see on page
92) or
! Digital hall sensors
! Distance coding with 1VSS - Interface
! Distance coding with RS422 - Interface
(Encoder)
!
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;
1
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
3
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
2
92
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
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
!
The linear motor must not be at the end limits for automatic commutation.
!
Actively working load torques are not permitted during automatic commutation.
!
Rubbing caused by friction deteriorates the effect of automatic commutation.
!
!
7.3.1.2
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.
Linear motors
Parker offers you a number of systems of linear motor drives:
7.3.1.3
Linear motors
Feed force
(continuous/dynamic)
Stroke length:
Linear motor kit SL:
475N / 739N
As required
Linear motors of the LXR series:
315N / 1,000N
Up to 3 m
Linear motor module BLMA:
605N / 1,720N
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.
I10 T10 192-120100 N9 - March 2004
93
Compax3 Accessories
7.3.2.
Rotary servo motors
In this chapter you can read about:
Motor data table of the standard motors .........................................................................................97
Holding brake .................................................................................................................................98
Pulse encoder systems...................................................................................................................98
Dimensions of the SMH(A) motors..................................................................................................99
Dimensions of the MH(A) 105 motors ...........................................................................................100
Dimensions of the MH(A)145 and MH(A)205 motors ....................................................................101
Order code for SMH/MH motors ...................................................................................................102
Modern electric drive technology requires synchronous servomotors meeting the
requirements of individual applications. Parker servo motors were designed to
meet the requirements for variable speed drives.
SMH synchronous servo motors
An outstanding characteristic of SMH synchronous servomotors is their low rotor
moment of inertia. Typical areas of usage for these motors are for packing
machines or automatic pressing and assembly machines for which rapid
accelerations and delays are required.
SMH servo motors have smooth surfaces as well as depressions in the mounting
areas that make it very easy to mount them on the gearbox.
3 design sizes in 5 different flange sizes with edge lengths 60, 70, 82 and 100 mm
and with 6 different shaft diameters are available in a output range from 1.4 to 6
Nm (Over-temperature 65K).
MH synchronous servo motors
MH series servo motors stand out due to their wide output range as well as a
multitude of available options. Stall torques of the MH motor series cover a range
of 0.2 to 90 Nm (Over-temperature 65K). 5 design sizes are available in 7 flange
sizes with 56, 70, 96, 105, 116, 145 and 205 mm. The motors can be equipped
with different moments of inertia, which facilitates the adaptation to different
applications. Active and passive ventilator fans complement a variety of options.
Typical areas of application for these motors are therefore tool and printing
machines as well as handling robots.
Both series, SMH as well as MH may, if desired, equipped with a holding brake. As
an alternative to the Resolver feedback, SinCos© single turn or a SinCos©
Multiturn absolute value encoder are available.
Together with the compact COMPAX servo control system and the intelligent
Compax3 servo drive, these motors form a drive concept for use on power
networks from 230 V to 400 V (460 V) AC.
A wide range of gearboxes is available for all types of motors. The gearboxes can
be mounted if necessary.
94
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
SMH60:
SMH82:
SMH100:
MH105:
I10 T10 192-120100 N9 - March 2004
95
Compax3 Accessories
MH145:
MH205:
96
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.3.2.1
Motor data table for standard motors
Motor type
Standstill Nominal Resistan Inductan
torque current
ce
ce
M0
Type
Order code
Nm
A
SMH 60 ...
1.4
1.7
60 1.4 8 9 2ID 65 400: flange 60; shaft 9
70 1.4 5 11 2ID 65 400: flange 60; shaft 11
SMH 82 ...
60 03 8 14 2ID 65 400: flange 82; shaft 14
60 03 5 19 2ID 65 400: flange 100; shaft 19
SMH 100 ...
Ω
I0
11.4
Torque
constant
Moment of
inertial*
Mains
voltage
Nominal
speed
KT
J
U
nn
Mn
In
Pn
Nm/A
kgmm
2
V
rpms
Nm
Aeff
kW
0.81
30.2/42.8
230
3300
1.18
1.46
0.484
400
6000
1.12
1.40
0.880
3300
2.4
2.8
0.829
mH
32.3
3.0
3.5
3.38
18.2
0.85
140/183
230
400
6000
1.36
1.6
0.855
6.0
5.9
1.12
11.2
1.02
336/440
230
3000
4.70
4.6
1.477
400
5600
1.64
1.61
3.520
230
1600
4.00
2.50
0.660
400
3000
3.49
2.23
1.097
230
3000
3.60
4.40
1.115
400
6000
2.40
3.02
1.510
230
2500
5.50
5.00
1.434
400
4500
4.06
3.79
1.918
5.24
4.89
2.473
56 06 5 19 2ID 65 400: flange 100; shaft 19
MH 105 ...
3.95
2.57
6.69
24.79
1.65
335/398
30 04 9 19 2I 65 400: flange 96; shaft 19
3.98
60 04 9 19 2I 65 400: flange 96; shaft 19
5.96
45 06 6 24 2I 65 400: flange 116; shaft 24
45 08 5 19 2I 65 400: flange 105; shaft 19
Nominal Nominal Nominal
torque current
output
5.01
1.80
5.60
1.83
6.61
7.93
0.85
1.14
335/398
480/543
7.97
7.47
1.29
5.95
1.14
620/683
400
4500
8.01
5.21
2.63
12.39
1.65
760/822
230
1600
7.8
5.00
1.306
400
3000
6.80
4.35
2.137
230
1600
8.60
5.20
1.430
400
3000
7.84
4.84
2.464
230
1100
14.70
5.90
1.665
400
2000
14.19
5.73
2.966
45 08 6 24 2I 65 400: flange 116; shaft 24
30 08 6 24 2I 65 M 400: flange 116; shaft 24
MH 145 ...
8.72
5.51
1.93
19.27
1.70
1050/1245
30 08 5 24 3I 65 400: flange 145; shaft 24
20 15 5 24 3I 65 M 400: flange 145; shaft 24
15.00
6.20
1.64
14.38
2.59
1600/1795
45 15 5 24 3I 65 400: flange 145; shaft 24
15.01
14.17
0.316
2.77
1.13
1600/1795
400
4500
10.47
9.69
4.934
30 22 5 24 3I 65 400: flange 145; shaft 24
22.01
13.12
0.474
3.77
1.80
2150/2345
400
3000
17.76
10.35
5.577
20 28 5 24 3I 65 400: flange 145; shaft 24
27.99
11.33
0.678
5.44
2.65
2700/2895
400
2000
25.21
9.95
5.169
MH 205 ...
