step/direction and analogue command input - … and analogue command input i10 t10 192-120100 n9 ......

Electromechanical Automation

We reserve the right to make technical changes. 10.03.04 08:46 I10 T10 192-120100 N9 - March 2004The data correspond to the technical state at the time of printing.

Operating instructions Compax3 I10 T10

Step/Direction and AnalogueCommand Input

I10 T10 192-120100 N9 - March 2004

Release 1/2004 (as from firmware V2.03)

Introduction

2 I10 T10 192-120100 N9 - March 2004

____________________________

Copyright © 2003 Parker Hannifin GmbH EMEAll rights reserved.Microsoft Word, Microsoft Office, Windows®, Window 95, Window 98,Windows NT®, Window 2000, Window XP and MS-DOS are trademarks ofMicrosoft Corporation.

EME - Electromechanical Automation Europe

Parker Hannifin GmbHElectromechanical AutomationPostfach: 77607-1720Robert-Bosch-Str. 22D-77656 OffenburgTel.: +49 (0)781 509-0Fax: +49 (0)781 509-176

E-mail: [email protected] mailto:[email protected]: www.parker-eme.com http://www.parker-eme.com

Parker Hannifin plcElectromechanical Automation21 Balena ClosePoole, Dorset England, BH17 /DX UKTel.: +44 (0)1202 69 9000Fax: +44 (0)1202 69 5750


Parker Hannifin S. p. AElectromechanical AutomationVia Gounod 1I-20092 Cinisello Balsamo (MI), ItalyTel.: +39 (0)2660 12459Fax: +39 (0)2660 12808


EMN - Electromechanical Automation North America

Parker Hannifin CorporationElectromechanical Automation5500 Business Park DriveRohnert Park, CA 94928Phone #: (800) 358-9068FAX #: (707) 584-3715

E-mail: [email protected] mailto:[email protected]: www.compumotor.com http://www.compumotor.com

Germany:

England:

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mailto:[email protected]

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Parker EME Device assignmentNew Compax3 functions

I10 T10 192-120100 N9 - March 2004 3

Contents

1. Introduction .............................................................................................7

1.1 Device assignment .................................................................................. 7

1.2 Type specification plate .......................................................................... 8

1.3 Release 1/2004 ......................................................................................... 91.3.1. New Compax3 functions ................................................................................... 9

1.3.1.1 Direct drives ............................................................................................ 91.3.1.2 Switching frequency of the power output stage can be set .................... 91.3.1.3 Predefined external setpoint value optimized via analogue input........... 91.3.1.4 UL certification ....................................................................................... 91.3.1.5 New machine zero modes .................................................................... 101.3.1.6 RS485 / RS232 interface ...................................................................... 10

1.3.2. New functions of the Compax3 software tools............................................. 101.3.2.1 C3 ServoManager: configuration, setup and optimization of

Compax3............................................................................................... 101.3.2.2 C3 MotorManager: configuration of almost any motors........................ 111.3.2.3 C3 IEC61131-3 - Debugger .................................................................. 111.3.2.4 CoDeSys - IEC61131-3 - development tool.......................................... 111.3.2.5 CamEditor: cam creation for C3 T40 .................................................... 11

1.3.3. Complements / corrections in manual and online help............................... 11

1.4 Safety Instructions................................................................................. 121.4.1. General hazards............................................................................................... 121.4.2. Safety-conscious working .............................................................................. 121.4.3. Special safety instructions ............................................................................. 13

1.5 Warranty conditions .............................................................................. 13

1.6 Conditions of utilization ........................................................................ 141.6.1. Conditions of utilization for CE-conform operation..................................... 141.6.2. 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.......................................... 203.1.1. Function of the LEDs on the front panel ....................................................... 213.1.2. Power supply plug X1 for 230VAC devices................................................... 213.1.3. Power supply plug X1 for 400 VAC devices.................................................. 223.1.4. Ballast resistor / high voltage supply plug X2 for 230VAC devices........... 223.1.5. Ballast resistor / high voltage supply plug X2 for 400VAC devices........... 233.1.6. Motor / Motor brake (plug X3)......................................................................... 243.1.7. Control voltage 24VDC / enable (plug X4)..................................................... 253.1.8. RS232 / RS485 interface (plug X10) ............................................................... 26

IntroductionNew Compax3 functions

4 I10 T10 192-120100 N9 - March 2004

3.1.9. Analog / Encoder (plug X11)........................................................................... 273.1.9.1 Wiring of the analog input ..................................................................... 273.1.9.2 Wiring of analog outputs ....................................................................... 28

3.1.10. Digital inputs/outputs (plug X12) ................................................................... 283.1.10.1 Input wiring of digital inputs................................................................... 293.1.10.2 Output wiring of digital outputs.............................................................. 293.1.10.3 Energize motor X12/6="24VDC"........................................................... 303.1.10.4 Command value release X12/7="24VDC" ............................................ 30

3.1.11. Resolver / Feedback (connector X13)............................................................ 30

3.2 Installation and dimensions Compax3................................................. 323.2.1. Installation and dimensions of Compax3 S0xx V2....................................... 323.2.2. Installation and dimensions of Compax3 S038 and S075 V4...................... 333.2.3. Installation and dimensions of Compax3 S150 V4....................................... 343.2.4. Installation and dimensions of Compax3 S300 V4....................................... 35

4. Setting up Compax3..............................................................................36

4.1 Configuration ......................................................................................... 364.1.1. Motor selection ................................................................................................ 384.1.2. Ballast resistor................................................................................................. 384.1.3. Optimize motor reference point and switching frequency of the

power output stage.......................................................................................... 394.1.4. Command interface ......................................................................................... 41

4.1.4.1 ±10V analogue speed setpoint commanding and encoderemulation............................................................................................... 42

4.1.4.2 Step/Direction Input RS422 .................................................................. 434.1.4.3 Step/Direction Input 24V....................................................................... 434.1.4.4 Encoder input RS422............................................................................ 444.1.4.5 Encoder input 24V ................................................................................ 444.1.4.6 ±10V analogue current setpoint commanding and encoder

emulation............................................................................................... 454.1.5. Setpoint control ............................................................................................... 474.1.6. Limit and monitoring settings ........................................................................ 48

4.1.6.1 Nominal value window .......................................................................... 484.1.6.2 Current Limit ......................................................................................... 494.1.6.3 Maximum operating speed.................................................................... 49

4.1.7. Configuration name / comments.................................................................... 49

4.2 Test commissioning: Compax3 S0xx V2 I10 ....................................... 504.2.1. Analog command interface +/-10V with encoder simulation ...................... 514.2.2. Step/Direction Input RS422............................................................................. 514.2.3. Encoder input RS422....................................................................................... 514.2.4. Encoder input 24V ........................................................................................... 524.2.5. Step/Direction Input 24V ................................................................................. 52

4.3 Device status.......................................................................................... 53

4.4 Optimization ........................................................................................... 554.4.1. Control dynamics ............................................................................................ 55

4.4.1.1 Stiffness of the speed controller ........................................................... 564.4.1.2 Damping of the speed controller ........................................................... 574.4.1.3 Filter for speed value ............................................................................ 574.4.1.4 Advanced control parameters............................................................... 584.4.1.5 Controller settings ................................................................................. 60

Parker EME Device assignmentNew Compax3 functions

I10 T10 192-120100 N9 - March 2004 5

4.4.2. Calibration of the analog input....................................................................... 634.4.2.1 Offset alignment.................................................................................... 644.4.2.2 Gain alignment...................................................................................... 64

4.4.3. 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 .............................................................................. 927.3.1. Direct drives ..................................................................................................... 92

7.3.1.1 Transmitter systems for direct drives.................................................... 927.3.1.2 Linear motors ........................................................................................ 937.3.1.3 Torque motors....................................................................................... 93

7.3.2. Rotary servo motors........................................................................................ 947.3.2.1 Motor data table for standard motors.................................................... 97Holding brake ....................................................................................................... 98Pulse encoder systems ........................................................................................ 98Dimensions of the SMH(A)-motors ...................................................................... 99Dimensions of the MH(A)105-motors................................................................. 100Dimensions of the MH(A)145 and MH(A)205 motors ........................................ 1017.3.2.2 Order code for SMH/MH motors ......................................................... 102

7.4 Connections to the motor ................................................................... 1037.4.1. Resolver cable................................................................................................ 1037.4.2. SinCos-Kabel.................................................................................................. 1047.4.3. Overview of motor cables ............................................................................. 1047.4.4. Motor cable with plug.................................................................................... 1057.4.5. Motor cable for terminal box ........................................................................ 106

IntroductionNew Compax3 functions

6 I10 T10 192-120100 N9 - March 2004

7.5 EMC measures ..................................................................................... 1077.5.1. Mains filter ...................................................................................................... 107

7.5.1.1 Mains filter NFI01/01........................................................................... 1077.5.1.2 Mains filter NFI01/02........................................................................... 1087.5.1.3 Mains filter for NFI01/03...................................................................... 108

7.5.2. Motor output filter.......................................................................................... 1097.5.2.1 Motor output filter MDR01/04.............................................................. 1097.5.2.2 Motor output choke MDR01/01........................................................... 1097.5.2.3 Motor output choke MDR01/02........................................................... 1107.5.2.4 Wiring of the motor output filter........................................................... 110

7.6 External ballast resistors .................................................................... 1117.6.1. BRM8/01 ballast resistors ............................................................................. 1127.6.2. BRM5/01 ballast resistor ............................................................................... 1127.6.3. Ballast resistor BRM6/02............................................................................... 1127.6.4. 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...................................................................................... 1197.10.1. RS232 cable.................................................................................................... 1197.10.2. RS485 cable to Pop ....................................................................................... 1207.10.3. I/O interface X12............................................................................................. 1217.10.4. Ref X11............................................................................................................ 1227.10.5. Encoder cable ................................................................................................ 123

8. Technical Data.....................................................................................124

9. Index.....................................................................................................131

Parker EME Introduction

I10 T10 192-120100 N9 - March 2004 7

In this chapter you can read about:Device assignment ...........................................................................................................................7Type plate ........................................................................................................................................8Release 1/2004 ................................................................................................................................9Safety instructions ..........................................................................................................................12Warranty conditions........................................................................................................................13Conditions 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

1. Introduction

Introduction

8 I10 T10 192-120100 N9 - March 2004

1.2 Type specification plate

You will find the exact description of the device on the type specificationplate, which is located on the right side of the device:

1

2

4

7

8

5 6

9

10

3

Explanation:

1 Type designationThe complete order designation of the device (2, 5, 6, 10, 9)

2 C3S025V2C3: Abbreviation for Compax3S: Single axis device with direct AC mains power supply025: Device current drain in 100mA (025=2.5A)V2: 230VAC (single phase); V4: 400VAC (three phase)

3 Unique number of the particular device4 Nominal power supply voltage of the device5 Designation of the feedback system

F10: ResolverF11: SinCos© / Single- or MultiturnF12: Feedback module for direct drives

6 Device interfaceI10: Analog, Step/Direction and Encoder InputI11: Digital inputs/outputsI20: Profibus DPI21: CANopen

7 Corresponding fuse protection8 Date of factory test9 Options10 Technology function

T10: Servo ControllerT11: PositioningT30: Motion control programmable according to IEC61131-3T40: Electronic cam control

Compax3 - Typespecification plate:


I10 T10 192-120100 N9 - March 2004 9

1.3 Release 1/2004

In this chapter you can read about:New Compax3 functions...................................................................................................................9New functions of the Compax3 software tools ................................................................................10Complements / corrections in manual and online help ....................................................................11

1.3.1. New Compax3 functions

In this chapter you can read about:Direct drives .....................................................................................................................................9Switching frequency of the power output stage can be set................................................................9Optimization of the predefined external setpoint via the analog input ................................................9UL certification..................................................................................................................................9New machine zero modes ..............................................................................................................10RS485 / RS232 interface ................................................................................................................10

1.3.1.1 Direct drives

The feedback module F12 supports the following feedback systems:! Distance coding with 1VSS - Interface! Distance coding with RS422 - Interface (Encoder)

1.3.1.2 Switching frequency of the power output stage can be set

The switching frequency of the power output stage (see on page 39) can beincreased if necessary. This helps mainly to reduce motor sounds.Please note that power output stage losses increase with rising switchingfrequency. 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 T10and 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)

Introduction

10 I10 T10 192-120100 N9 - March 2004

1.3.1.5 New machine zero modes

! 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

1.3.1.6 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 ..................................................10C3 MotorManager: configuration of almost any motors ...................................................................11C3 IEC61131-3 - Debugger ............................................................................................................11CoDeSys - IEC61131-3 development tool .................................................................................11CamEditor: Cam creation for C3 T40..............................................................................................11

1.3.2.1 C3 ServoManager: configuration, setup and optimization ofCompax3

A modified recipe array can be loaded separately (without complete download) intothe device.

Firmware - Download

The Compax3 firmware can only be modified resp. updated with the aid of the C3ServoManager.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 optimizationwindow.


I10 T10 192-120100 N9 - March 2004 11

1.3.2.2 C3 MotorManager: configuration of almost any motors

New:

! Integration of distance coded feedback systems! Export / Import of user defined (customers) motor! Calibration of commutation also for linear motors with small travel path

Changes

! 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

1.3.2.3 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.

Introduction

12 I10 T10 192-120100 N9 - March 2004

1.4 Safety Instructions

In this chapter you can read about:General hazards .............................................................................................................................12Working safely................................................................................................................................12Special safety instructions ..............................................................................................................13

1.4.1. General hazards

General Hazards on Non-Compliance with the Safety InstructionsThe device described in this manual is designed in accordance with the latesttechnology and is safe in operation. Nevertheless, the device can entail certainhazards 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 sequencescan be can combined by interconnecting several of these devices. Mutualinterlocking 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 andoperational relationships, have been authorized by the officer responsible for thesafety of the system to perform the required task and in the process are capableof recognizing potential hazards and avoiding them (definition of technicalpersonnel according to VDE105 or IEC364),

! Persons who have a knowledge of first-aid techniques and the local emergencyrescue 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 tomaintenance work.This manual and the help information must be available close to the device duringthe performance of all tasks.


I10 T10 192-120100 N9 - March 2004 13

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.! Safety devices must be provided to prevent human contact with moving or

rotating parts.! Make sure that the device is operated only when it is in perfect condition.! Implement and activate the stipulated safety functions and devices.! Operate the device only with the housing closed.! Ensure that motors and any linear drives present are mounted securely.! Check that all live terminals are secured against contact. Fatal voltage levels of to

750V occur.

1.5 Warranty conditions

! The device must not be opened.! Do not 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 andsoftware compatibility.

Introduction

14 I10 T10 192-120100 N9 - March 2004

1.6 Conditions of utilization

1.6.1. Conditions of utilization for CE-conform operation

- Industry and trade -

The EC guidelines for electromagnetic compatibility 89/336/EEC and for electricaloperating devices for utilization within certain voltage limits 73/23/EEC are fulfilledwhen 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.

A mains filter is required in the mains input line if the motor cable exceeds a certainlength. Filtering can be provided centrally at the plant mains input or separately atthe mains input to each device.

Commercial and residential area (limit values of Class A in accordance withEN 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 10mS038, S075, S150 V4: NFI01/02 Only for motor lines longer than 10mS300 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 powerfilter.

Connection length: connection between mains filter and device:

unshielded: < 0.5mshielded: < 5m (fully shielded on ground e.g. ground of control cabinet)

Operation of the devices only with Parker motor and resolver cables (theirplugs contain a special full surface area screening).

The following cable lengths are permitted:

< 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)

Mains filter:

Motor and resolvercable:

Motor cable


I10 T10 192-120100 N9 - March 2004 15

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 page118).

< 100 m

Operation with standard motors.

Use only with aligned controller (to avoid control loop oscillation).

Connect the filter housing and the Compax3 (grounding screw on the underside) tothe cabinet frame, making sure that the contact area is adequate and that theconnection has low resistance and low inductance.Never mount the filter housing and the device on paint-coated surfaces!

Signal lines and power lines should be installed as far apart as possible.Signal leads should never pass close to excessive sources of interference (motors,transformers etc.).

Make sure to use only the accessories recommended by Parker

Connect all cable shields at both ends, ensuring large contact areas!

This is a product in the restricted sales distribution class according to EN61800-3. In a domestic area this product can cause radio frequencydisturbance, in which case the user may be required to implement

appropriate remedial measures.

Resolver cable

Motors:

Control:

Grounding:

Cable installation:

Accessories:

Warning:

Introduction

16 I10 T10 192-120100 N9 - March 2004

1.6.2. Conditions of utilization for UL permission

UL certification

conform to UL: ! according to UL508CCertified ! E-File_No.: E235 342The UL certification is documented by a UL logo on thedevice (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 Usecopper conductors onlyPlease 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.ATTENTIONDanger of electric shock.Discharge time of the bus capacitator is 5 minutes.

! 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)! Maximum cross-section limited by the terminals mm2 / AWG

! C3SxxxV2 2.5mm2 AWG 12! C3SxxxV4 exept C3S300V4 4.0mm2 AWG 10! C3S300V4 6.0mm2 AWG 7

! Circuit protectionIn addition to the branch circuit protection, the devices have to be protected withthe 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

Parker EME Compax3 with analogue and step/direction input

I10 T10 192-120100 N9 - March 2004 17

The complete modular structure of the Compax3 optimizes the integration ofintelligent servo-drives for various applications efficiently. With its analogueinterface or alternatively with step/direction or encoder step signals, the Compax3I10 gives you easy and reasonably priced access to the world of servo-drivetechnology. With its simple, standardized setpoint interface, the Compax3 I10 isparticularly suitable if you want to migrate to servo-drive systems for technicalreasons. Irrelevant of whether you have a PLC or PC central control unit, thisremains unchanged. The Compax3 I10 represents an ideal way of migrating fromanalogue +/- 10V drives to digital, intelligent servo-drives.

High-performance control technology and openness for various sender systemsare fundamental requirements for a fast and high-quality automation of movement.

The structure and size of the device are of considerable importance. Powerfulelectronics is an important feature which made it possible to manufacture theCompax3 so small and compact. All connectors are located on the front of theCompax3.

Internal mains filters permit connection of motor cables up to a certain lengthwithout requiring additional measures. EMC compatibility is within the limits set byEN 61800-3, Class A. The Compax3 is CE-conform.

The intuitive user interface familiar from many applications, together with theoscilloscope function, wizards and online help, simplifies making and modifyingsettings via the PC.The optional Operator control module (BDM01/01 (see on page 114 )) forCompax3 makes it possible to exchange devices quickly without the need for a PC.

2. Compax3 with analogue andstep/direction input

Compax3 controltechnology

Model / standards /auxiliary material

Compax3 with analogue and step/direction input

18 I10 T10 192-120100 N9 - March 2004

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 is made on a PC using the Compax3 ServoManager.Install the program on your PC and connect the PC with the Compax3X10 via theRS232 interface (Cable plan (see on page 119 )).

Configuration

Parker EME Compax3 device description

I10 T10 192-120100 N9 - March 2004 19

In this chapter you can read about:Plug and connector assignment Compax3......................................................................................20Installation and dimensions Compax3.............................................................................................32

3. Compax3 device description

Compax3 device descriptionConditions of utilization for UL permission

20 I10 T10 192-120100 N9 - March 2004

3.1 Plug and connector assignment Compax3

In this chapter you can read about:Function of the LEDs on the front panel..........................................................................................21Power supply plug X1 for 230VAC devices.....................................................................................21Power supply plug X1 for 400VAC devices.....................................................................................22Ballast resistor / High voltage supply plug X2 for 230VAC devices .................................................22Ballast resistor / High voltage supply plug X2 for 400VAC devices .................................................23Motor / Motor brake (plug X3) .........................................................................................................24Control voltage 24 VDC / enable (plug X4) .....................................................................................25RS 232 / RS485 interface (plug X10) ..............................................................................................26Analog / Encoder (Plug X11) ..........................................................................................................27Digital inputs/outputs (plug X12) .....................................................................................................28Resolver / Feedback (plug X13)......................................................................................................30

Connection assignment based on the example of Compax3 S025 V2:

Always switch devices off before wiring them!

Dangerous voltages are still present until 5 minutes afterswitching off the power supply!

X10RS232 / RS485

X11Analog/EncoderAnalog/Encoder

X12Ein-/AusgängeInputs/Outputs

X13GeberFeedback

X1 AC VersorgungAC supply

X2Ballast / DC LSBallast / DC HV

X3Motor / BremseMotor / Brake

X424VDC / Freigabe24 VDC / Enable

Parker EME Plug and connector assignment Compax3Function of the LEDs on the front panel

I10 T10 192-120100 N9 - March 2004 21

Caution!

When the control voltage is missing there is no indication whether ornot 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

! No configuration present.! SinCos feedback not detected.! IEC program not compatible with the

firmware.! For F12: Hall signals invalid.

flashing off

Axis without current excitation off Flashes slowly

Power supplied to axis; commutation calibrationrunning

off Flashes quickly

Axis with current excitation off on

Axis in fault status / fault present on off

3.1.2. 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 V2Mains voltage Single phase 230VAC + 10%

80-230VAC+10% / 50-60Hz

Rated input current 6Aeff 16Aeff

Maximum fuse rating per device 10A (automatic circuitbreaker K)

16 A (automatic circuitbreaker K)



Compax3 device descriptionPower supply plug X1 for 400 VAC devices

22 I10 T10 192-120100 N9 - March 2004

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 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC

80-480 VAC+10% / 50-60 Hz

Rated input current 6Aeff 10 Aeff 16Aeff 22Aeff

Maximum fuse rating perdevice

10A (automaticcircuit breakerK)





3.1.4. Ballast resistor / high voltage supply plug X2 for 230VACdevices

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 thedevice: this is valid

Parker EME Plug and connector assignment Compax3Ballast resistor / high voltage supply plug X2 for 400VAC devices

I10 T10 192-120100 N9 - March 2004 23

Brake operation Compax3 Sxxx V2

Controller type S025 V2 S063 V2Capacitance / 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

The power voltage DC of two Compax3 V2 devices (230V devices) must notbe connected.

3.1.5. Ballast resistor / high voltage supply plug X2 for 400VACdevices

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 thedevice: this is valid

Compax3 Sxxx V4 brake operation

Controller type S038 V4 S075 V4 S150 V4 S300 V4Capacitance / storableenergy

235µF / 37Ws 470µF / 75Ws 690µF /110Ws

1100µF /176Ws

Minimum ballast -resistance

100Ω 56Ω 22Ω 15Ω

Recommended nominalpower rating

60 ... 250W 60 ... 500 W 60 ... 1000 W 60 ... 1000 W

Pulse power rating for 1s 2.5kW 5kW 10 kW 42kW

Caution!

Compax3 device descriptionMotor / Motor brake (plug X3)

24 I10 T10 192-120100 N9 - March 2004

Connection of the power voltage of 2 Compax3 V4 devices (400Vdevices)

In order to improve the conditions during brake operation, the DC power voltage of2 devices may be connected.The capacity as well as the storable energy are increased; furthermore the brakingenergy of one device may be utilized by a second device, depending on theapplication.

Please connect as follows:

Device 1 X2/4 to device 2 X2/4Device 1 X2/5 to device 2 X2/5

Please note the following:

Caution! In case of non-compliance with the following instructions, thedevice may be destroyed!

! You can only connect two similar devices (same power supply; same ratedcurrents)

! Connected devices must always be fed separately via the AC power supply.

3.1.6. 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 page118).

Connect the brake only on motors which have a holdingbrake! Otherwise make no brake connections at all.

Motor holding brake output

Controller type Compax3Voltage range 21 27VDC

Maximum output current (short circuitproof)

1.6 A

Motor cable (see on page 105)


I10 T10 192-120100 N9 - March 2004 25

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 Compax3Voltage 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 extralow voltage (SELV)

yes

Power stage enable: X4/3=24 VDC

Tolerance range: 18.0 V 33.6 V / 720 ΩThe +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 theprotection against unexpected start-up described in EN1037. Please refer to therespective chapter (in the paper version Installation Manual Compax3) with therespective 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 alldrives are de-energized.

Relay contact data:

Switching voltage (AC/DC): 100 mV 60 VSwitching current: 10 mA 0.3 A

Compax3 device description

26 I10 T10 192-120100 N9 - March 2004

3.1.8. RS232 / RS485 interface (plug X10)

Interface selectable by contact functions assignment of X10/1:X10/1=0V RS232X10/1=5V RS485

RS232

PINX10

RS232 (Sub D)

1 (Enable RS232) 0V2 RxD3 TxD4 DTR5 GND6 DSR7 RTS8 CTS9 +5V

RS485 2-wire

PINX10

RS485 two wire (Sub D)Pin 1 and 9 jumpered externally

1 Enable RS485 (+5V)2 res.3 TxD_RxD/4 res.5 GND6 res.7 TxD_RxD8 res.9 +5V

RS485 4-wire

PINX10

RS485 four wire (Sub D)Pin 1 and 9 jumpered externally

1 Enable RS485 (+5V)2 RxD3 TxD/4 res.5 GND6 res.7 TxD8 RxD/9 +5V


I10 T10 192-120100 N9 - March 2004 27

3.1.9. Analog / Encoder (plug X11)

PIN X11 ReferenceHigh 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

10nF

2.2KΩ

10KΩAin+

2.2KΩ

X11/910KΩ

10nF

Ain-X11/11


28 I10 T10 192-120100 N9 - March 2004

3.1.9.2 Wiring of analog outputs

+/-10V/1mA(max: 3mA)

X11/3

X11/15

332ΩX11/4

3.1.10. Digital inputs/outputs (plug X12)

PINX12/

Input/output I/O /X12High 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 holdingbrake ( 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 analoguecurrent 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)


I10 T10 192-120100 N9 - March 2004 29

3.1.10.1 Input wiring of digital inputs

24V

0V

100KΩ

X12/1

X12/6

X12/15

10KΩ22KΩ

22KΩ

22KΩ

SPS/PLC

X4/1

X4/2

F2 F1

The circuit example is valid for all digital inputs!F1: Delayed action fuseF2: Quick action electronic fuse; can be reset by switching the 24VDC supply offand on again.

3.1.10.2 Output wiring of digital outputs

24V

0V

X12/2

18.2KΩ

X12/15

X12/1

X12/11

SPS/PLCX4/1

X4/2

F2F1

The circuit example is valid for all digital outputs!The outputs are short circuit proof; a short circuit generates an error.F1: Delayed action fuseF2: Quick action electronic fuse; can be reset by switching the 24VDC supply offand on again.


30 I10 T10 192-120100 N9 - March 2004

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 motorWith a rotating motor, this will be delayed to a speed of 0 via asettable delay ramp.Thereafter current switch-off and Motor holding brakeactivated (see on page 65).

X12/6="24 V DC":Energize motorThe motor holding brake is deactivated (see on page 65),current is applied to the motor and the motor is accelerated to thecommanded speed setpoint via an adjustable accelerating ramp.Precondition: X12/7 "Enable setpoint" = 24VDCIn response to X12/7 "Enable setpoint" = 0VDC the control loopadjusts 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=0With a rotating motor, this will be delayed to a speed of 0 via asettable delay ramp.

X12/7="24 V DC":Current command value activeThe motor will be accelerated via a settable acceleration ramp tothe 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)

PINX13

Feedback /X13High 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 encoderside) max. 200mA load


I10 T10 192-120100 N9 - March 2004 31

5 +5V (for temperature sensor) +5V (for temperature and hallsensors)

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: 100mCaution! Pin 4 and Pin 5 must under no circumstances be connected!Resolver cable (see on page 103)SinCos cablel (see on page 104)


32 I10 T10 192-120100 N9 - March 2004

3.2 Installation and dimensions Compax3

In this chapter you can read about:Installation and dimensions Compax3 S0xx V2...............................................................................32Installation and dimensions Compax3 S038 and S075 V4 ..............................................................33Installation and dimensions Compax3 S150 V4 ..............................................................................34Installation 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 15mm


I10 T10 192-120100 N9 - March 2004 33

3.2.2. Installation and dimensions of Compax3 S038 and S075 V4

Mounting:


Mounting spacing:

Device separation 15 mm

248

80

259

267

279

65Compax3 S038 V4:

100Compax3 S075 V4:

115

7,5

40


34 I10 T10 192-120100 N9 - March 2004

3.2.3. Installation and dimensions of Compax3 S150 V4

Mounting:


Mounting spacing:


248

259

15826

727

980 39


I10 T10 192-120100 N9 - March 2004 35

3.2.4. Installation and dimensions of Compax3 S300 V4

Mounting:


Mounting spacing:


380 40

0

412

391

17580 6

Compax3 S300 V4 is force-ventilated via a fan integrated into the heatdissipater!

Setting up Compax3

36 I10 T10 192-120100 N9 - March 2004

In this chapter you can read about:Configuration ..................................................................................................................................36Test commissioning Compax3 S0xx V2 I10 ....................................................................................50Device states..................................................................................................................................53Optimization ...................................................................................................................................55

4.1 Configuration

In this chapter you can read about:Motor selection ...............................................................................................................................38Ballast resistor................................................................................................................................38Optimize motor reference point and switching frequency of the power output stage ......................39Setpoint inputs................................................................................................................................41Setpoint control ..............................................................................................................................47Limit and monitoring settings ..........................................................................................................48Designation of configuration /comments .........................................................................................49

Caution!De-energize the motor before downloading the configuration software.N.B.!Incorrect configuration settings entail danger when energizing themotor. Therefore take special safety precautions to protect the travelrange of the system.

Mechanical limit values!Observe the limit values of the mechanical components!Ignoring the limit values can lead to destruction of the mechanicalcomponents.

4. Setting up Compax3

Parker EME ConfigurationInstallation and dimensions of Compax3 S300 V4

I10 T10 192-120100 N9 - March 2004 37

Configuration sequence:

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 minimumrequirements:! 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!