27.96
12.99
0.932
8.87
2.31
5000/6000
400
2000
27.25
12.32
5.704
20 50 5 38 3I 65 400: flange 205; shaft 38
50.31
22.08
0.372
4.95
2.45
8000/9000
400
2000
46.95
20.07
9.829
20 70 5 38 3I 65 400: flange 205; shaft 38
69.99
30.72
0.215
3.30
2.44
11000/12000
400
2000
62.87
26.89 13.161
20 90 5 38 3I 65 400: flange 205; shaft 38
89.63
44.26
0.117
2.25
2.17
14000/15000
400
2000
78.33
37.71 16.372
20 28 5 38 3I 65 400: flange 205; shaft 38
* Without / with motor holding brake
Boundary conditions of the motor data table
!
Tolerance +/-10%.
!
Over-temperature 65K with 20°C ambient temperature.
!
Twice the rated torque is possible up to 90% of the rated rotation speed.
!
Three times the rated torque is possible up to 80% of the rated rotation speed.
!
Data applies to: motor freely mounted and with flange plate size: up to 2Nm:
200*230*20; up to 35Nm 200*270*20; >35Nm: 310*320*25 in mm.
In addition, we offer an extensive range of rotary and linear direct drives!
We will be happy to process your request!
I10 T10 192-120100 N9 - March 2004
97
Compax3 Accessories
7.3.2.2
Holding brake
On request the motors can be equipped with a holding brake. The brake is
mounted in the motor housing on the B-side. The mechanical dimensions of the
motor are changed. See the dimensions table. The power supply infeed is through
the motor cable. Please see to the poling being correct.
Technical data of the 24V holding brakes:
SMHA motors
Motor type
SMHA 60
Power supply voltage ±10%
Current at 20°C
Resistance at 20°C
Max. static braking torque
Backlash
Moment of Inertia
SMHA 82 SMHA 100
24
0.34
71
2.2
0
13
24
0.5
48
5
0
43
24
0.67
35.8
11
0
104
V
O
Ω
Nm
kgmm2
MHA motors
Motor type
Power supply voltage
Current at 20°C
Resistance at 20°C
Max. static braking torque
Backlash
Moment of Inertia
MHA 56
24
0.32
76
1.25
0
17
24
0.53
45
2,5
0
29
MHA 70
24
1.1
22
10
0
62,5
MHA 105
24
1.8
13.2
30
0
195
MHA 145
24
1.65
14.5
100
0
1000
Attention: The holding brake does not allow active braking.
7.3.2.3
Pulse encoder systems
A resolver is built into the motors in their standard configuration.
The motors are optionally available with the following encoders:
SinCos Singleturn encoder or
SinCos Multiturn absolute value encoder
98
I10 T10 192-120100 N9 - March 2004
MHA 205
V
O
Ω
Nm
kgmm2
±10%
Compax3 Accessories
Parker EME
7.3.2.4
Dimensions of the SMH(A)-motors
112
IM
SF
b
h
i
D
F
t1
C
D
QF
Ø
VxZ
G
DF
S
L
LM / LB / LE / LBE
Typ
e
Motor
SMH 60
1,4
SMH 82
03
SMH 100
LM:
LB:
LE:
LBE:
06
LM / LB / LE / LBE
SF
129,5 / 161,0 / 153,0* / ---,-*
163,5 / 206,5 / 183,5 / 226,5
191,5 / 238,5 / 211,5 / 258,5
7
10
10
IM
70
81
91
Flange type
DF
F
8
5,5
63
5
6
75
8
6,5
100
5
9
115
5
9
115
DxL
WxHxI
t1
VxZ
QF
Ø40
CxS
9x20
11x23
3x3x16
4x4x18
10,2
12,5
----M4x10
60
70
Ø60
14x30
19x40
5x5x25
6x6x30
16
21,5
M5x12.5
M6x16
82
Ø80
100
Ø95
19x40
24x50
6x6x30
8x7x40
21,5
27
M6x16
M8x19
100
Ø95
G
74
h6x2.5
90
112
h6x3.5
135
h6x3.5
135
Length without brake and without encoder
Length with brake and without encoder
Length without brake and with encoder (option A)
Length with brake and with encoder (option A); SMHA 60 with encoder on request
*Dimensional drawing: SMH 60 with encoder
112
64,5
b
h
i
F
D
t1
D
QF
Ø
C
IM
SF
VxZ
G
DF
S
61,5
LM / LB / LE / LBE
L
Currently the encoder and brake options are not simultaneously available for the
SMH60 motor.
I10 T10 192-120100 N9 - March 2004
99
Compax3 Accessories
7.3.2.5
Dimensions of the MH(A)105-motors
IC
SF
b
h
i
F
G
MH 105
flange
5/14
MH 105
flange
6/9
LM:
LB:
LE:
LBE:
100
t1
D
D
VxZ
S
DF
LM / LB / LE /LBE
Motor
C
QF
Ø
Typ
e
LM / LB / LE / LBE
02
186 / 250 / 206 / 260
04
229 / 293 / 250 / 304
06
273 / 337 / 294 / 348
08
317 / 381 / 338 / 392
02
186 / 250 / 206 / 260
04
229 / 293 / 250 / 304
06
273 / 337 / 294 / 348
08
317 / 381 / 338 / 392
SF
10
IC
Flange type
DF
F
5
14
9.5
M8
115
DxL
19x40
24x50
90
6
9
9
7
130
100
Length without brake and without encoder
Length with brake and without encoder
Length without brake and with encoder (option A)
Length with brake and with encoder (option A)
I10 T10 192-120100 N9 - March 2004
WxHxI
6x6x30
8x7x40
L
t1
21,5
27
VxZ
QF
CxS
G
105
Ø95
h6x3.5
140
116
96
Ø110
Ø80
h6x3.5
h6x3.5
155
128
M6x16
M8x19
Compax3 Accessories
Parker EME
7.3.2.6
Dimensions of the MH(A)145 and MH(A)205 motors
IC
h
Ø
D
t1
D
QF
F
b
i
C
IM
SF
VxZ
G
S
DF
L M / LB / LE / LBE
Motor
MH
145
MH
205
Typ
e
LM / LB / LE / LBE
04
200 / 274 / 220 / 294
08
231 / 305 / 251 / 325
15
292 / 366 / 312 / 396
22
354 / 428 / 374 / 448
28
416 / 490 / 436 / 510
28
273 / 372 / 293* / 392*
50
342 / 441 / 362* / 461*
70
90
411 / 510 / 431* / 530*
480 / 579 / 500* / 599*
L
SF
IM
IC
Flange type
DF
F
DxL
WxHxI
t1
VxZ
QF
12
125
103
5
14
11.5
M10
165
24x50
28x60
8x7x40
8x7x50
27
31
M8x19
M10x22
145
Ø130
h6x3.5
200
18
172
132
5
14
215
38x80
42x11
0
10x8x70
12x8x10
0
41
45
M12x32
M16x40
205
Ø180
h6x4
250
CxS
G
LM: Length without brake and without encoder
LB: Length with brake and without encoder
LE: Length without brake and with encoder (option A)
LBE: Length with brake and with encoder (option A)
*
applies only to SinCos Multiturn (Option A7)
Option A6 (SinCos Singleturn) has for MH205 no effect on the motor length (then LM and LB apply).
I10 T10 192-120100 N9 - March 2004
101
Compax3 Accessories
7.3.2.7
Order code for SMH/MH motors
SMH / MH motors
Motor type
MH: MH motor (resolver)
SMH: SMH motor (resolver)
A: with brake 1)
Cooling available on MH105/145/205)
V: passive cooling 2)
SV: active cooling 3)
Size of motor
SMH: 60/82/100
MH: 56/70/105/145/205
Speed
in 100’s of rpms at 400 VAC 4)
Type of motor (as specified in the tables)
Flange type B...
5, 6, 8, 9 or 4 for flange 14 5)
Shaft diameter
9/11/14/19/24/28/38/42
Shaft
S: without feather key
Type of connections
2ID: SMH60/82/100/MH56
2I: MH70/105
3I: MH145/205
Protection class
64: IP64
65: IP65 (standard)
SinCos© type
A6: Singleturn (SRS50) 6)
A7: Multiturn (SRM50) 6)
Increased moment of inertia
M (available on MH105/145/205)
ML (available on MH105/145/205) 7)
Mains power supply (drive)
4: 400VAC 4)
1)
MHA56 not available.
Resulting in longer motor: MH105 +34mm; MH145 +44mm; MH205 +54mm.
3)
Resulting in longer motor: MH105 +64mm; MH145 +97mm; MH205 +109mm
Supply voltage: MH105: 24VDC; MH145: 230VAC; MH205: 230VAC.
4)
Except for motors which are designed for 230V, then the following applies: Speed = 230V speed; mains power supply “2” for 230VAC.
5)
For availability see the dimension tables.
6)
Not for MH56 and MH70. (SMHA 60 on inquiry)
7)
Not for MH105 08, MH145 28 and MH205 90.
Additional options on request (Encoder, Explosion protection).
2)
102
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.4
Connections to the motor
In this chapter you can read about:
Resolver cable..............................................................................................................................103
SinCos cable ................................................................................................................................104
Motor cable overview....................................................................................................................104
Motor cable with plug....................................................................................................................105
Motor cable for terminal box .........................................................................................................106
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:
7.4.1.
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
RD
Ref+
7
Ref-
8
+Temp
9
-Temp
2x0,25
RD
PK
PK
2x0,25
GY
GY
Codiernut S = 20°
9
8
1
10
12
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 is available under the designation REK41/.. in a version which is
suitable for cable chain systems.
You will find the length code in the Accessories order code (see on page 90)
I10 T10 192-120100 N9 - March 2004
103
Compax3 Accessories
7.4.2.
SinCos Cable
27mm
GBK24/..: cable chain compatible
Pin 1
SinCos
Compax3 (X13)
Lötseite
solder side
15
14 10
13 9
12 8
11 7
6
5
4
3
2
1
SIN+
8
SIN-
7
COS+ 12
COS- 11
DATA 13
DATA 14
+5Vfil 5
Tmot 10
+8Vref 4
GND 15
1
2
3
6
9
BU
BU
2x0,25
VT
VT
BN
BN
2x0,25
GN
GN
PK
PK
2x0,25
GY
GY
RD
RD
2x0,25
BK
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
K1
9
K2
10
7
10
16
9
11 12 1
8
15
7
6
14
17 5
4 Schirm auf Schirmanbindungselement
5 Screen at screen contact
6
14
15
16
17
6 mm
Overview of motor cables
Cross-section / max.
permanent load
Motor connector
Motor terminal box
SMH motors
MH145, MH205
MH56, MH70, MH105
standard
cable chain
compatible
standard
cable chain
compatible
1.5 mm2 / up to 13.8 A
MOK55
MOK54
MOK60
MOK63
2.5 mm2 / up to 18.9 A
MOK56
MOK57
MOK59
MOK64
-
-
-
MOK61
--
-
MOK62
2
6 mm / up to 32.3 A
2
10 mm / up to 47.3 A
104
I10 T10 192-120100 N9 - March 2004
4
+V
GND
You will find the length code in the Accessories order code (see on page 90)
7.4.3.
2
13
3
Compax3 Accessories
Parker EME
7.4.4.
Motor cable with plug
MOK55/.. (max. 13.8A)
Cable: 6x1.5 mm2
U
V
W
Bremse/ +24V
Brake
0V
PE ( )
bk1
bk2
bk3
bk4
bk5
gn/ye
bk1
bk2
bk3
bk4
bk5
gn/ye
65 mm
140 mm
75 mm
Lötseite / solder side
Crimpseite / crimp side
1
2
6
4
5
U
V
W
Br+
Br-
5
6
1
4
3
2
3(
)
Schirm auf Schirmanbindungselement
Screen at screen contact
10 mm
MOK54/..: (max. 13.8 A) cable chain compatible
Same structure as MOK55/.. available in cable chain compatible version.