Your PC is connected with the Compax3 via an RS232 cable (SSK1 (see on page119 )) (COM 1/2 interface on the PC based on X10 Compax3).Start the Compax3 ServoManager and make the setting for the selected interfacein the menu Options: Port (RS232) COM 1 or COM 2.

In the menu tree under device selection you can read the device type of theconnected device (Online Device Identification) or select a device type (DeviceSelection Wizard).

Then you can double click on "Configuration" to start the configuration wizard. Thewizard will lead you through all input windows of the configuration.

Input quantities will be described in the following chapters, in the same orderin which you are queried about them by the configuration wizard.

Installation of the C3ServoManager

Connection betweenPC and Compax3

Device selection

Configuration

Setting up Compax3Motor selection

38 I10 T10 192-120100 N9 - March 2004

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 decelerationtimes. See also brake delay times (see on page 65).

Please note the following equivalence that applies regarding terms to linearmotors:

! 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 bestored by the servo-controller (see on page 127), an error will be generated. Toensure 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 ofyour ballast resistor directly.

Please note that with resistance values greater than specified, the poweroutput from the servo drive can no longer be dissipated in the ballast

resistor.

Parker EME ConfigurationOptimize motor reference point and switching frequency of the power output stage

I10 T10 192-120100 N9 - March 2004 39

4.1.3. Optimize motor reference point and switching frequency of thepower output stage

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) speedThese settings are suitable for most cases.

The motors can, however, be operated with different reference points for specialapplications.

! By reducing the reference (rotational) speed, the reference current can beincreased. This results in more torque with a reduced speed.

! For applications where the reference current is only required cyclically with longenough breaks in between,you may use a reference current higher than I0. Thelimit 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 offduring operation (because of too high temperature) or even causedamage to the motor.

The switching frequency of the power output stage is preset to optimize theoperation of most motors.It may, however, be useful to increase the switching frequency especially withdirect drives in order to reduce the noise of the motors. Please note that the poweroutput stage must be operated with reduced nominal currents in the case ofincreased switching frequencies.The switching frequency may only be increased.

Caution!By increasing the power output stage switching frequency, the nominalcurrent 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 performancevariant of the Compax3 device.The respective Compax3 devices can be set as follows:

Optimization of themotor reference

point

Optimizing theswitching frequencyof the power output

stage

Setting up Compax3Optimize motor reference point and switching frequency of the power output stage

40 I10 T10 192-120100 N9 - March 2004

Resulting nominal and peak currents depending on the switchingfrequency of the power output stage

Compax3 S0xx V2 at 230VAVPower outputstage switchingfrequency

S025 V2 S063 V2

Inominal 2.5Aeff 6.3Aeff8kHzpre-set Ipeak (<5s) 5.5Aeff 12.6Aeff

Inominal 2.5Aeff 5.5Aeff16kHz

Ipeak (<2,5s) 5.5Aeff 12.6Aeff

Compax3 S0xx V4 at 3*400VACPower outputstage switchingfrequency

S038 V4 S075 V4 S150 V4 S300 V4

Inominal - - 15Aeff 30Aeff4kHz

Ipeak (<5s) - - 30Aeff 60Aeff

Inominal 3.8Aeff 7.5Aeff 10.0Aeff 26Aeff8kHz

Ipeak (<2,5s) 9.0Aeff 15.0Aeff 20.0Aeff 52Aeff




S038 V4 S075 V4 S150 V4 S300 V4

Inominal - - 13.9Aeff 30Aeff4kHzpre-set Ipeak (<5s) - - 30Aeff 60Aeff

Inominal 3.8Aeff 6.5Aeff 8.0Aeff 21.5Aeff8kHz




The values marked with grey are the pre-set values (standard values)!

Parker EME ConfigurationCommand interface

I10 T10 192-120100 N9 - March 2004 41

External moment of inertia / load

The external moment of inertia is required for adjusting the servo controller. Themore accurately the moment of inertia of the system is known, the better is thestability 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 bestpossible 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.

Setting up Compax3Command interface

42 I10 T10 192-120100 N9 - March 2004

4.1.4.1 ±10V analogue speed setpoint commanding and encoderemulation

Input:! ±10V analogue;! 14Bit resolution;! 62.5µs scanning rate

10V

speedmax

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 perrotation / 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 motoris reversed in the case of equal setpoint.


I10 T10 192-120100 N9 - March 2004 43

Time frame predefined setpoint value

Averaging and a following filter (interpolation) can help to avoid steps caused bydiscrete 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 signalsource 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




4.1.4.3 Step/Direction Input 24V





44 I10 T10 192-120100 N9 - March 2004




4.1.4.4 Encoder input RS422

A\

A

B\

B

RS422

The zero pulse is not evaluated!







4.1.4.5 Encoder input 24V

24VA

24VB

The zero pulse is not evaluated!








I10 T10 192-120100 N9 - March 2004 45

4.1.4.6 ±10V analogue current setpoint commanding and encoderemulation

Input:! ±10V analogue;! 14Bit resolution;! 62.5µs scanning rate

10V

AImax

Holding function keep Position / speed 0 via E4

The input I4 can be assigned with an additional function. You may choosebetween:

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 isreached), the drive moves to ist original position (after the reduction of the externalforces).

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


46 I10 T10 192-120100 N9 - March 2004

Resolution of the encoder simulation

Unit: Increments perrotation / 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




Time frame predefined setpoint value

Averaging and a following filter (interpolation) can help to avoid steps caused bydiscrete 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 signalsource is entered.

T t

This function is only available if the analog interface +/-10V is used!

Parker EME ConfigurationSetpoint control

I10 T10 192-120100 N9 - March 2004 47

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 currentsetpoint value

X12/7

X12/6

1 2 34

Ramp Description Signal

1 Acceleration ramp after "command value release" I1=X12/7=24VDC

2 Delay ramp after deactivating "command valuerelease".

I1=X12/7=0VDC

3 Acceleration ramp after "energize motor" E0=X12/6=24VDC

4 Delay ramp after deactivating "energize motor" E0=X12/6=0VDCSee also: energize motor (see on page 30) and command value release (see onpage 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 therotation speed / velocity changes in one second

Deceleration ramp "Enable setpoint"


The entered value specifies the number of revolutions per second (rps) by which therotation speed changes in one second.

Deceleration ramp: "energize motor"


The entered value specifies the number of revolutions per second (rps) by which therotation speed changes in one second.

Setting up Compax3Limit and monitoring settings

48 I10 T10 192-120100 N9 - March 2004

Acceleration ramp: "energize motor"


The entered value specifies the number of revolutions per second (rps) by which therotation speed / velocity changes in one second

4.1.6. Limit and monitoring settings

In this chapter you can read about:Nominal value window....................................................................................................................48Current limit ....................................................................................................................................48Maximale Betriebsdrehzahl.............................................................................................................49

4.1.6.1 Nominal value window

The setpoint window is not supported in the operating mode "±10V analoguecurrent setpoint value!

X12/3

1

X12/3 = 24VDC indicates that the current rotation speed or position lies in thesetpoint 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

Parker EME ConfigurationConfiguration name / comments

I10 T10 192-120100 N9 - March 2004 49

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 maximumpermitted continuous output torque of the servo controller.

If the value is greater than 100% the motor may become overloaded and signal too hightemperature 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 toesure 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% (=switchingoff limit speed), error 0x7310 is triggered.

Switching off limit of speed with predefined analogue current commandvalue

In the operating mode "±10V analogue current command value and encodersimulation the speed setpoint is not limited actively.If the speed actual value exceeds the preset switching off limit speed error0x7310 is triggered.

4.1.7. Configuration name / comments

Here you can name the current configuration as well as write a comment.

Setting up Compax3

50 I10 T10 192-120100 N9 - March 2004

4.2 Test commissioning: Compax3 S0xx V2 I10

In this chapter you can read about:Analog setpoint input +/-10V with encoder simulation .....................................................................51Step/direction input RS422 .............................................................................................................51Encoder input RS422 .....................................................................................................................51Encoder input 24V..........................................................................................................................52Step/direction input 24V..................................................................................................................52For testing and understanding the function of the device, the required inputconnections are specified below for making simple movements.

Required wiring:

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: "digitalinputs/outputs" depends on the selected operating mode.

X10 to PCRS232 / RS485

X11 (see below)Analog/Encoder

X12 (see below)Inputs/Outputs

X13 to the motorposition transmitter

X1: Mains supply/1: 230V AC +10%/2: 0V/3: PE

X3Motor / Brake

X4: 24VDC/3: enable with24VDC

Parker EME Setting up Compax3

I10 T10 192-120100 N9 - March 2004 51

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

Plug/Pin Assignment

X11/6 A/

X11/7 A

X11/8 B

X11/12 B/

X11/13 N/

X11/14 N

4.2.2. Step/Direction Input RS422

Required wiring:

Plug/Pin Assignment

X11/6 Steps -

X11/7 Steps +

X11/12 Direction -

X11/8 Direction +

4.2.3. 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)

Setting up Compax3

52 I10 T10 192-120100 N9 - March 2004

4.2.4. Encoder input 24V

Required wiring:

Plug/Pin Assignment

X12/12 N (is not evaluated)

X12/13 A

X12/14 B

X11/15 0V

4.2.5. Step/Direction Input 24V

Required wiring:

Plug/Pin Assignment

X12/13 Step

X12/14 Direction

X11/15 0V


I10 T10 192-120100 N9 - March 2004 53

4.3 Device status

Motor de-energized (the motor holding brake may be released via I3

Energizemotor with

delay

Energizemotor with

delay

De-energizemotor with

delay

Error

Motor energized /Setpoint value disabled

Accelerationramp I0 energize

motor"

Decelerationramp I0 energize

motor"

Accelerationramp I1 enablesetpoint value"

Decelerationramp I1 enablesetpoint value"

Motor energized enable external setpoint value

I2

Quit

/I0

/I0

/I0

/I0

/I0

/I0

I1

/I1

/I1

/I1 I1

/I1

I0 & /I1I0 & I1

Error

with reaction 2

Error

with reaction 5

I0 & I1

Decelerationramp

energizemotor"

De-energizemotor with

delay

Setting up Compax3

54 I10 T10 192-120100 N9 - March 2004

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 brakeThe device is brought into various device states.The transitions are implemented via different ramps (see on page 47) and thedefined switching of the motor brake (see on page 47).

The ramps are not used in the "±10V analogue current setpoint operatingmode!

An error can occur in any device state. The reactions to the individual error causesare described in the list of errors (see on page 76).


I10 T10 192-120100 N9 - March 2004 55

4.4 Optimization

In this chapter you can read about:Controller dynamic..........................................................................................................................55Calibration of the analog input ........................................................................................................63Engaging and disengaging the motor holding brake .......................................................................65

The controller optimization of the Compax3 is carried out in 2 steps:! Via the standard settings (stiffness, damping, rotation speed controller and

rotation speed filter), with the help of which many applications can be optimized ina simple manner.

! With advanced settings for users familiar with control loops.

4.4.1. Control dynamics

In this chapter you can read about:Stiffness of speed controller............................................................................................................56Damping of speed controller ...........................................................................................................57Filter actual speed value.................................................................................................................57Advanced control parameters ........................................................................................................58

Setting up Compax3

56 I10 T10 192-120100 N9 - March 2004

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 thresholdvalue. Set the stiffness with an adequate safety margin with respect to theoscillation threshold value.

On decreasing stiffness:

Control action becomes slower. This increases the tracking error. Current limitingwill be reached later.

>100%=100%

<100%

t

3

33

1

2

1: target value2: actual value3: stiffness

2100.2: Stiffness of the speed controller

Unit: % Range: 10 ... 100 000 Standard value: 100%

The stiffness is proportional to the control loop speed.


I10 T10 192-120100 N9 - March 2004 57

4.4.1.2 Damping of the speed controller

The damping influences the target value overshoot magnitude and the decaytime constant of control loop oscillation.

Nominal value: 100%

On increasing the damping:

Overshoot decreases. High frequency oscillation of the servo drive takes place asfrom a certain threshold value.

On decreasing the damping:

The target value overshoot of the actual value increases, and the actual valueoscillates for a longer time above and below the target value. As from a certainthreshold value the servo drive oscillates continuously.

t

1: target value2: actual value3: 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 constantof 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, thestronger becomes the filter effect. However, the rotation speed delay increaseswith this value, so that the maximum possible control loop dynamic range becomessmaller 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


This is used to improve signals (filtering) of the speed control signal

Setting up Compax3

58 I10 T10 192-120100 N9 - March 2004

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 valuesadvanced: advanced status values, require a better knowledge

The user level can be changed in the optimization window (left hand side lower partunder 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

PI - Current controller

Position controller / PID - speed controller

Mea

surin

g of

act

ual v

alue

2010.2 Acceleration feedforward

2010.1 Speed feedforward681.4

682.4 Target acceleration of setpoint encoder

681.11 Speed and acceleration feedforward

680.12

680.6

681.10 681.6

680.13 Actual position without absolute reference

2100.7 D-compo-nent ofspeed con-troller

688.2Actual current effective

2010.4 Current feedforward

688.14 Current and jerk feedforward effective

688.8

688.1

688.11 Voltage control signal

2100.3 Damping (speed controller)2100.2 Stiffness (speed controller )2100.4 Moment of inertia

2100.8 Bandwidth current controller

2100.9 Damping current controller

682.5

681.5

2100.6 Filter

2100.5 Filter 681.9

682.6

2100.10 Filter 2 Speed actual value

Acceleration actual value2100.11 Filter 2

2011.2 Filter external acceleration feedforward

2011.1 Filter externalspeed feedforward

680 .6 Tracking error680.12 Target position without absol. reference681.4 Target speed of setpoint encoder681.5 Actual speed unfiltered681.6 Control deviation of speed681.9 Actual speed filtered681.10 Target speed682.5 Actual acceleration682.6 Actual acceleration filtered688.1 Target current effective688. 8 Control deviation of current effective

Switching of theuser level


I10 T10 192-120100 N9 - March 2004 59

±10V analogue speed setpoint

PI - current controller

PID - Speed controller

Mea

surin

g of

act

ual v

alue

2011.1 Filter external speed feedforward

2011.2 Filter external acceleration feedforward

682.5

SpeedTarget value

2010.4 Current feedforward

688.11 Voltage con-trol signal

688.8

688.1

688.2 Actual current effective

688.14 Current and jerk feedforward effective

681.5

2100.7 D-compo-nent ofspeedcontroller

2100.6 Filter

2100.5 Filter 681.9

2010.2 Acceleration feedforward

682.4 Target acceleration setpoint encoder

681.6

681.102010.1 Speed

feedforward

681.11681.4

Interpolation

680 .6 Tracking error680.12 Target position without absolute reference681.4 Target speed setpoint encoder681.5 Actual speed unfiltered681.6 Control deviation of speed681.9 Actual speed filtered681.10 Target speed681.11 Speed and acceleration feedforward682.5 Actual acceleration682.6 Actual acceleration filtered688.1 Target current effective688. 8 Control deviation of current effective

2100.2 Stiffness (Speed controller )2100.3 Damping (Speed controller)2100.4 Moment of inertia



T

682.6

2100.10 Filter 2 Speed actual value

Acceleration actual value2100.11 Filter 2

±10V analogue current setpoint

PI - current controller

IMea

surin

g of

act

ual v

alue

2010.5 Rising of current

2011.2 Filter current target value

2011.3 Filter Rising of current

CurrentTarget value

Current-Limiting

2220.11 Filter current actual value

Fine interpolation

688.2Actual current effective

688.8 Control deviationof current effective

688.1 Target current effective688.11 Voltage con-trol signal



T

Setting up Compax3

60 I10 T10 192-120100 N9 - March 2004

4.4.1.5 Controller settings

2100.8: Current controller bandwidth


2100.9: Damping current controller


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


Forward control measures

Forward control of rotation speed, acceleration and current

! 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 valuefor the position controller. This provides the target value plate with the preliminaryinformation on changes in speed, acceleration and current required for positioning.Switching this information to the controller then makes it possible to reducetracking errors to a minimum. The transient response of the controller is alsoimproved and the drive dynamics are increased.