MOK56/..: (max. 18.9A)
Same structure as MOK55, but with 6x2.5 mm2
MOK57/..: (max. 18.9 A) cable chain compatible
Same structure as MOK55, but with 4x2.5 + 2x1 mm2 and cable chain compatible.
You will find the length code in the Accessories order code (see on page 90)
I10 T10 192-120100 N9 - March 2004
105
Compax3 Accessories
7.4.5.
Motor cable for terminal box
MOK61/..: (max. 32.3A) cable chain compatible
Cable: 4x6mm2 + 2x1mm2
U
V
W
PE
Bremse/ +24V
Brake
0V
U1
V2
W3
gn/ye
U1
V2
W3
gn/ye
BR1
BR2
BR1
BR2
U
V
W
PE
Br+
Br-
Schirm auf Schirmanbindungselement
Screen at screen contact
15 mm
220 mm
160 mm
60 mm
25 mm
10 mm
190 mm
165 mm
15 mm
8 mm
MOK62/.. (max. 47.3 A) cable chain compatible
Same structure as MOK61/.. but with 4 x 10mm2 + 2 x 1 mm2
MOK60/.. (max. 13.8A) standard
MOK63/.. (max. 13.8 A) cable chain compatible
Same structure as MOK61/.. but with 6 x 1.5 mm2 .
MOK59/.. (max. 18.9A) standard
MOK64/.. (max. 18.9 A) cable chain compatible
Same structure as MOK61/.. but with 6 x 2.5 mm2 .
You will find the length code in the Accessories order code (see on page 90)
106
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.5
EMC measures
In this chapter you can read about:
Mains filter....................................................................................................................................107
Motor output filter..........................................................................................................................109
7.5.1.
Mains filter
For radio disturbance suppression and for complying with the emission limit values
for CE compliant operation ((see on page 14 ) we offer mains filters:
Observe the maximum permitted length of the connection between the mains filter
and the device:
unshielded <0.5m;
!
shielded: <5m (fully shielded on ground – e.g. ground of control cabinet)
Mains filter NFI01/01
Mains filter for Compax3 S025 V2 and Compax3 S063 V2
L
O
A
D
50,8±0,3
85,4
116
101
L
I
N
E
88,9±0,4
55,5
Dimensional drawing:
79,5
7.5.1.1
!
Ø4
5,2 x 4
139
I10 T10 192-120100 N9 - March 2004
107
Compax3 Accessories
7.5.1.2
Mains filter NFI01/02
Mains filter for Compax2 S038 V4, Compax3 S075 V4 and Compax3
S150 V4
65
Dimensional drawing:
L
O
A
D
L
I
N
E
111
125
140
6,6
70±0,3
151
177
7.5.1.3
Ø4
Mains filter for NFI01/03
Mains filter for Compax3 S300
64
Dimensional drawing:
L
O
A
D
L
I
N
E
115 ±0,3
217
240
108
129
145 ±0,5
159
6,6
Ø4
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.5.2.
Motor output filter
In this chapter you can read about:
Motor output filter MDR01/04........................................................................................................109
Motor output fiter MDR01/01.........................................................................................................109
Motor ouptut filter MDR01/02........................................................................................................110
Wiring of the motor output filter.....................................................................................................110
We offer motor output filters for disturbance suppression when the motor
connecting cables are long (>20m):
7.5.2.1
Motor output filter MDR01/04
up to 6.3A rated motor current
Dimensional drawing:
+
-
U2 V2 W2
+
-
170
U1 V1 W1
5
40
54
95
90
120
Motor output choke MDR01/01
Up to 16 A rated motor current
Dimensional drawing:
U1 V1 W1
+
-
U2 V2 W2
+
-
195
7.5.2.2
6
113
150
50
67
95
I10 T10 192-120100 N9 - March 2004
109
Compax3 Accessories
7.5.2.3
Motor output filter MDR01/02
up to 30 A rated motor current
Dimensional drawing:
+
-
U2 V2 W2
+
-
195
U1 V1 W1
6
57
76
110
136
180
7.5.2.4
Wiring of the motor output filter
Compax3
PE
PE
U
V
W
Br+
Br-
110
Motor
MDR
U1
V1
W1
+
-
U2
V2
W2
+
-
I10 T10 192-120100 N9 - March 2004
M
Compax3 Accessories
Parker EME
7.6
External ballast resistors
In this chapter you can read about:
Ballast resistor BRM8/01 ..............................................................................................................112
Ballast resistor BRM5/01 ..............................................................................................................112
Ballast resistor BRM6/02 ..............................................................................................................112
Ballast resistor BRM4/0x...............................................................................................................113
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 ballast resistors must be installed such that contact with
the human body is prevented.
Install the connecting leads at the bottom.
Observe the instructions on the resistors (warning plate).
The ballast resistors are equipped with a 1.5m connecting lead.
Please note that the length must not exceed 2m
Ballast resistors for Compax3
Ballast resistor
Device
sustained dynamic
BRM8/01 (100Ω
Ω)
Compax3 S025 V2
60W
250W (<1s; ≥10s cooling time)
180W
2300W (<0.4s; ≥8s cooling
time)
Compax3 S038 V4
BRM5/01 (56Ω
Ω)
Compax3 S063 V2
Compax3 S075 V4
BRM6/02 (33Ω
Ω)
Compax3 S150 V4
570W
6900 W (<1s; ≥ 20s cooling
time)
BRM4/01 (15Ω
Ω)
Compax3 S300 V4
570W
6900 W (<1s; ≥ 20s cooling
time)
BRM4/02 (15Ω
Ω)
Compax3 S300 V4
740W
8900W (<1s; ≥20s cooling time)
BRM4/03 (15Ω
Ω)
Compax3 S300 V4
1500W
18kW (<1s; ≥20s cooling time)
I10 T10 192-120100 N9 - March 2004
111
Compax3 Accessories
7.6.1.
BRM8/01 ballast resistors
40
6
Dimensional drawing:
7,5
225
240
7.6.2.
20
BRM5/01 ballast resistor
Dimensional drawing:
101
73
222
245
48
6,5
12
7.6.3.
Ballast resistor BRM6/02
Dimensional drawing:
120
92
250
64
12
95 97
64
6,5
330
1
96
1: thermal overcurrent relay
112
I10 T10 192-120100 N9 - March 2004
98
Compax3 Accessories
Parker EME
Ballast resistor BRM4/0x
Dimensional drawing:
120
92
A
C
B
6,5
12
95
97
1
C
7.6.4.
96
98
1: thermal overcurrent relay
Dimensions:
Size:
BRM4/01
BRM4/02
BRM4/03
A
250
300
540
B
330
380
620
C
64
64
64
I10 T10 192-120100 N9 - March 2004
113
Compax3 Accessories
7.7
Operator control module BDM
Flexible service and maintenance
Functions:
!
114
For mobile or stationary control – can remain on the device for display and
diagnostic purposes or can be moved from device to device and plugged into
each one.
!
Can be plugged in while in operation
!
Power supply via Compax3 servo control
!
Display with 2 times 16 places.
!
Menu-driven operation using 4 keys.
!
Displays and changing of values.
!
Designing function.
!
Display of Compax3 messages.
!
Duplication of device properties to another Compax3 with identical hardware.
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.8
EAM06 terminal block for inputs and outputs
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:
a mounting rail in the control cabinet.
) the terminal block can be installed on
EAM06/ is available in2 variants:
!
EAM06/01: terminal block for X11, X12 without luminous indicator
!
EAM06/02: terminal block for X12 with luminous indicator
Corresponding connecting cables EAM06 - Compax3 are available:
!
From X11 - EAM06/01: SSK23/..
!
From X12 - EAM06/xx: SSK24/..
EAM6/01: terminal block without luminous indicator for X11 or X12
I10 T10 192-120100 N9 - March 2004
115
Compax3 Accessories
Width: 67.5 mm
EAM6/02: terminal block with luminous indicator for X12
Width: 67.5 mm
Cable plan SSK23/..: X11 on EAM 06/01
Compax3
Pin 1
Lötseite
solder side
15
10
14
13 9
12 8
11 7
6
5
4
3
2
1
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
116
6 mm
I10 T10 192-120100 N9 - March 2004
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
Cable plan SSK24/..: X12 on 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
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
2 mm
6 mm
I10 T10 192-120100 N9 - March 2004
117
Compax3 Accessories
7.9
ZBH plug set
The plug set which is available as accessory comprises:
!
a shield terminal with large contact area for the motor cable shield, and
!
the mating plug connectors for the Compax3 plug connectors X1, X2, X3, and X4
ZBH02/01: for Compax3 Sxxx V2
ZBH02/02: for Compax3 S038 V4, Compax3 S075 V4 and Compax3
S150 V4
ZBH02/03: for Compax3 S300 V4
118
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.10 Interface cable
In this chapter you can read about:
RS232 cable.................................................................................................................................119
RS485 cable to Pop......................................................................................................................120
I/O interface X12...........................................................................................................................121
Ref X11 ........................................................................................................................................122
Encoder cable ..............................................................................................................................123
7.10.1. 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 will find the length code in the Accessories order code (see on page 90)
I10 T10 192-120100 N9 - March 2004
119
Compax3 Accessories
7.10.2. RS485 cable to Pop
SSK27: Connection Pop - Compax3 - Compax3 - ...
Länge / Length B
Länge / Length A
_n
Länge / Length B
Pin 1
Pin 1
_2
Pin 1
_1
Pin 1
15
8
CHA+
14
X2
BN
BN
CHA-
6
X3
YE
YE
GND
5
X4
WH
WH
1
TxD_RxD
3
TxD_RxD
5
GND
GN
1
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
1-4
7 - 13
15
7
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
NC
NC
1
2
3
4
5
NC
NC
26 mm
4,6,8
R21 nur im letzten Stecker
R21 only on the last connector
GN
6 mm
6
7
8
9
1 Brücke /
9 Bridge
RD
4 mm
Lötseite
solder side
BN
7
TxD_RxD
YE
3
TxD_RxD
WH
5
GND
Schirm großflächig auf Gehäuse legen
Place sheath over large area of housing
Lötseite
solder side
1
2
3
4
5
1 Brücke /
9 Bridge
RD
NC
4,6,8
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:
SSK27/05/.. for connecting from Pop to 5 Compax3.
SSK27/01/.. for connection from Pop to one Compax3
120
I10 T10 192-120100 N9 - March 2004
6
7
8
9
Compax3 Accessories
Parker EME
7.10.3. I/O interface X12
SSK22/..: cable for X12 with open ends
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
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
Screen
23 mm
2 mm
6 mm
You will find the length code in the Accessories order code (see on page 90)
I10 T10 192-120100 N9 - March 2004
121
Compax3 Accessories
7.10.4. 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 will find the length code in the Accessories order code (see on page 90)
122
I10 T10 192-120100 N9 - March 2004
Compax3 Accessories
Parker EME
7.10.5. Encoder cable
32mm
GBK23/..: connection from encoder to Compax3
Pin 1
Compax3 (X11)
Lötseite
solder side
15
10
14
9
13
8
12
7
11
6
5
4
3
2
1
Encoder
GN
A
YE
B
A
7
GN
A/
6
YE
B
8
GY
GY
D
B/
12
PK
PK
E
N
14
RD
RD
G
BU
H
WH
K
BN
M
N/
13
BU
GND
15
WH
+5V
5
BN
2x0,14
2x0,14
2x0,14
2x0,5
Lötseite / Crimpseite
A
P
B
N Z R
Y
S
C
M
X
T
D
L
U E
K W
J
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 will find the length code in the Accessories order code (see on page 90)
I10 T10 192-120100 N9 - March 2004
123
Technical Data
8. Technical Data
Mains connection: Compax3 S0xx V2
Controller type
S025 V2
Mains voltage
S063 V2
Single phase 230VAC + 10%
80-230VAC+10% / 50-60Hz
Rated input current
6Aeff
Maximum fuse rating per device
10A (automatic circuit 16 A (automatic circuit
breaker K)
breaker K)
16Aeff
Mains connection Compax3 Sxxx V4
Controller type
S038 V4
S075 V4
Mains voltage
Three-phase 3*400VAC
S150 V4
S300 V4
16Aeff
22Aeff
80-480 VAC+10% / 50-60 Hz
Rated input current
6Aeff
Maximum fuse rating per 10A (automatic
device
circuit breaker
K)
10 Aeff
16 A (automatic circuit
breaker K)
25A (automatic
circuit breaker
K)
Output data: Compax3 S0xx V2
Controller type
S025 V2
S063 V2
Output voltage (at 1*230 V)
3x 0-230V
3x 0-230V
Rated output current (at 1*230 V)
2.5Aeff
6.3Aeff
Pulse current
5Aeff for 5s
12.6Aeff for 5s
Power [hp]
1kVA
2.5kVA
Switching frequency
8kHz
8kHz
Power loss for In [Pv]
30W
60W
Efficiency
95%
96%
The currents are valid for the power output stage clock frequency of 8kHz normally
set.