The stability of the control loop is unaffected by the forward control.

Advantages:

Principle:


I10 T10 192-120100 N9 - March 2004 61

Positioning without forward control:

3

4

21

t

t

2010.1: Forward speed control


Effect of the rotation speed forward control

t

t

1

2

3

4

1: target speed value2: actual speed value3: motor current4: 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.

Setting up Compax3

62 I10 T10 192-120100 N9 - March 2004

2010.2: Acceleration forward control


Additional effect of forward acceleration control

t

t

2

1

3

4


2011.2: Filter external acceleration feed forward


2010.4: Current forwards control



I10 T10 192-120100 N9 - March 2004 63

Additional effect of forward current control

t

t

2

1

3

4


Rising of current (Para)

2010.5: Rising of current


Influences the rising of current

Filter rising of current (Para)

2011.3: Filter rising of current


4.4.2. Calibration of the analog input

In this chapter you can read about:Offset alignment .............................................................................................................................64Gain alignment ...............................................................................................................................64

Setting up Compax3

64 I10 T10 192-120100 N9 - March 2004

4.4.2.1 Offset alignment

Performing an offset alignment when working with the ±10V analog interface in theoptimization window under optimization: analog input.Enter the offset value at 0V input voltage under 701: OffsetThe 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 thesame 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 theoptimization 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.


I10 T10 192-120100 N9 - March 2004 65

4.4.3. Turning the motor holding brake on and off

COMPAX controls the stationary state holding brake of the motor and the poweroutput 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) thedrive can be switched on and off in a manner such that no load movement takesplace. The drive thereby remains energized during the holding brake responsetime. 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 "brakeclosing delay time".

t

1

t

2

3

45

1: Motor energized2. Motor deenergized3: Open brake4: Apply brake5: 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".

t

t

2

1

4

3

5

Status values

66 I10 T10 192-120100 N9 - March 2004

1: Motor energized2. Motor deenergized3: Open brake4: Apply brake5: Delay time for brake release

In this chapter you can read about:Device ............................................................................................................................................67Motor ..............................................................................................................................................67Positions.........................................................................................................................................68Speeds...........................................................................................................................................69Currents .........................................................................................................................................70Inputs .............................................................................................................................................72CAM ...............................................................................................................................................73IEC61131-3 ....................................................................................................................................73Feedback system ...........................................................................................................................74A list of the status values supports you in optimization and commissioning.Open the optimization function in the C3 ServoManager (double-click onoptimization in the tree)You will find the available status values in the lower right part of the window underselection (TAB) Status valuesYou can pull them into the oscilloscope (upper part of the left side) or into thestatus 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 valuesadvanced: advanced status values, require a better knowledge

The user level can be changed in the optimization window (left hand side lower partunder selection (TAB) "optimization") with the following button.

A part of the status values can be output via the D/A monitor channel 0 (X11/4) andchannel 1 (X11/3).The reference for the output voltage can be entered individually in the referenceunit of the D/A monitor.

Note

The unit of measurement of the D/A monitor values differs from the unit ofmeasurement of the status values.

5. Status values

Switching of theuser level

D/A-Monitor

Parker EME Status values

I10 T10 192-120100 N9 - March 2004 67

5.1 Device

Status of device utilization Object 683.2Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Device utilization

Stated in % of the nominal device current

Status of power output stage temperature Object 684.1Available in technology function: T10, T30, T40Unit ofmeasurement C User level standardD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Power output stage temperature

Status of auxiliary voltage Object 685.1Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Control voltage

Status DC bus voltage Object 685.2Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value VRemark: unfiltered signal

5.2 Motor

Status of motor temperature Object 684.2Available in technology function: T10, T30, T40Unit ofmeasurement C User level standardD/A monitor output 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 683.4Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output not possible D/A monitor: measurement unit

of the reference value -

Status values

68 I10 T10 192-120100 N9 - March 2004

Remark: Motor pulse utilization,

Stated in & of the motor pulse current.

Dynamic motor utilization with reference to the nominal motor currentresp., in the case of a selected motor reference point, with reference tothe motor reference current. For the monitoring the impulse current andthe impulse current time are required in order to calculate a timeconstant. 1.15*I can be set permanently. Error object 500.6 Bit 6, ErrorCode 7180

Status of long-term motor utilization Object 683.3Available in technology function: T10, T30, T40Unit ofmeasurement % User level standardD/A monitor output 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 currentresp. if a motor reference point is selected, with reference to the motorreference current. For the monitoring the thermal time constant Tau isrequired. 1.05*I can be set permanently. Error object 500.1 Bit 13, ErrorCode 2311

5.3 Positions

Status target position Object 680.4Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value RevolutionsRemark: Stated in user units, reset position

Status actual position Object 680.5Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value RevolutionsRemark: Stated in user units, reset position

Status of tracking error Object 680.6Available in technology function: T30, T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value RevolutionsRemark: Stated in user units, difference between target and actual value of

position

Status target position without absolute reference Object 680.12Available in technology function: T30, T40Unit ofmeasurement Unit User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value Revolutions


I10 T10 192-120100 N9 - March 2004 69

Remark: Stated in user units, continuous position

Status actual position without absolute reference Object 680.13Available in technology function: T30, T40Unit ofmeasurement Unit User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value RevolutionsRemark: Stated in user units, continuous position

5.4 Speeds

Status target speed of setpoint encoder Object 681.4Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/sRemark: Target value according to the fine interpolator

Status target speed controller input Object 681.10Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/sRemark: Nominal speed

Target speed value on the controller input including feed forward

Status actual speed filtered Object 681.9Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/sRemark: Actual speed filtered

Status actual speed unfiltered Object 681.5Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/sRemark:

Status control deviation of speed Object 681.6Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/sRemark: Difference between speed target value and filtered actual value

Status values

70 I10 T10 192-120100 N9 - March 2004

Status target acceleration Object 682.4Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Target acceleration of setpoint encoder

Stated in user unitsOutput value of the fine interpolator

Status of speed and acceleration feed forward Object 681.11Available in technology function: T30, T40Unit ofmeasurement Unit/s User level advancedD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Speed and acceleration feed forward

Status of filtered actual acceleration Object 682.6Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/s²Remark: 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) speedcontroller

Status of actual acceleration unfiltered Object 682.5Available in technology function: T10, T30, T40Unit ofmeasurement Unit/s² User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value Rev/s²Remark: Please note that this signal is often rather noisy.

Status of external influences monitored Object 683.5Available in technology function: T10, T30, T40Unit ofmeasurement % User level advancedD/A monitor output 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 688.1Available in technology function: T10, T30, T40Unit ofmeasurement mA User level standard


I10 T10 192-120100 N9 - March 2004 71

D/A monitor output possible D/A monitor: measurement unitof the reference value O

Remark: Effective target current (torque forming)Cross-flow target value including current and jerk feed forward

Status of effective actual current (torque forming) Object 688.2Available in technology function: T10, T30, T40Unit ofmeasurement mA User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value ORemark: Effective actual current (torque forming), actual value after filter

Status of control deviation of effective current Object 688.8Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output possible D/A monitor: measurement unit

of the reference value ORemark: Control deviation of effective current (torque forming)

Status of voltage control signal Object 688.11Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output 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 688.9Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output 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 688.10Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output 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 Object 688.13Available in technology function: T30, T40Unit ofmeasurement Unit/s³ User level advancedD/A monitor output not possible D/A monitor: measurement unit

of the reference value -

Status values

72 I10 T10 192-120100 N9 - March 2004

Remark: Target jerk of setpoint encoderStated in user unitsOutput value of the fine interpolator

Status of effective current and jerk forward feed Object 688.14Available in technology function: T10, T30, T40Unit ofmeasurement mA User level advancedD/A monitor output not possible D/A monitor: measurement unit

of the reference value -Remark: Forward feed of effective current and jerk

Stated in amperes RMSafter filter

5.6 Inputs

Status of analog input 0 Object 685.3Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value 10VRemark: Analog input 0

Analog input on plug X11/9 and X11/11Indication of the voltage measured on the input in volts

Status of analog input 1 Object 685.4Available in technology function: T10, T30, T40Unit ofmeasurement V User level standardD/A monitor output possible D/A monitor: measurement unit

of the reference value 10VRemark: Analog input 1

Analog input on plug X11/10 and X11/2Indication of the voltage measured on the input in volts

Status of encoder input 0 (5V) Object 680.10Available in technology function: T10, T30, T40Unit ofmeasurement Revolutions User level standardD/A monitor output 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 680.11Available in technology function: T10, T30, T40Unit ofmeasurement Revolutions User level standardD/A monitor output 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 73

5.7 CAM

Status of signal source of master position monitoring Object 3021.2Available in technology function: - T40Unit ofmeasurement Revolutions User level standardD/A monitor output possible D/A monitor:

measurement unit of thereference value

Revolutions

Remark:

Status of master position Object 3030.1Available in technology function: - T40Unit ofmeasurement Munit User level standardD/A monitor output possible D/A monitor:


Units

Remark: reset

Status of slave position Object 3032.1Available in technology function: - T40Unit ofmeasurement Unit User level standardD/A monitor output possible D/A monitor:


Units

Remark: reset position after cam table [Units]

5.8 IEC61131-3

Status of cycle time of the control program Object 50.3Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level standardD/A monitor output not possible D/A monitor:


-

Remark: Current cycle time [unit: 1=500 µs] of the control program

Status of maximum cycle time Object 50.4Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level standardD/A monitor output not possible D/A monitor:


-

Remark: Maximum cycle time [unit : 1=500 µs]

Very large values may occur here with the command "Save objectspermanently". Then the control program will no longer be executed forthe execution time (about 1.5 sec)

Status values

74 I10 T10 192-120100 N9 - March 2004

Setpoint for analog output 0 Object 634.4Available in technology function: T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output possible D/A monitor:


-

Remark: Setpoint for analog output 0 (DA0 - X11/4); can be used as a DAmonitor.

This output must be previously activated to be able to access it. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.

Convert the signal source to IEC61131.

Setpoint for analog output 1 Object 635.4Available in technology function: T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output possible D/A monitor:


-

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. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.

Convert the signal source to IEC61131.

5.9 Transmitter

Status of sine in signal processing Object 692.1Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:


-

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 levelerror is reported.

Status of cosine in signal processing Object 692.2Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:


-


I10 T10 192-120100 N9 - March 2004 75

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 levelerror is reported.

Status of analog input sine Object 692.3Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:


-

Remark: Sine trace of encoder, für F11 and F12 devices (0.5 = 2.5V)

Status of analog input cosine Object 692.4Available in technology function: T10, T30, T40Unit ofmeasurement n/a User level advancedD/A monitor output not possible D/A monitor:


-

Remark: Cosine trace of encoder, für F11 and F12 devices

Status of feedback level Object 692.5Available in technology function: T10, T30, T40Unit ofmeasurement V User level advancedD/A monitor output not possible D/A monitor:


-

Remark: Feedback level, for F11 and F12 devices, display in Vpp

(=sqrt(sin²+cos²))

Error

76 I10 T10 192-120100 N9 - March 2004

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 ServoManagerunder optimization (at the top right of the optimization window).

6.1 Error listError code (hex): 0x2311Error: Monitor (Effective Motor Current)Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: 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%.

Error code (hex): 0x2312Error: Device rms current monitoringError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Adjustable monitoring (dependant on device parameters)

The current value can be read with object 683.2 or the "Device utilization"status display.

Error code (hex): 0x2320Error: Overcurrent (Power output Stage)Error reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure: Check motor cableNote: Origin is a hardware signal

Error code (hex): 0x3210Error: DC bus voltage too highError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: The voltage on the output bus has exceeded the maximum permissible

value

6. Error

0x2311

0x2312

0x2320

0x3210

Parker EME Error

I10 T10 192-120100 N9 - March 2004 77

Error code (hex): 0x3222Error: Voltage in DC bus too low (< 70V)Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP

Error code (hex): 0x4210Error: Temperature of power output stage / deviceError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP; source from power stage

Error code (hex): 0x4310Error: Motor temperatureError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Source is motor temperature signal

Error code (hex): 0x5111Error: Auxiliary voltage 15V defectiveError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP

Error code (hex): 0x5112Error: Overvoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP

Error code (hex): 0x5116Error: Undervoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Measurement via PAP

Error code (hex): 0x5117Error: Undervoltage optionsError reaction: NoneMeasure:Note: Used for M expansion with I/O if the external power supply is missing

Error code (hex): 0x5380Error: Short circuit at digital outputError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Applies to the 4 on-board outputs

Error code (hex): 0x5420Error: Ballast resistor overload, pulse currentError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Setting via tool input

Error code (hex): 0x5421Error: Braking Resistor overloaded (Continuous Current)Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Setting via tool input

Error code (hex): 0x5480Error: Short Circuit - Motor BrakeError reaction: NoneMeasure:

0x3222

0x4210

0x4310

0x5111

0x5112

0x5116

0x5117

0x5380

0x5420

0x5421

0x5480

Error

78 I10 T10 192-120100 N9 - March 2004

Note: Diagnostic lines from power stage interface

Error code (hex): 0x5481Error: Open Circuit - Motor BrakeError reaction: NoneMeasure:Note: Diagnostic lines from power stage interface

Error code (hex): 0x5491Error: Disable power output stageError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: Hardware input (safe standstill)

Error code (hex): 0x54A0Error: Limit switch E5 (X12/12) activeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: 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 IEC-program.

Note: Limit switch on input 5 is active. Is only set with rising edge.

Error code (hex): 0x54A1Error: Limit switch E6 (X12/13) activeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: 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 IECprogram.

Note: Limit switch on input 6 is active. Is only set with rising edge.

Error code (hex): 0x6011Error: Runtime overflow 31.25usError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note:

Error code (hex): 0x6012Error: Runtime overflow 500usError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Runtime monitoring. Internal error

Error code (hex): 0x6280Error: IEC61131-3 Division by zeroError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Debug IEC programNote: Division by zero occurred in the IEC program. Execution is aborted at this

point and the cycle is restarted after the selected cycle time.

Error code (hex): 0x6281Error: IEC61131-3 cycle time exceededError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Optimize program (runtime), increase target cycle time, suppress time-

intensive processes (for example saving objects in Flash)Note: Preset nominal cycle time could not be kept. Execution is aborted and the

cycle is restarted after the selected cycle time.