Output data Compax3 Sxxd V4
Controller type
S038 V4
S075 V4
S150 V4
S300 V4
Output voltage (at 3*400
VAC)
3x 0-400V
Rated output current (at
3*400 VAC)
3.8Aeff
7.5Aeff
15Aeff
30Aeff
Pulse current
7.5Aeff for 5s
15Aeff for 5s
30Aeff for 5s
60Aeff for 5s
2.5kVA
5kVA
10kVA
20kVA
8kHz
8kHz
4kHz
4kHz
(at 400VAC)
Power [hp]
(at 400VAC)
Switching frequency
124
I10 T10 192-120100 N9 - March 2004
Technical Data
Parker EME
Power loss for In
80 W
120W
160W
350W
Efficiency
94%
95%
97%
97%
Resulting nominal and peak currents depending on the switching
frequency of the power output stage
Compax3 S0xx V2 at 230VAV
Power output
stage switching
frequency
S025 V2
S063 V2
8kHz
Inominal
2.5Aeff
6.3Aeff
pre-set
Ipeak (<5s)
5.5Aeff
12.6Aeff
16kHz
Inominal
2.5Aeff
5.5Aeff
Ipeak (<2,5s)
5.5Aeff
12.6Aeff
Compax3 S0xx V4 at 3*400VAC
Power output
stage switching
frequency
4kHz
8kHz
16kHz
S038 V4
S075 V4
S150 V4
S300 V4
Inominal
-
-
15Aeff
30Aeff
Ipeak (<5s)
-
-
30Aeff
60Aeff
Inominal
3.8Aeff
7.5Aeff
10.0Aeff
26Aeff
Ipeak (<2,5s)
9.0Aeff
15.0Aeff
20.0Aeff
52Aeff
Inominal
2.5Aeff
3.7Aeff
5.0Aeff
14Aeff
Ipeak (<2,5s)
5.0Aeff
10.0Aeff
10.0Aeff
28Aeff
S038 V4
S075 V4
S150 V4
S300 V4
Compax3 S0xx V4 at 3*480VAC
Power output
stage switching
frequency
4kHz
Inominal
-
-
13.9Aeff
30Aeff
pre-set
Ipeak (<5s)
-
-
30Aeff
60Aeff
8kHz
Inominal
3.8Aeff
6.5Aeff
8.0Aeff
21.5Aeff
Ipeak (<2,5s)
7.5Aeff
15.0Aeff
16.0Aeff
43Aeff
Inominal
2.0Aeff
2.7Aeff
3.5Aeff
10Aeff
Ipeak (<2,5s)
4.0Aeff
8.0Aeff
7.0Aeff
20Aeff
16kHz
The values marked with grey re the pre-set values (standard values)!
Accuracy at the motor
For option F10: Resolver
!
!
For option F11: SinCos
!
!
I10 T10 192-120100 N9 - March 2004
Position resolution: 16 bits (= 0.005°)
Absolute accuracy: ±0.167°
Position resolution: 19 bits (= 0.0002°)
Absolute accuracy: ±0.005°
125
Technical Data
For option F12: Direct drives
Position resolution per pitch resp. per
revolution (max. 24bit):
! the analog hall sensors: 13 bits
!
!
!
For Sine-Cosine:
13Bit + log2 (Strokes / Pitch)
For TTL (ES422):
2 + log2 (Strokes / Pitch)
For rotational motors you have to use revolutions
instead of pitch.
Accuracy:
The accuracy depends on the
accuracy of the encoders used.
!
Control voltage 24 VDC
Controller type
Compax3
Voltage range
21 - 27VDC
Current drain of the device
0.8 A
Total current drain
0.8 A + Total load of the digital outputs +
current for the motor holding brake
Ripple
0.5Vpp
Requirement according to safe extra
low voltage (SELV)
yes
Motors and feedback systems supported
Motors
!
Direct drives
!
Linear motors
!
Torque motors
!
!
Position encoder (Feedback)
Litton:
Sinusoidal commutated synchronous
motors up to maximum rotation speed
of 9000 rpm.
3 phase synchronous direct drives
Maximum rotating field frequency
600Hz
Option F10: Resolver
!
JSSBH-15-E-5
!
JSSBH-21-P4
!
RE-21-1-A05
!
RE-15-1-B04
Tamagawa:
!
2018N321 E64
Siemens:
!
23401-T2509-C202
Option F11: SinCos©
!
!
126
I10 T10 192-120100 N9 - March 2004
Singleturn (Stegmann)
Multiturn (Stegmann) Absolute position
up to 4096 motor revolutions.
Technical Data
Parker EME
Special encoder systems for direct
drives
Analog hall sensors
Encoder
(linear or rotatory)
Distance coded
feedback systems
Option F12
Sine - cosine signal (max. 5Vss4; typical
1Vss) 90° offset
5
! U-V Signal (max. 5Vss ; typical 1Vss)
120° offset.
6
! Sine-cosine (max. 5Vss ; typical 1Vss)
(max. 400kHz) or
! TTL (RS422) (max. 5MHz)
with the following modes of commutation:
! automatic commutation (see on page
92) or
! Digital hall sensors
! Distance coding with 1VSS - Interface
! Distance coding with RS422 - Interface
(Encoder)
!
Interfaces
Interface selection by external plug contact assignment
RS232
RS485 (2 or 4-wire)
!
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
Motor holding brake output
Controller type
Compax3
Voltage range
21 – 27VDC
Maximum output current (short circuit
proof)
1.6 A
Brake operation Compax3 Sxxx V2
Controller type
S025 V2
S063 V2
Capacitance / storable energy
560µF / 15Ws
1120µF /30Ws
Minimum ballast - resistance
100Ω
56Ω
Recommended nominal power rating
20 ... 60W
60 ... 180W
Pulse power rating for 1s
1kW
2.5kW
4
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
6
Max. differential input between SIN- (X13/7) and SIN+ (X13/8).
5
I10 T10 192-120100 N9 - March 2004
127
Technical Data
Compax3 Sxxx V4 brake operation
Controller type
S038 V4
Capacitance / storable
energy
S075 V4
S150 V4
S300 V4
235µF / 37Ws 470µF / 75Ws 690µF /
110Ws
1100µF /
176Ws
Minimum ballast resistance
100Ω
56Ω
22Ω
15Ω
Recommended nominal
power rating
60 ... 250W
60 ... 500 W
60 ... 1000 W
60 ... 1000 W
Pulse power rating for 1s
2.5kW
5kW
10 kW
42kW
Ballast resistors for Compax3
Ballast resistor
Device
sustained
dynamic
BRM8/01 (100Ω
Ω)
Compax3 S025 V2
60W
250W (<1s; ≥10s cooling time)
180W
2300W (<0.4s; ≥8s cooling time)
Compax3 S038 V4
BRM5/01 (56Ω
Ω)
Compax3 S063 V2
Compax3 S075 V4
BRM6/02 (33Ω
Ω)
Compax3 S150 V4
570W
6900 W (<1s; ≥ 20s cooling time)
BRM4/01 (15Ω
Ω)
Compax3 S300 V4
570W
6900 W (<1s; ≥ 20s cooling time)
BRM4/02 (15Ω
Ω)
Compax3 S300 V4
740W
8900W (<1s; ≥20s cooling time)
BRM4/03 (15Ω
Ω)
Compax3 S300 V4
1500W
18kW (<1s; ≥20s cooling time)
Mechanical data
Controller type
Dimensions
Weight [kg]
HxWxD [mm]
Compax3 S025 V2
199 x 84 x 172
2.0
Compax3 S063 V2
199 x 100 x 172
2.5
Compax3 S038 V4
260 x 100 x 172
3,5
Compax3 S075 V4
260 x 115 x 172
4,3
Compax3 S150 V4
260 x 160 x 172
6,8
Compax3 S300 V4
380 x 175 x 172
10,9
Protection type IP20
Safety
Safe stop as per EN954-1, category 3
For implementation of the “protection
against unexpected start-up“ function
described in EN1037.
! Please note the circuit examples in the
paper manual supplied. Circuitry
examples.
!
UL certification
conform to UL:
!
according to UL508C
Certified
!
E-File_No.: E235 342
The UL certification is documented by a “UL” logo on the
device (type specification plate)
“UL“ logo
128
I10 T10 192-120100 N9 - March 2004
Technical Data
Parker EME
Insulation requirements
Protection class
Protection class I according to EN 50 178 (VDE
0160 part 1)
Protection against human contact with
dangerous voltages
According to DIN VDE 0106, part 100
Overvoltage category
Voltage class III according to HD 625 (VDE
0110-1)
Degree of contamination
Degree of contamination 2 according to HD 625
(VDE 0110 part 1) and EN 50 178 (VDE 0160
part 1)
Ambient conditions
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
Class 3K3
Class 2K3
Class 2K3
Tolerated humidity:
No condensation
Operation
Storage
Transport
<= 85% Class 3K3
<= 95% Class 2K3
<= 95% Class 2K3
Elevation of operating site
<=1000m above sea level for 100% load
ratings
(Relative humidity)
Please inquire for greater elevations
Cooling mode
Compax3 S025 V2 ... S150 V4: convection
Compax3 S300 V4: force-ventilation via fan in
the heat dissipator
Sealing
IP20 protection class according to EN 60 529
EMC interference emission
Limit values according to EN 61 800-3, Class ‘A‘
with integrated mains filter for up to 10 m cable
length, otherwise with external mains filter
EMC disturbance immunity
Limit values for industrial utilization according to
EN 61 800-3 (includes EN 50 081-2 and EN 50
082-2)
EC directives and harmonised EC norms
EC low voltage directive
73/23/EEC and RL 93/68/EEC
EN 50 178, General industrial safety norm
Equipping electric power systems with
electronic operating equipment
HD 625, general electrical safety
Insulation principles for electrical operating
equipment
EN 60 204-1, Machinery norm, partly applied
EC-EMC directive
89/336/EEC
EN 61 800-3, EMC norm
Product standard for variable speed drives
EN 50 081-2 ... 50 082-2, EN 61 000-4-2 ...61
000-4-5
I10 T10 192-120100 N9 - March 2004
129
Technical Data
Inputs/Outputs
Command interface (optional)
!
!
!
!
!
!
±10V analogue speed or current
setpoint; 14Bits; 62.5µs sampling rate
Step/Direction RS422 (5V level)
Encoder A/B RS422
Step/Direction (24V level)
Encoder A/B 24V
Maximum input frequency
! Inputs 24V: max. input frequency
300kHz at ≥50Ω source impendance
and minimum pulse width of 1.6 µs
!
Actual position at ±10V defined
analogue setpoint
!
Signal monitor
!
!
!
4/5 digital inputs (24V level)
!
!
4 digital outputs
!
!
130
I10 T10 192-120100 N9 - March 2004
Inputs RS422: up to 10MHz
Encoder simulation
Resolution: 512 or 1024 increments/rev.
2 channels ±10 V analogue
Resolution: 8 bits
Energize motor, command value
release, quit, brake open.