Error code (hex): 0x6282Error: IEC61131-3 Program stack overflowError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reduce nesting depth in function and subprogram callsNote: Stack overflow in IEC runtime. Execution is aborted at this point and the


Error code (hex): 0x6283Error: IEC61131-3 FB stack overflow

0x5481

0x5491

0x54A0

0x54A1

0x6011

0x6012

0x6280

0x6281

0x6282

0x6283

Parker EME Error

I10 T10 192-120100 N9 - March 2004 79

Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reduce the number of or the nesting depth of function module instancesNote: 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 theselected cycle time.

Error code (hex): 0x6284Error: IEC61131-3 Invalid commandError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Recompile the program / download and verify the compiler versionNote: Invalid opcode in the IEC program Execution is aborted at this point and the


Error code (hex): 0x7121Error: Motor stalledError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: Speed controller signal at limit for specific time

Error code (hex): 0x7180Error: Motor impulse current monitoringError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Adjustable monitoring (with motor parameters: pulse current time and pulse

current)The current value can be read with the "Motor impulse utilization" statusdisplay.An error message is generated for a motor impulse utilization of 115%.

Error code (hex): 0x7310Error: Rotation speed too highError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure:Note: Rotation speed too high

Error code (hex): 0x7320Error: Tracking errorError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note: Monitoring of tracking error window incl. time

Error code (hex): 0x7381Error: Resolver level too highError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check feedback cable or feedback

Note: The feedback excitation voltage is deactivated for level errors!Note: Level limit exceeded, can only be reset by powering on the device again.

Error code (hex): 0x7382Error: Resolver level too lowError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check feedback cable or feedback

Note: The feedback excitation voltage is deactivated for level errors!Note: Level has fallen below limit, can only be reset by powering on the device

again.

Error code (hex): 0x7391Error: Encoder level too highError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check feedback cable (shield, abort, short-circuit) or feedback

Note: The feedback power supply voltage is deactivated for F11!Note: 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 atthe physical limit 2.5Vss.

Error code (hex): 0x7392Error: Encoder level too low

0x6284

0x7121

0x7180

0x7310

0x7320

0x7381

0x7382

0x7391

0x7392

Error

80 I10 T10 192-120100 N9 - March 2004

Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check feedback cable (shield, abort, short-circuit) or feedback

Note: The feedback power supply voltage is deactivated for F11!Note: 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): 0x73A0Error: Hall commutation: invalid combination of hall signalsError reaction: Reaction 5: deenergize immediately (without ramps), apply brake.Measure: Check hall wiring and hall sensors for functionality. Eliminate any (EMC)

malfunctions in hall signals.Note: A hall combination that is not permitted with correct wiring was recorded

during hall commutating. Can only be reset by PowerOn.

Error code (hex): 0x73A5Error: Automatic commutation: no standstill of the drive on startError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check the signal quality of the feedback (noise), bring the drive to a

standstillNote: (Filtered) speed of the motor within 10 s after the start of automatic

commutation not zero

Error code (hex): 0x73A6Error: Automatic commutation: more than 60 degrees of electrical movementError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Malfunction (motion caused by external source) of the motor during

automatic commutation, starting current too great, incorrect parameter forcommutation direction (use MotorManager to determine the values). Checkfeedback resolution and/or number of feedback or motor poles.

Note: The motor has moved more than permitted during automatic commutation.

Error code (hex): 0x73A7Error: Automatic commutation: More than 5 degrees of electrical movement during

Phase 2Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Eliminate external influence on the motor or device current is too small resp.

friction is too great.Note: Motor is not following controlled movement. In this case, the motor should

stand still.

Error code (hex): 0x73A8Error: Automatic commutation: no standstill during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Eliminate external influence on the motor. Check feedback.Note: The motor is not following controlled movement (in this case: motor does not

come to a standstill).

Error code (hex): 0x73A9Error: Auto commutation: Timeout during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Increase the starting current and eliminate very high direction dependence

or friction if any. Check feedback resolution and/or number of feedback ormotor poles.

Note: The maximum time for automatic commutation has been exceeded.

Error code (hex): 0x73AAError: Automatic commutation: too many trials during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Increase the starting current or eliminate external influence on the motor.

Check feedback resolution and/or number of feedback or motor poles.Note: The motor is not following assigned controlled movement.

Error code (hex): 0x73ABError: Automatic commutation: timeoutError reaction: Reaction 2: downramp / apply brake / deenergize.

0x73A0

0x73A5

0x73A6

0x73A7

0x73A8

0x73A9

0x73AA

0x73AB

Parker EME Error

I10 T10 192-120100 N9 - March 2004 81

Measure: Increase automatic commutation starting current, eliminate motor block,check parameters for motor current (too small, device extremely under-dimensioned), current controller unstable.

Note: It was not possible to successfully complete automatic commutation within30 s.

Error code (hex): 0x73ACError: Automatic commutation: mo motor connectedError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Connect motor resp. check wiringNote: Current controller setting full voltage without current flowing.

Error code (hex): 0x73B0Error: Distance coding: invalid position of reference markError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note:

Error code (hex): 0x8120Error: CRC error or passive mode (CAN)Error reaction: NoneMeasure:Note: Field bus error: adjustable reaction (no, reaction 2)

Error code (hex): 0x8121Error: Bus off (CAN)Error reaction: NoneMeasure:Note: CAN Bus inactive status

Field bus error: adjustable reaction (no, reaction 2)

Error code (hex): 0x8130Error: FB TimeoutError reaction: NoneMeasure: Check connection and masterNote: Field bus communication failure

Field bus error: adjustable reaction (none, reaction2)

Error code (hex): 0x8181Error: Invalid velocityError reaction: NoneMeasure: Reduce setpoint valueNote: Preset speed ins too high (also externally); command was rejected

Error code (hex): 0x8182Error: Error CAM commandError reaction: Reaction 2: downramp / apply brake / deenergize.Measure:Note:

Error code (hex): 0x8183Error: Watchdog test movementError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Acknowledge Error occurs for example if the response times of the PC are

too long for RS232 communication.Note: Error is triggered if o40.3=0. Watchdog cannot be deactivated via o40.3=-1.

Watchdog time=o40.3*100ms

Error code (hex): 0x8612Error: Reference LimitError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Reference position could not be accessed. One of the limit switches was

detected twice. There was no home switch or feedback zero pulse. Homingwas aborted

Note: No reference point for machine zero detected within the travel range. Thehoming sequence was aborted. Check reference point feedback.

0x73AC

0x73B0

0x8120

0x8121

0x8130

0x8181

0x8182

0x8183

0x8612

Error

82 I10 T10 192-120100 N9 - March 2004

Error code (hex): 0xFF03Error: Object is "read only"Error reaction: NoneMeasure:Note: No write access

Error code (hex): 0xFF04Error: Object cannot be readError reaction: NoneMeasure:Note: No read access

Error code (hex): 0xFF05Error: Version conflict; object data not valid in flashError reaction: NoneMeasure:Note: Internal error

Error code (hex): 0xFF06Error: No object for process data; object cannot be mappedError reaction: NoneMeasure:Note: This object cannot be mapped on the cyclic data

Error code (hex): 0xFF07Error: Data not validError reaction: NoneMeasure:Note: No OPM text present

Error code (hex): 0xFF08Error: No convert functionError reaction: NoneMeasure:Note: Internal error

Error code (hex): 0xFF10Error: Command syntax errorError reaction: NoneMeasure:Note: Syntax error

Error code (hex): 0xFF11Error: Value not validError reaction: NoneMeasure:Note: Argument incorrect

Error code (hex): 0xFF12Error: Checksum errorError reaction: NoneMeasure:Note: Checksum CRC incorrect

Error code (hex): 0xFF13Error: Timeout errorError reaction: NoneMeasure:Note: Active in binary protocol; 5 ms

Error code (hex): 0xFF14Error: Overflow errorError reaction: NoneMeasure:

0xFF03

0xFF04

0xFF05

0xFF06

0xFF07

0xFF08

0xFF10

0xFF11

0xFF12

0xFF13

0xFF14

Parker EME Error

I10 T10 192-120100 N9 - March 2004 83

Note: Utype error

Error code (hex): 0xFF15Error: Parity errorError reaction: NoneMeasure:Note: Utype error

Error code (hex): 0xFF16Error: Frame errorError reaction: NoneMeasure:Note: Utype error

Error code (hex): 0xFF20Error: Flash sector delete failedError reaction: NoneMeasure:Note: Error while deleting flash

Error code (hex): 0xFF21Error: Program flash cell failedError reaction: NoneMeasure:Note: Error while programming flash

Error code (hex): 0xFF22Error: Checksum error of prog. Flash areaError reaction: NoneMeasure:Note: Error for flash checksum

Error code (hex): 0xFF23Error: DOWN/UPLOAD activatedError reaction: NoneMeasure:Note: Download or upload is active

Error code (hex): 0xFF24Error: DOWN/UPLOAD not activatedError reaction: NoneMeasure:Note: Download or upload is inactive

Error code (hex): 0xFF30Error: EEPROM Delay Count ErrorError reaction: NoneMeasure:Note: Internal error

Error code (hex): 0xFF40Error: Not enough memory for OSZI or AWL reservedError reaction: NoneMeasure:Note: An attempt was made to reserve too much memory (IEC, osci)

Error code (hex): 0xFF42Error: No objects availableError reaction: NoneMeasure: Load application data into device (objects)Note: Application data error; no valid objects present

LED red flashing

Error code (hex): 0xFF43Error: No IEC61131 program

0xFF15

0xFF16

0xFF20

0xFF21

0xFF22

0xFF23

0xFF24

0xFF30

0xFF40

0xFF42

0xFF43

Error

84 I10 T10 192-120100 N9 - March 2004

Error reaction: NoneMeasure: Load application data into device (IEC61131 program). Turn device off and

back on again.Note: Application data error; no IEC61131 program available

LED red flashing

Error code (hex): 0xFF45Error: No FBIError reaction: NoneMeasure: De-energize motor, then perform functionNote: 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.

Error code (hex): 0xFF46Error: Motor energizedError reaction: NoneMeasure:Note: An attempt was made to perform a device duplication even though the

source and target device are different (different order code)

Error code (hex): 0xFF47Error: Different device typesError reaction: NoneMeasure:Note: The hardware of the source is not compatible with the hardware of the target

for duplicating a device

Error code (hex): 0xFF90Error: Feedback system does not correspond with feedback optionError reaction: NoneMeasure: Replace or update firmware, use device required for feedback.Note: The connected feedback system cannot be used with the firmware currently

in use. (for example with commutation wizard F12 feedback for F10/F11device and vice-versa).

Error code (hex): 0xFF91Error: Invalid combination of hall signals gross commutationError reaction: NoneMeasure: Check hall wiring and hall sensors for functionality. Eliminate any (EMC)

malfunctions in hall signals.Note: Invalid hall combinations 000 or 111 were detected during hall

commutation.

Error code (hex): 0xFF92Error: Compax3 must be started again.Error reaction: NoneMeasure: Switch device off and on again or execute commands 9 and 10 one after the

other.Note: Only for F12 devices: Compax3 must be started again, as the commutation

resp. the configured motor was changed by means of a configurationdownload. The error cannot be acknowledged.

Error code (hex): 0xFFA1Error: SinCos analog signals outside specificationError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA2Error: SinCos internal angle offset faultError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA3Error: SinCos table was destroyed via data field partitionError reaction: Reaction 2: downramp / apply brake / deenergize.

0xFF45

0xFF46

0xFF47

0xFF90

0xFF91

0xFF92

0xFFA1

0xFFA2

0xFFA3

Parker EME Error

I10 T10 192-120100 N9 - March 2004 85

Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA4Error: SinCos analog limits not availableError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA5Error: SinCos Internal I²C-Bus not functioningError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA6Error: SinCos internal checksum errorError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA7Error: SinCos feedback reset via program supervisionError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA8Error: SinCos counter overflowError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFA9Error: SinCos parity errorError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFAAError: SinCos checksum of transmitted data is faultyError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFABError: SinCos unknown command codeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFACError: SinCos number of transmitted data is faultyError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFADError: SinCos improper command argument transmittedError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFAEError: SinCos the selected data field is not to be exceeded

0xFFA4

0xFFA5

0xFFA6

0xFFA7

0xFFA8

0xFFA9

0xFFAA

0xFFAB

0xFFAC

0xFFAD

0xFFAE

Error

86 I10 T10 192-120100 N9 - March 2004

Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFAFError: SinCos invalid access codeError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFB0Error: SinCos size of the stated data field is not variableError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFB1Error: SinCos stated word address outside data fieldError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFB2Error: SinCos access to non-existent data fieldError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFBCError: SinCos absolute value control of the analog signalsError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFBDError: SinCos transmitter current approaching limitError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFBEError: SinCos feedback temperature approaching limitError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFBFError: SinCos speed exceeds normal, no position generation permitted.Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFC0Error: SinCos Position Singleturn unreliableError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFC1Error: SinCos position error MultiturnError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFC2

0xFFAF

0xFFB0

0xFFB1

0xFFB2

0xFFBC

0xFFBD

0xFFBE

0xFFBF

0xFFC0

0xFFC1

0xFFC2

Parker EME Error

I10 T10 192-120100 N9 - March 2004 87

Error: SinCos position error MultiturnError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFC3Error: SinCos position error MultiturnError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Change feedbackNote: Feedback reports error

Error code (hex): 0xFFD0Error: SinCos CRCError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct

screeningNote: Communication error with SinCos feedback

Error code (hex): 0xFFD1Error: SinCos RX TimeoutError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct


Error code (hex): 0xFFD2Error: SinCos RX OverrrunError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct


Error code (hex): 0xFFD3Error: SinCos RX ParityError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct


Error code (hex): 0xFFD4Error: SinCos RX FrameError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Check wiring, check feedback Ensure EMC immunity by the aid of correct


Error code (hex): 0xFFD5Error: Unknown SinCos encoder typeError reaction: NoneMeasure: Update Compax3 firmwareNote: The SinCos feedback sytem type connected is not supported

Error code (hex): 0xFFD6Error: SinCos speed exceeds normal when writing encoder positionError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Ensure that the motor is at a standsillNote: The speed when writing the feedback position was too high

Error code (hex): 0xFFE0Error: MC Home only allowed in standstill stateError reaction: NoneMeasure: Do not call PLCopen function module MC_Home during an ongoing

positioning process or while a stop command is running.Note: Error in the IEC61131-3 program sequence. PLCopen function module

MC_home was called even though the axis was not at a standstill (statestandstill AND drive energized)

0xFFC3

0xFFD0

0xFFD1

0xFFD2

0xFFD3

0xFFD4

0xFFD5

0xFFD6

0xFFE0

Error

88 I10 T10 192-120100 N9 - March 2004

Error code (hex): 0xFFE1Error: CamOut not possible during coupling processError reaction: Reaction 2: downramp / apply brake / deenergize.Measure: PLCopen function module CamOut cannot be called during coupling

process.Note: Error in the IEC61131-3 program sequence. PLCopen function module

CamOut was called even though the axis was not yet coupled.

Error code (hex): 0xFFE2Error: Invalid parameter transfer while calling a function module.Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Call PLCopen function module with matching parameters.Note: Error in the IEC61131-3 program sequence. Function module was called

with incorrect parameters.

Error code (hex): 0xFFE3Error: Coupling // decoupling only possible with C3_CamIN or C3_CamOut Mode

0Error reaction: Reaction 2: downramp / apply brake / deenergize.Measure: Coupling with a linear actuator only possible with Mode 0.Note: Error in the IEC61131-3 program sequence. An attempt was made with a

linear actuator to couple with another mode than 0.

0xFFE1

0xFFE2

0xFFE3

Parker EME Compax3 Accessories

I10 T10 192-120100 N9 - March 2004 89

In this chapter you can read about:Order code Compax3 .....................................................................................................................89Order code accessories..................................................................................................................90Parker servo motors .......................................................................................................................92Connections to the motor..............................................................................................................103EMC measures.............................................................................................................................107External ballast resistors...............................................................................................................111BDM Operating module ................................................................................................................114EAM06: Terminal block for inputs and outputs..............................................................................115ZBH plug set.................................................................................................................................118Interface cable..............................................................................................................................119

7.1 Order code for Compax3

C3

Device model: Single axis S

Device currents 2.5A / 5A / 230VAC (1-phase) 0 2 5 V 2static 6.3 A / 12.6 A / 230 V AC (1-phase) 0 6 3 V 2

/ dynamic 3.8A/7.5A / 400VAC (3-phase) 0 3 8 V 4/ Supply 7.5 A / 15.0 A / 400 V AC (3-phase) 0 7 5 V 4voltage : 15.0A/30.0A / 400VAC (3-phase) 1 5 0 V 4

30.0 A / 60.0 A / 400 V AC (3-phase) 3 0 0 V 4

Feedback: Resolver F 1 0SinCos© (Hiperface) F 1 1Encoder / Sine-cosine with/without hall F 1 2

Interface: Step/direction / analogue input I 1 0 T 1 0Positioning with inputs/outputs I 1 1With Profibus DP V0/V1/V2 (12 Mbaud) I 2 0With CANopen I 2 1With C3 powerPLmC (Multi-axis control) C 1 0 T 1 1 - - -

Technology- Positioning T 1 1Functions: Programmable motion control via IEC61131 T 3 0

Electronic cam generation T 4 0

Options: Expansion 12 digital I/Os & HEDA (Motionbus) M 1 0HEDA (Motionbus) M 1 1Expansion, 12 digital I/Os M 1 2

Please note that HEDA (M10 or M11) can only be combined with electronic camT40!

7. Compax3 Accessories

Compax3 Accessories

90 I10 T10 192-120100 N9 - March 2004

7.2 Accessories order code

Accessories order code /

Motor cable(2 (1.5mm2; <<<< 13.8A); for SMH / MH56 / MH70 / MH105(3 M O K 5 5 / ... ...(1

Motor cable(2 (cable chain compatible) (1.5mm2; <<<< 13.8A); for SMH / MH56 / MH70 / MH105(3 M O K 5 4 / ... ...(1

Motor cable(2 (2.5mm2 <<<< 18.9A); for SMH / MH56 / MH70 / MH105(3 M O K 5 6 / ... ...(1

Motor cable(2 (cable chain compatible) (2.5mm2 <<<< 18.9A); for SMH / MH56 / MH70 / MH105(3 M O K 5 7 / ... ...(1

Motor cable(2 (1.5mm2; <<<< 13.8A); for MH145 / MH205(4 M O K 6 0 / ... ...(1

Motor cable(2 (cable chain compatible) (1.5mm2; <<<< 13.8A); for MH145 / MH205(4 M O K 6 3 / ... ...(1

Motor cable(2 (2.5mm2 <<<< 18.9A); for MH145 / MH205(4 M O K 5 9 / ... ...(1

Motor cable(2 (cable chain compatible) (2.5mm2 <<<< 18.9A); for MH145 / MH205(4 M O K 6 4 / ... ...(1

Motor cable(2 (cable chain compatible) (6mm2 <<<< 32.3A); for MH145 / MH205(4 M O K 6 1 / ... ...(1

Motor cable(2 (cable chain compatible) (10mm2; <<<< 47.3A); for MH145 / MH205(4 M O K 6 2 / ... ...(1

Feedback cable(2 for Resolver R E K 4 2 / ... ...(1

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

Feedback cable Encoder Compax3 G B K 2 3 / ... ...(1

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) B U S 0 7 / 0 1Profibus cable(2 not prefabricated; S S L 0 1 / ... ...(1

Profibus plug B U S 0 8 / 0 1CAN Bus cable(2 not prefabricated; S S L 0 2 / ... ...(1

CANbus connector B U S 1 0 / 0 1Connection set ZBH02/01 for Compax3 S0xx V2 (Plug set, EMC clamp) Z B H 0 2 / 0 1Connection set ZBH 02/02 for Compax3 S038 / S075 / S150 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 2Connection set ZBH 02/03 for Compax3 S300 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 3Operating module B D M 0 1 / 0 1Terminal block for I/Os without indicator (for X11, X12) E A M 0 6 / 0 1Terminal block for I/Os with luminous indicator (for X12) E A M 0 6 / 0 2Ballast resistor for Compax3 S063 V2 or S075 V4 (0.18 / 2.3 kW) B R M 0 5 / 0 1Ballast resistor for Compax3 S025 V2 or S038 V4 (60 / 253W) B R M 0 8 / 0 1Ballast resistor for Compax3 S150 V4 (0.57 / 6.9 kW) B R M 0 6 / 0 2Ballast 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 1Mains power filter for Compax3 S038 V4, S075 V4 or S150 V4 N F I 0 1 / 0 2Mains power filter for Compax3 S300 V4 N F I 0 1 / 0 3Motor output filter for up to 6.3A rated motor current M D R 0 1 / 0 4Motor output filter for up to 16A rated motor current M D R 0 1 / 0 1Motor output filter for up to 30A rated motor current M D R 0 1 / 0 2


I10 T10 192-120100 N9 - March 2004 91

(1 Length code 1

Length [m] 1.0 2.5 5.0 7.5 10.0 12.5 15.0 20.0 25.0 30.0 35.0 40.0 45.0 50.0Code 01 02 03 04 05 06 07 08 09 10 11 12 13 14

SSK01/09: Length 25 m(2 Colors according to DESINA(3 With motor connector(4 With cable eye for motor terminal box

(5 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 thelength code for cable, for example SSK27/nn/01)Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there ismore than 1 Compax3, i.e. nn greater than 01)Number n (the last two digits)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 andBLMA.

Example:

Examples:

Compax3 Accessories

92 I10 T10 192-120100 N9 - March 2004

7.3 Parker servo motors

In this chapter you can read about:Direct drives ...................................................................................................................................92Rotary servo motors .......................................................................................................................94

7.3.1. Direct drives

In this chapter you can read about:Transmitter systems for direct drives ..............................................................................................92Linear motors .................................................................................................................................93Torque motors ................................................................................................................................93

7.3.1.1 Transmitter systems for direct drives

The Feedback option F12 makes it possible to operate linear motors as well astorque motors. Compax3 supports the following transmitter systems:Special encoder systems for directdrives Option F12

Analog hall sensors ! Sine - cosine signal (max. 5Vss1; typical1Vss) 90° offset

! U-V Signal (max. 5Vss2; typical 1Vss)120° offset.

Encoder(linear or rotatory)

! Sine-cosine (max. 5Vss3; typical 1Vss)(max. 400kHz) or

! TTL (RS422) (max. 5MHz)with the following modes of commutation:! automatic commutation (see on page

92) or! Digital hall sensors

Distance codedfeedback systems

! 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 optimizedwith the start current (see in the optimization display of the C3 ServoManager;

1 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).2 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).3 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).


I10 T10 192-120100 N9 - March 2004 93

given as a percentage of the reference current). Note that values that are too highwill 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.! With the exception of missing commutation information, the controller/motor

combination is configured and ready for operation (parameters correctly assignedfor the linear motor/drive). The transmitter and the direction of the field of rotationin effect must match.

! The auto-commutating function must be adapted to fit the mechanics if necessaryduring commissioning.

7.3.1.2 Linear motors

Parker offers you a number of systems of linear motor drives:

Linear motors Feed force(continuous/dynamic)

Stroke length:

Linear motor kit SL: 475N / 739N As requiredLinear motors of the LXR series: 315N / 1,000N Up to 3 m

Linear motor module BLMA: 605N / 1,720N Up to 6m

7.3.1.3 Torque motors

Parker offers you an extensive range of torque motors that can be adapted to yourapplication. Please contact us for information.

Compax3 Accessories

94 I10 T10 192-120100 N9 - March 2004

7.3.2. Rotary servo motors

In this chapter you can read about:Motor data table of the standard motors .........................................................................................97Holding brake .................................................................................................................................98Pulse encoder systems...................................................................................................................98Dimensions of the SMH(A) motors..................................................................................................99Dimensions of the MH(A) 105 motors ...........................................................................................100Dimensions of the MH(A)145 and MH(A)205 motors ....................................................................101Order code for SMH/MH motors ...................................................................................................102Modern electric drive technology requires synchronous servomotors meeting therequirements of individual applications. Parker servo motors were designed tomeet the requirements for variable speed drives.

SMH synchronous servo motors

An outstanding characteristic of SMH synchronous servomotors is their low rotormoment of inertia. Typical areas of usage for these motors are for packingmachines or automatic pressing and assembly machines for which rapidaccelerations and delays are required.SMH servo motors have smooth surfaces as well as depressions in the mountingareas 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 mmand with 6 different shaft diameters are available in a output range from 1.4 to 6Nm (Over-temperature 65K).

MH synchronous servo motors

MH series servo motors stand out due to their wide output range as well as amultitude of available options. Stall torques of the MH motor series cover a rangeof 0.2 to 90 Nm (Over-temperature 65K). 5 design sizes are available in 7 flangesizes with 56, 70, 96, 105, 116, 145 and 205 mm. The motors can be equippedwith different moments of inertia, which facilitates the adaptation to differentapplications. Active and passive ventilator fans complement a variety of options.Typical areas of application for these motors are therefore tool and printingmachines as well as handling robots.

Both series, SMH as well as MH may, if desired, equipped with a holding brake. Asan 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 intelligentCompax3 servo drive, these motors form a drive concept for use on powernetworks from 230 V to 400 V (460 V) AC.A wide range of gearboxes is available for all types of motors. The gearboxes canbe mounted if necessary.


I10 T10 192-120100 N9 - March 2004 95

SMH60:

SMH82:

SMH100:

MH105:

Compax3 Accessories

96 I10 T10 192-120100 N9 - March 2004

MH145:

MH205:


I10 T10 192-120100 N9 - March 2004 97

7.3.2.1 Motor data table for standard motors

Motor type Standstilltorque

Nominalcurrent

Resistance

Inductance

Torqueconstant

Moment ofinertial*

Mainsvoltage

Nominalspeed

Nominaltorque

Nominalcurrent

Nominaloutput

Type M0 I0 ΩΩΩΩ mH KT J U nn Mn In Pn

Order code Nm A Nm/A kgmm2 V rpms Nm Aeff kW

1.4 1.7 11.4 32.3 0.81 30.2/42.8 230 3300 1.18 1.46 0.484SMH 60 ...60 1.4 8 9 2ID 65 400: flange 60; shaft 970 1.4 5 11 2ID 65 400: flange 60; shaft 11 400 6000 1.12 1.40 0.880

3.0 3.5 3.38 18.2 0.85 140/183 230 3300 2.4 2.8 0.829SMH 82 ...60 03 8 14 2ID 65 400: flange 82; shaft 1460 03 5 19 2ID 65 400: flange 100; shaft 19 400 6000 1.36 1.6 0.855SMH 100 ... 6.0 5.9 1.12 11.2 1.02 336/440 230 3000 4.70 4.6 1.47756 06 5 19 2ID 65 400: flange 100; shaft 19 400 5600 1.64 1.61 3.520MH 105 ... 3.95 2.57 6.69 24.79 1.65 335/398 230 1600 4.00 2.50 0.66030 04 9 19 2I 65 400: flange 96; shaft 19 400 3000 3.49 2.23 1.09760 04 9 19 2I 65 400: flange 96; shaft 19 3.98 5.01 1.80 6.61 0.85 335/398 230 3000 3.60 4.40 1.115

400 6000 2.40 3.02 1.51045 06 6 24 2I 65 400: flange 116; shaft 24 5.96 5.60 1.83 7.93 1.14 480/543 230 2500 5.50 5.00 1.434

400 4500 4.06 3.79 1.91845 08 5 19 2I 65 400: flange 105; shaft 19

45 08 6 24 2I 65 400: flange 116; shaft 247.97 7.47 1.29 5.95 1.14 620/683 400 4500 5.24 4.89 2.473

30 08 6 24 2I 65 M 400: flange 116; shaft 24 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

MH 145 ... 8.72 5.51 1.93 19.27 1.70 1050/1245 230 1600 8.60 5.20 1.43030 08 5 24 3I 65 400: flange 145; shaft 24 400 3000 7.84 4.84 2.46420 15 5 24 3I 65 M 400: flange 145; shaft 24 15.00 6.20 1.64 14.38 2.59 1600/1795 230 1100 14.70 5.90 1.665

400 2000 14.19 5.73 2.96645 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 4.93430 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 5.57720 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 5.169MH 205 ...20 28 5 38 3I 65 400: flange 205; shaft 38

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 9.82920 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 13.16120 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* 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!

Compax3 Accessories

98 I10 T10 192-120100 N9 - March 2004

7.3.2.2 Holding brake

On request the motors can be equipped with a holding brake. The brake ismounted in the motor housing on the B-side. The mechanical dimensions of themotor are changed. See the dimensions table. The power supply infeed is throughthe motor cable. Please see to the poling being correct.

Technical data of the 24V holding brakes:

SMHA motors

Motor type SMHA 60 SMHA 82 SMHA 100Power supply voltage ±±±±10% 24 24 24 VCurrent at 20°C 0.34 0.5 0.67 OResistance at 20°C 71 48 35.8 ΩMax. static braking torque 2.2 5 11 NmBacklash 0 0 0Moment of Inertia 13 43 104 kgmm2

MHA motors

Motor type MHA 56 MHA 70 MHA 105 MHA 145 MHA 205Power supply voltage ±±±±10%24 24 24 24 24 VCurrent at 20°C 0.32 0.53 1.1 1.8 1.65 OResistance at 20°C 76 45 22 13.2 14.5 ΩMax. static braking torque 1.25 2,5 10 30 100 NmBacklash 0 0 0 0 0Moment of Inertia 17 29 62,5 195 1000 kgmm2

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 orSinCos Multiturn absolute value encoder


I10 T10 192-120100 N9 - March 2004 99

7.3.2.4 Dimensions of the SMH(A)-motors

LM / LB / LE / LBE

S

L

D

SF

IM

QF

CF

DF

Gt1

h

b

Ø D

V x Z

i

112

Motor Type LM / LB / LE / LBE SF IM Flange -

type DF F D x L WxHxI t1 V x Z QF C x S G

8 5,5 63 60 Ø40 74SMH 60 1,4 129,5 / 161,0 / 153,0* / ---,-* 7 70

5 6 759x2011x23

3x3x164x4x18

10,212,5

-----M4x10 70 Ø60

h6x2.590

8 6,5 100 82 Ø80 112SMH 82 03 163,5 / 206,5 / 183,5 / 226,5 10 81

5 9 11514x3019x40

5x5x256x6x30

1621,5

M5x12.5M6x16 100 Ø95

h6x3.5135

SMH 100 06 191,5 / 238,5 / 211,5 / 258,5 10 91 5 9 115 19x4024x50

6x6x308x7x40

21,527

M6x16M8x19 100 Ø95 h6x3.5 135

LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A); SMHA 60 with encoder on request

*Dimensional drawing: SMH 60 with encoder

LM / LB / LE / LBE

S

L

D

SF

IM

QF

CF

DF

G

t1h

b

Ø D

V x Z

i64,5

61,5

112

Currently the encoder and brake options are not simultaneously available for theSMH60 motor.