Keep position / speed 0 (configurable)
(only in the "±10V analogue current
setpoint value“ operating mode)
Error, command value in window, power
output stage de-energised, holding
Loading max. 100mA
Index
Parker EME
9. Index
±
±10V analogue current setpoint commanding
and encoder emulation • 46
±10V analogue current setpoint • 60
±10V analogue speed setpoint • 60
±10V analogue speed setpoint commanding
and encoder emulation • 43
A
Accessories order code • 92
Advanced control parameters • 59
Analog / Encoder (plug X11) • 28
Analog command interface +/-10V with
encoder simulation • 52
Analogue Inputs/Outputs • 28
Configuration • 37
Configuration name / comments • 50
Connections to the motor • 106
Control dynamics • 56
Control voltage 24 VDC • 26
Control voltage 24VDC / enable (plug X4) • 26
Controller settings • 60
Controller structure step/direction or encoder
input • 59
Controller structures • 59
Current Limit • 50
Currents • 72
D
Damping of the speed controller • 58
Device • 68
Device assignment • 8
Device status • 54
Digital Inputs/Outputs • 29
Digital inputs/outputs (plug X12) • 29
Dimensions of the MH(A)105-motors • 103
Dimensions of the MH(A)145 and MH(A)205
motors • 104
Dimensions of the SMH(A)-motors • 102
Direct drives • 10, 95
B
Ballast resistor • 23, 39, 130
Ballast resistor / high voltage supply plug X2
for 230VAC devices • 23
Ballast resistor / high voltage supply plug X2
for 400VAC devices • 24
Ballast resistor BRM4/0x • 116
Ballast resistor BRM6/02 • 115
Brake delay times • 66
BRM5/01 ballast resistor • 115
BRM8/01 ballast resistors • 115
E
C
C3 IEC61131-3 - Debugger • 12
C3 MotorManager: configuration of almost any
motors • 12
C3 ServoManager: configuration, setup and
optimization of Compax3 • 11
Calibration of the analog input • 64
CAM • 74
CamEditor: cam creation for C3 T40 • 12
CoDeSys - IEC61131-3 - development tool •
12
Command interface • 42
Command value release X12/7=24VDC • 31
Compax3 Accessories • 91
Compax3 device description • 20
Compax3 with analogue and step/direction
input • 18
Complements / corrections in manual and
online help • 12
Conditions of utilization • 15
conditions of utilization for CE compliant
operation • 110
Conditions of utilization for CE-conform
operation • 15
Conditions of utilization for UL permission • 10,
17
EAM06 terminal block for inputs and outputs •
118
EMC measures • 110
Encoder cable • 126
Encoder input 24V • 45, 53
Encoder input RS422 • 45, 52
Encoder Interface • 28
Energize motor X12/6=24VDC • 31
Error • 78
Error list • 78
External ballast resistors • 114
F
Filter for speed value • 58
Filter rising of current (Para) • 64
Firmware - Download • 11
Forward control measures • 61
Function of the LEDs on the front panel • 22
G
Gain alignment • 65
General hazards • 13
H
Holding brake • 101
I
I/O interface X12 • 124
I10 T10 192-120100 N9 - March 2004
131
Index
IEC61131-3 • 75
Input wiring of digital inputs • 30
Inputs • 74
Installation and dimensions Compax3 • 33
Installation and dimensions of Compax3 S038
and S075 V4 • 34
Installation and dimensions of Compax3 S0xx
V2 • 33
Installation and dimensions of Compax3 S150
V4 • 35
Installation and dimensions of Compax3 S300
V4 • 36
Interface cable • 122
Introduction • 8
L
Limit and monitoring settings • 49
Linear motors • 96
M
Mains filter • 110
Mains filter for NFI01/03 • 111
Mains filter NFI01/01 • 110
Mains filter NFI01/02 • 110
Maximum operating speed • 50
Motor • 68
Motor / Motor brake (plug X3) • 25
Motor cable for terminal box • 109
Motor cable with plug • 108
Motor Connection • 25
Motor data table for standard motors • 100
Motor holding brake • 25
Motor output choke MDR01/01 • 112
Motor output choke MDR01/02 • 113
Motor output filter • 112
Motor output filter MDR01/04 • 112
Motor selection • 39
R
Ref X11 • 125
Release 1/2004 • 10
Resolver • 31
Resolver / Feedback (connector X13) • 31
Resolver cable • 106
Resolverkabel • 32
Rising of current (Para) • 64
Rotary servo motors • 97
RS232 / RS485 interface (plug X10) • 27
RS232 cable • 122
RS232 plug assignment • 27
RS485 / RS232 interface • 11
RS485 cable to Pop • 123
RS485 plug assignment • 27
S
N
New Compax3 functions • 10
New functions of the Compax3 software tools •
11
New machine zero modes • 11
Nominal value window • 49
O
Offset alignment • 65
Operator control module BDM • 117
Optimization • 56
Optimize motor reference point and switching
frequency of the power output stage • 40
Order code accessories • 106, 107, 108, 109,
122, 124, 125, 126
Order code for Compax3 • 91
Order code for SMH/MH motors • 105
Output wiring of digital outputs • 30
Overview of motor cables • 107
P
Parker servo motors • 95
Plug and connector assignment Compax3 • 21
132
Plug assignment Compax3S0xx V2 • 21, 22,
23, 25, 26, 27, 28, 29, 31
Positions • 69
Power supply • 21, 22
Power supply plug X1 for 230VAC devices • 22
Power supply plug X1 for 400 VAC devices •
23
Predefined external setpoint value optimized
via analogue input • 10
Pulse encoder systems • 101
Safety Instructions • 13
Safety-conscious working • 13
Setpoint control • 48
Setting up Compax3 • 37
Setup support • 11
SinCos-cable • 32, 107
Special safety instructions • 14
Speeds • 70
Status values • 67
Step/Direction Input 24V • 44, 53
Step/Direction Input RS422 • 44, 52
Stiffness of the speed controller • 57
Switching frequency of the power output stage
can be set • 10
T
Technical Data • 127
Test commissioning: Compax3 S0xx V2 I10 •
51
Time frame predefined setpoint value • 44, 47
Torque motors • 96
Transmitter • 76
Transmitter systems for direct drives • 95
Turning the motor holding brake on and off •
66
Type specification plate • 9
U
UL certification • 10
Usage in accordance with intended purpose •
13
W
I10 T10 192-120100 N9 - March 2004
Index
Parker EME
Warranty conditions • 14
Wiring of analog outputs • 29
Wiring of the analog input • 28
Wiring of the motor output filter • 113
X
X1 • 22
X10 • 27
X11 • 28
X12 • 29
X13 • 31
X2 • 23
X3 • 25
X4 • 26
Z
ZBH plug set • 121
I10 T10 192-120100 N9 - March 2004
133
Index
134
I10 T10 192-120100 N9 - March 2004