Compax3 Accessories

100 I10 T10 192-120100 N9 - March 2004

7.3.2.5 Dimensions of the MH(A)105-motors

i

ICLM / LB / LE /LBE

D

S

L

QF C

F

DF

SF

Gt1

h

b

Ø D

V x Z

Motor Type LM / LB / LE / LBE SF IC Flange -


02 186 / 250 / 206 / 26004 229 / 293 / 250 / 30406 273 / 337 / 294 / 348

MH 105flange5/14

08 317 / 381 / 338 / 392

514

9.5M8 115 105 Ø95 h6x3.5 140

02 186 / 250 / 206 / 26004 229 / 293 / 250 / 30406 273 / 337 / 294 / 348

MH 105flange

6/908 317 / 381 / 338 / 392

10 90

69

97

130100

19x4024x50

6x6x308x7x40

21,527

M6x16M8x19

11696

Ø110Ø80

h6x3.5h6x3.5

155128

LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A)


I10 T10 192-120100 N9 - March 2004 101

7.3.2.6 Dimensions of the MH(A)145 and MH(A)205 motors

IM

LM / LB / LE / LBE

D

S

L

QF C

F

DF

SF

G

IC

t1

h

b

Ø D

V x Z

i

Motor Type LM / LB / LE / LBE SF IM IC Flange -


04 200 / 274 / 220 / 29408 231 / 305 / 251 / 32515 292 / 366 / 312 / 39622 354 / 428 / 374 / 448

MH145

28 416 / 490 / 436 / 510

12 125 103 514

11.5M10 165 24x50

28x608x7x408x7x50

2731

M8x19M10x22 145 Ø130 h6x3.5 200

28 273 / 372 / 293* / 392*50 342 / 441 / 362* / 461*70 411 / 510 / 431* / 530*

MH205

90 480 / 579 / 500* / 599*

18 172 132 5 14 21538x8042x11

0

10x8x7012x8x10

0

4145

M12x32M16x40 205 Ø180 h6x4 250

LM: Length without brake and without encoderLB: Length with brake and without encoderLE: 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).

Compax3 Accessories

102 I10 T10 192-120100 N9 - March 2004

7.3.2.7 Order code for SMH/MH motors

SMH / MH motors

Motor typeMH: 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 motorSMH: 60/82/100MH: 56/70/105/145/205

Speed in 100s 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 diameter9/11/14/19/24/28/38/42

ShaftS: without feather key

Type of connections2ID: SMH60/82/100/MH562I: MH70/1053I: MH145/205

Protection class64: IP6465: IP65 (standard)

SinCos© typeA6: Singleturn (SRS50) 6)

A7: Multiturn (SRM50) 6)

Increased moment of inertiaM (available on MH105/145/205)ML (available on MH105/145/205) 7)

Mains power supply (drive)4: 400VAC 4)

1) MHA56 not available.2) 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).


I10 T10 192-120100 N9 - March 2004 103

7.4 Connections to the motor

In this chapter you can read about:Resolver cable..............................................................................................................................103SinCos cable ................................................................................................................................104Motor cable overview....................................................................................................................104Motor cable with plug....................................................................................................................105Motor cable for terminal box .........................................................................................................106Under the designation "REK.." (resolver cables) and "MOK.." (motor cables) wecan deliver motor connecting cables in various lengths to order. If you wish to makeup your own cables, please consult the cable plans shown below:

7.4.1. Resolver cable

REK42/..

12

11 12

11

5

2

1

10

7Ref+

Ref-

9

8 +Temp

-Temp

COS-

COS+

SIN-

SIN+

2x0,25

2x0,25

2x0,25

2x0,25

Pin 1

4REFres+

REFres-

10

+5V

Tmot

COS-

COS+

SIN-

SIN+

4NCNCNC

5

3NC

6

7

8

15

1314

9

NCNCNCNCNC

236

NC

1 NC

Resolver

GY

PK

GN

RD

BU

WH

BN

YE

GY

PK

GN

RD

BU

WH

BN

YECompax3 (X13)

27m

m

Lötseite / solder sideCrimpseite / crimp side

Codiernut S = 20°9 8

7

6

54

3

2

1 12

11

10

1514131211 6

987

10 54321

Lötseitesolder side

2 mm 6 mm23 mm

Schirm auf SchirmanbindungselementScreen at screen contact

The same cable is available under the designation REK41/.. in a version which issuitable for cable chain systems.You will find the length code in the Accessories order code (see on page 90)

Compax3 Accessories

104 I10 T10 192-120100 N9 - March 2004

7.4.2. SinCos Cable

GBK24/..: cable chain compatible

1211 12

11

5

21

+485-485

98 K1

K2

COS-COS+SIN-SIN+

3

2x0,25

Pin 1

DATADATA

10

9

+8VrefTmot

COS-COS+SIN-SIN+

NCNCNCNC

2

7

36

8

14

1 NC

SinCosCompax3 (X13)

27m

m

2x0,25

2x0,25

2x0,25

0,5

8 4

6 57

3

21

916

1110 12

13

15 1417

710

13

14

NCNCNC

5NC

6

4

15NC16NC17NC

+VGND

13

415GND

+5Vfil

GY

PK

VT

RD

BU

WH

BN

BN

BK

GN

GY

PK

VT

RD

BU

WH

BN

BN

BK

GN

0,5

1514131211 6

987

10 54321


2 mm 6 mm23 mm



You will find the length code in the Accessories order code (see on page 90)

7.4.3. Overview of motor cables

Cross-section / max.permanent load

Motor connectorSMH motorsMH56, MH70, MH105

Motor terminal boxMH145, MH205

standard cable chaincompatible

standard cable chaincompatible

1.5 mm2 / up to 13.8 A MOK55 MOK54 MOK60 MOK63

2.5 mm2 / up to 18.9 A MOK56 MOK57 MOK59 MOK64

6 mm2 / up to 32.3 A - - - MOK61

10 mm2 / up to 47.3 A -- - MOK62


I10 T10 192-120100 N9 - March 2004 105

7.4.4. Motor cable with plug

MOK55/.. (max. 13.8A)

Cable: 6x1.5 mm2

PE ( )0V

+24VWVU

6

5

21

3

4

Br-Br+WVU 6

4 2

15

3 ( )

bk1bk2bk3bk4bk5gn/ye

bk1bk2bk3bk4bk5gn/ye

140 mm75 mm65 mm

10 mm



Bremse/Brake

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.


Compax3 Accessories

106 I10 T10 192-120100 N9 - March 2004

7.4.5. Motor cable for terminal box

MOK61/..: (max. 32.3A) cable chain compatible

Cable: 4x6mm2 + 2x1mm2

PEBremse/Brake

WVU U1

V2W3

BR1BR2

gn/yePE

Br-Br+

WVUU1

V2W3

BR1BR2

gn/ye

15 mm

10 mm

220 mm60 mm160 mm

15 mm

8 mm

190 mm25 mm 165 mm

0V +24V


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


Same structure as MOK61/.. but with 6 x 1.5 mm2 .

MOK59/.. (max. 18.9A) standard


Same structure as MOK61/.. but with 6 x 2.5 mm2 .



I10 T10 192-120100 N9 - March 2004 107

7.5 EMC measures

In this chapter you can read about:Mains filter....................................................................................................................................107Motor output filter..........................................................................................................................109

7.5.1. Mains filter

For radio disturbance suppression and for complying with the emission limit valuesfor CE compliant operation ((see on page 14 ) we offer mains filters:Observe the maximum permitted length of the connection between the mains filterand the device:! unshielded <0.5m;! shielded: <5m (fully shielded on ground e.g. ground of control cabinet)

7.5.1.1 Mains filter NFI01/01

Mains filter for Compax3 S025 V2 and Compax3 S063 V2

Dimensional drawing:

50,8±0,3

85,4116139

79,5

101

88,9

±0,4

55,5

Ø 4

5,2 x 4

LINE

LOAD

Compax3 Accessories

108 I10 T10 192-120100 N9 - March 2004

7.5.1.2 Mains filter NFI01/02

Mains filter for Compax2 S038 V4, Compax3 S075 V4 and Compax3S150 V4


65

6,6

177151

70±0,3

140

125

111

Ø 4

LINE

LOAD

7.5.1.3 Mains filter for NFI01/03

Mains filter for Compax3 S300


6,6

240217

115±0,3

159

145

±0,5

129

64

Ø 4

LINE

LOAD


I10 T10 192-120100 N9 - March 2004 109

7.5.2. Motor output filter

In this chapter you can read about:Motor output filter MDR01/04........................................................................................................109Motor output fiter MDR01/01.........................................................................................................109Motor ouptut filter MDR01/02........................................................................................................110Wiring of the motor output filter.....................................................................................................110We offer motor output filters for disturbance suppression when the motorconnecting cables are long (>20m):

7.5.2.1 Motor output filter MDR01/04

up to 6.3A rated motor current


1205495

590 40

170

U1 V1 W1 + - U2 V2 W2 + -

7.5.2.2 Motor output choke MDR01/01

Up to 16 A rated motor current


1506795

6113 50

195

U1 V1 W1 + - U2 V2 W2 + -

Compax3 Accessories

110 I10 T10 192-120100 N9 - March 2004

7.5.2.3 Motor output filter MDR01/02

up to 30 A rated motor current


18076110

6136 57

195

U1 V1 W1 + - U2 V2 W2 + -

7.5.2.4 Wiring of the motor output filter

M

MotorMDRCompax3PEPEUVWBr+Br-

++- -

U1 U2V2V1

W1 W2


I10 T10 192-120100 N9 - March 2004 111

7.6 External ballast resistors

In this chapter you can read about:Ballast resistor BRM8/01 ..............................................................................................................112Ballast resistor BRM5/01 ..............................................................................................................112Ballast resistor BRM6/02 ..............................................................................................................112Ballast 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 withthe 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 (100ΩΩΩΩ) Compax3 S025 V2

Compax3 S038 V4

60W 250W (<1s; ≥10s cooling time)


Compax3 S075 V4

180W 2300W (<0.4s; ≥8s coolingtime)

BRM6/02 (33ΩΩΩΩ) Compax3 S150 V4 570W 6900 W (<1s; ≥ 20s coolingtime)

BRM4/01 (15ΩΩΩΩ) Compax3 S300 V4 570W 6900 W (<1s; ≥ 20s coolingtime)

BRM4/02 (15ΩΩΩΩ) Compax3 S300 V4 740W 8900W (<1s; ≥20s cooling time)

BRM4/03 (15ΩΩΩΩ) Compax3 S300 V4 1500W 18kW (<1s; ≥20s cooling time)

Compax3 Accessories

112 I10 T10 192-120100 N9 - March 2004

7.6.1. BRM8/01 ballast resistors


6

7,5

40

20

240225

7.6.2. BRM5/01 ballast resistor


222245

101

6,5

4873

12

7.6.3. Ballast resistor BRM6/02


95 97

96 98

250

330

64

120

6,5

64

92

12

1

1: thermal overcurrent relay


I10 T10 192-120100 N9 - March 2004 113

7.6.4. Ballast resistor BRM4/0x


95 97

96 98

A

B

C

120

6,5

C

92

12

1

1: thermal overcurrent relay

Dimensions:Size: BRM4/01 BRM4/02 BRM4/03

A 250 300 540B 330 380 620C 64 64 64

Compax3 Accessories

114 I10 T10 192-120100 N9 - March 2004

7.7 Operator control module BDM

Flexible service and maintenance

Functions:

! For mobile or stationary control can remain on the device for display anddiagnostic purposes or can be moved from device to device and plugged intoeach 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 115

7.8 EAM06 terminal block for inputs and outputs

The terminal block EAM06/.. can be used to route the Compax3 plug connectorX11 or X12 for further wiring to a terminal strip and to a Sub-D plug connector.

Via a supporting rail (Design: or ) the terminal block can be installed ona mounting rail in the control cabinet.EAM06/ is available in2 variants:! EAM06/01: terminal block for X11, X12 without luminous indicator! EAM06/02: terminal block for X12 with luminous indicatorCorresponding 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

Compax3 Accessories

116 I10 T10 192-120100 N9 - March 2004

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

5

2

7

3

6

9

1

I/O ModulCompax3

4

8

101112131415

GYPK

GN

RDBU

WHBN

YE

BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN

GYPK

GN

RDBU

WHBN

YE


5

2

7

3

6

9

1

4

8

101112131415

Lötseite

101112131415

9 12345678

Pin 1 Pin 1

1514131211 6

987

10 54321


2 mm 6 mm23 mm


I10 T10 192-120100 N9 - March 2004 117

Cable plan SSK24/..: X12 on EAM 06/xx

5

2

7

3

6

9

1

I/O ModulCompax3

4

8

101112131415

GYPK

GN

RDBU

WHBN

YE


GYPK

GN

RDBU

WHBN

YE


5

2

7

3

6

9

1

4

8

101112131415

Lötseite

101112131415

9 12345678

Pin 1 Pin 1

2 mm 6 mm23 mm


12345

1112131415

6789

10

Compax3 Accessories

118 I10 T10 192-120100 N9 - March 2004

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 Compax3S150 V4

ZBH02/03: for Compax3 S300 V4


I10 T10 192-120100 N9 - March 2004 119

7.10 Interface cable

In this chapter you can read about:RS232 cable.................................................................................................................................119RS485 cable to Pop......................................................................................................................120I/O interface X12...........................................................................................................................121Ref X11 ........................................................................................................................................122Encoder cable ..............................................................................................................................123

7.10.1. RS232 cable

SSK1/..

--->PC

2346578

RxDTxDDTRDSRGNDRTSCTS

2346578

RxDTxDDTRDSRGNDRTSCTS

9+5V

1n.c.

7 x 0,25mm + Schirm/Shield

1

5

6

9

1

5

6

9

X10 <---


Compax3 Accessories

120 I10 T10 192-120100 N9 - March 2004

7.10.2. RS485 cable to Pop

SSK27: Connection Pop - Compax3 - Compax3 - ...

5

3

Pin 1

7

Pin 1

4 mm 6 mm

26 mm

7 - 131 - 4

15


12345

6789

NC

NC

NC

Länge / Length A

Länge / Length B

Pin 1

Pin 1

Länge / Length B

5

3

7

1

NC 4,6,8

TxD_RxD

GND


12345

6789

BN

WH

GN

YE

TxD_RxD

TxD_RxD

GND

TxD_RxD

CHA+

CHA-

GND

BN

WH

GN YE

9

BN

WH

YE

1

NC 4,6,8

9

RD

RD

X2

X3

X4

14

6

5

R21 nur im letzten Stecker

8

11

15

_n

_2

_1

R21 only on the last connector

Schirm großflächig auf Gehäuse legenPlace sheath over large area of housing Schirm großflächig auf Gehäuse legen

Place sheath over large area of housing

Brücke /Bridge

Brücke /Bridge

Schirm großflächig auf Gehäuse legenPlace sheath over large area of housing

Order code: SSK27/nn/..

Length A (Pop - 1. Compax3) variable (the last two numbers according to thelength code for cable, for example SSK27/nn/01)Length B (1. Compax3 - 2. Compax3 - ... - n. Compax3) fixed 50 cm (only if there ismore than 1 Compax3, i.e. nn greater than 01)Number n (the last two digits)SSK27/05/.. for connecting from Pop to 5 Compax3.SSK27/01/.. for connection from Pop to one Compax3

Examples:


I10 T10 192-120100 N9 - March 2004 121

7.10.3. I/O interface X12

SSK22/..: cable for X12 with open ends

5

Screen

2

7

3

6

9

1

Compax3

4

8

101112131415

GYPK

GN

RDBU

WHBN

YE


GYPK

GN

RDBU

WHBN

YE


Pin 1

2 mm 6 mm23 mm


12345

1112131415

6789

10


Compax3 Accessories

122 I10 T10 192-120100 N9 - March 2004

7.10.4. Ref X11

SSK21/..: cable for X11 with open ends

5

Screen

2

7

3

6

9

1

Compax3

4

8

101112131415

GY

PK

GN

RD

BU

WHBN

YE

BKVT

GYPKRDBU

WHGN

BNGNWHYE

YEBNWHGY

GYBN

GY

PK

GN

RD

BU

WHBN

YE

BKVT

GYPKRDBU

WHGN

BNGNWHYE

YEBNWHGY

GYBN

Pin 1

1514131211

6

987

1054321


2 mm 6 mm

23 mm



I10 T10 192-120100 N9 - March 2004 123

7.10.5. Encoder cable

GBK23/..: connection from encoder to Compax3

12

11

5

A

B

NCNCNC

NC

Schirm auf Schirmanbindungselement

2x0,14

N

N/

109

+5V

GND

B/

B

A/

A

NCNCNCNCNC

2

7

3

6

8

15

NC

1 NC

EncoderCompax3 (X11)

2x0,14

2x0,5

2x0,14

D

E

G

H

K

M

NCNCNC

NCNC

CFJLNPRST

NC UNC VNC WNC XNC YNC Z

GY

PK

GN

BN

WH

BU

RD

YE

4

14

13

AAAABBBB

CCCC

DDDD

EEEE

FFFFGGGGHHHH

JJJJ

KKKK

LLLL

MMMM

NNNNPPPP

RRRR

SSSS

TTTT

VVVV

WWWW

XXXX

YYYYZZZZ

UUUU

Lötseite / Crimpseite

GY

PK

GN

BN

WH

BU

RD

YE

Pin 1 32m

m

1514131211 6

987

10 54321


2 mm 6 mm23 mm

Screen at screen contact


Technical Data

124 I10 T10 192-120100 N9 - March 2004

Mains connection: Compax3 S0xx V2

Controller type S025 V2 S063 V2Mains voltage Single phase 230VAC + 10%

80-230VAC+10% / 50-60Hz

Rated input current 6Aeff 16Aeff

Maximum fuse rating per device 10A (automatic circuitbreaker K)


Mains connection Compax3 Sxxx V4

Controller type S038 V4 S075 V4 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC

80-480 VAC+10% / 50-60 Hz

Rated input current 6Aeff 10 Aeff 16Aeff 22Aeff

Maximum fuse rating perdevice




Output data: Compax3 S0xx V2

Controller type S025 V2 S063 V2Output 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 normallyset.

Output data Compax3 Sxxd V4

Controller type S038 V4 S075 V4 S150 V4 S300 V4Output voltage (at 3*400VAC)

3x 0-400V

Rated output current (at3*400 VAC)

3.8Aeff 7.5Aeff 15Aeff 30Aeff

Pulse current(at 400VAC)

7.5Aeff for 5s 15Aeff for 5s 30Aeff for 5s 60Aeff for 5s

Power [hp](at 400VAC)

2.5kVA 5kVA 10kVA 20kVA

Switching frequency 8kHz 8kHz 4kHz 4kHz

8. Technical Data

Parker EME Technical Data

I10 T10 192-120100 N9 - March 2004 125

Power loss for In 80 W 120W 160W 350W

Efficiency 94% 95% 97% 97%

Resulting nominal and peak currents depending on the switchingfrequency of the power output stage

Compax3 S0xx V2 at 230VAVPower outputstage switchingfrequency

S025 V2 S063 V2

Inominal 2.5Aeff 6.3Aeff8kHzpre-set Ipeak (<5s) 5.5Aeff 12.6Aeff

Inominal 2.5Aeff 5.5Aeff16kHz

Ipeak (<2,5s) 5.5Aeff 12.6Aeff


S038 V4 S075 V4 S150 V4 S300 V4

Inominal - - 15Aeff 30Aeff4kHz

Ipeak (<5s) - - 30Aeff 60Aeff






S038 V4 S075 V4 S150 V4 S300 V4

Inominal - - 13.9Aeff 30Aeff4kHzpre-set Ipeak (<5s) - - 30Aeff 60Aeff

Inominal 3.8Aeff 6.5Aeff 8.0Aeff 21.5Aeff8kHz




The values marked with grey re the pre-set values (standard values)!

Accuracy at the motor

For option F10: Resolver ! Position resolution: 16 bits (= 0.005°)! Absolute accuracy: ±0.167°

For option F11: SinCos ! Position resolution: 19 bits (= 0.0002°)! Absolute accuracy: ±0.005°

Technical Data

126 I10 T10 192-120100 N9 - March 2004

For option F12: Direct drives ! Position resolution per pitch resp. perrevolution (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 revolutionsinstead of pitch.! Accuracy:

The accuracy depends on theaccuracy of the encoders used.

Control voltage 24 VDC

Controller type Compax3Voltage 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 extralow voltage (SELV)

yes

Motors and feedback systems supported

MotorsDirect drives

! Linear motors! Torque motors

! Sinusoidal commutated synchronousmotors up to maximum rotation speedof 9000 rpm.

! 3 phase synchronous direct drives! Maximum rotating field frequency

600Hz

Position encoder (Feedback) Option F10: Resolver

Litton: ! JSSBH-15-E-5! JSSBH-21-P4! RE-21-1-A05! RE-15-1-B04

Tamagawa: ! 2018N321 E64Siemens: ! 23401-T2509-C202

Option F11: SinCos©

! Singleturn (Stegmann)! Multiturn (Stegmann) Absolute position

up to 4096 motor revolutions.


I10 T10 192-120100 N9 - March 2004 127

Special encoder systems for directdrives Option F12

Analog hall sensors ! Sine - cosine signal (max. 5Vss4; typical1Vss) 90° offset

! U-V Signal (max. 5Vss5; typical 1Vss)120° offset.

Encoder(linear or rotatory)

! Sine-cosine (max. 5Vss6; 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 codedfeedback systems

! Distance coding with 1VSS - Interface! Distance coding with RS422 - Interface

(Encoder)

Interfaces

Interface selection by external plug contact assignmentRS232 ! 115200 baud

! Word length: 8 bits, 1 start bit, 1 stop bit! Hardware handshake XON, XOFF

RS485 (2 or 4-wire) ! 9600, 19200, 38400, 57600 or 115200baud

! 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 Compax3Voltage range 21 27VDC

Maximum output current (short circuitproof)

1.6 A

Brake operation Compax3 Sxxx V2

Controller type S025 V2 S063 V2Capacitance / 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).5 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).6 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).

Technical Data

128 I10 T10 192-120100 N9 - March 2004

Compax3 Sxxx V4 brake operation

Controller type S038 V4 S075 V4 S150 V4 S300 V4Capacitance / storableenergy

235µF / 37Ws 470µF / 75Ws 690µF /110Ws

1100µF /176Ws

Minimum ballast -resistance

100Ω 56Ω 22Ω 15Ω

Recommended nominalpower 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


Compax3 S038 V4

60W 250W (<1s; ≥10s cooling time)


Compax3 S075 V4

180W 2300W (<0.4s; ≥8s cooling time)

BRM6/02 (33ΩΩΩΩ) Compax3 S150 V4 570W 6900 W (<1s; ≥ 20s cooling time)

BRM4/01 (15ΩΩΩΩ) Compax3 S300 V4 570W 6900 W (<1s; ≥ 20s cooling time)

BRM4/02 (15ΩΩΩΩ) Compax3 S300 V4 740W 8900W (<1s; ≥20s cooling time)

BRM4/03 (15ΩΩΩΩ) Compax3 S300 V4 1500W 18kW (<1s; ≥20s cooling time)

Mechanical data

Controller type DimensionsHxWxD [mm]

Weight [kg]

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 protectionagainst unexpected start-up functiondescribed in EN1037.

! Please note the circuit examples in thepaper manual supplied. Circuitryexamples.

UL certification

conform to UL: ! according to UL508CCertified ! E-File_No.: E235 342

The UL certification is documented by a UL logo on thedevice (type specification plate)

UL logo


I10 T10 192-120100 N9 - March 2004 129

Insulation requirements

Protection class Protection class I according to EN 50 178 (VDE0160 part 1)

Protection against human contact withdangerous voltages

According to DIN VDE 0106, part 100

Overvoltage category Voltage class III according to HD 625 (VDE0110-1)

Degree of contamination Degree of contamination 2 according to HD 625(VDE 0110 part 1) and EN 50 178 (VDE 0160part 1)

Ambient conditions

General ambient conditions In accordance with EN 60 721-3-1 to 3-3

Climate (temperature/humidity/barometricpressure): Class 3K3

Permissible ambient temperature:

OperationStorageTransport

0 to +45 C Class 3K325 to +70 C Class 2K325 to +70 C Class 2K3

Tolerated humidity: No condensation

OperationStorageTransport

<= 85% Class 3K3<= 95% Class 2K3<= 95% Class 2K3

(Relative humidity)

Elevation of operating site <=1000m above sea level for 100% loadratings

Please inquire for greater elevations

Cooling mode Compax3 S025 V2 ... S150 V4: convection

Compax3 S300 V4: force-ventilation via fan inthe heat dissipator

Sealing IP20 protection class according to EN 60 529

EMC interference emission Limit values according to EN 61 800-3, Class Awith integrated mains filter for up to 10 m cablelength, otherwise with external mains filter

EMC disturbance immunity Limit values for industrial utilization according toEN 61 800-3 (includes EN 50 081-2 and EN 50082-2)

EC directives and harmonised EC norms

EC low voltage directive73/23/EEC and RL 93/68/EEC

EN 50 178, General industrial safety norm

Equipping electric power systems withelectronic operating equipment

HD 625, general electrical safety

Insulation principles for electrical operatingequipment

EN 60 204-1, Machinery norm, partly applied

EC-EMC directive89/336/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 ...61000-4-5

Technical Data

130 I10 T10 192-120100 N9 - March 2004

Inputs/Outputs

Command interface (optional) ! ±10V analogue speed or currentsetpoint; 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 frequency300kHz at ≥50Ω source impendanceand minimum pulse width of 1.6 µs

! Inputs RS422: up to 10MHzActual position at ±10V definedanalogue setpoint

! Encoder simulation! Resolution: 512 or 1024 increments/rev.

Signal monitor ! 2 channels ±10 V analogue! Resolution: 8 bits

4/5 digital inputs (24V level) ! Energize motor, command valuerelease, quit, brake open.

! Keep position / speed 0 (configurable)(only in the "±10V analogue currentsetpoint value operating mode)

4 digital outputs ! Error, command value in window, poweroutput stage de-energised, holding

! Loading max. 100mA

Parker EME Index

I10 T10 192-120100 N9 - March 2004 131

±±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

AAccessories order code 92Advanced control parameters 59Analog / Encoder (plug X11) 28Analog command interface +/-10V with

encoder simulation 52Analogue Inputs/Outputs 28

BBallast resistor 23, 39, 130Ballast resistor / high voltage supply plug X2

for 230VAC devices 23Ballast resistor / high voltage supply plug X2

for 400VAC devices 24Ballast resistor BRM4/0x 116Ballast resistor BRM6/02 115Brake delay times 66BRM5/01 ballast resistor 115BRM8/01 ballast resistors 115

CC3 IEC61131-3 - Debugger 12C3 MotorManager: configuration of almost any

motors 12C3 ServoManager: configuration, setup and

optimization of Compax3 11Calibration of the analog input 64CAM 74CamEditor: cam creation for C3 T40 12CoDeSys - IEC61131-3 - development tool

12Command interface 42Command value release X12/7=24VDC 31Compax3 Accessories 91Compax3 device description 20Compax3 with analogue and step/direction

input 18Complements / corrections in manual and

online help 12Conditions of utilization 15conditions of utilization for CE compliant

operation 110Conditions of utilization for CE-conform

operation 15Conditions of utilization for UL permission 10,

17

Configuration 37Configuration name / comments 50Connections to the motor 106Control dynamics 56Control voltage 24 VDC 26Control voltage 24VDC / enable (plug X4) 26Controller settings 60Controller structure step/direction or encoder

input 59Controller structures 59Current Limit 50Currents 72

DDamping of the speed controller 58Device 68Device assignment 8Device status 54Digital Inputs/Outputs 29Digital inputs/outputs (plug X12) 29Dimensions of the MH(A)105-motors 103Dimensions of the MH(A)145 and MH(A)205

motors 104Dimensions of the SMH(A)-motors 102Direct drives 10, 95

EEAM06 terminal block for inputs and outputs

118EMC measures 110Encoder cable 126Encoder input 24V 45, 53Encoder input RS422 45, 52Encoder Interface 28Energize motor X12/6=24VDC 31Error 78Error list 78External ballast resistors 114

FFilter for speed value 58Filter rising of current (Para) 64Firmware - Download 11Forward control measures 61Function of the LEDs on the front panel 22

GGain alignment 65General hazards 13

HHolding brake 101

II/O interface X12 124

9. Index

Index

132 I10 T10 192-120100 N9 - March 2004

IEC61131-3 75Input wiring of digital inputs 30Inputs 74Installation and dimensions Compax3 33Installation and dimensions of Compax3 S038

and S075 V4 34Installation and dimensions of Compax3 S0xx

V2 33Installation and dimensions of Compax3 S150

V4 35Installation and dimensions of Compax3 S300

V4 36Interface cable 122Introduction 8

LLimit and monitoring settings 49Linear motors 96

MMains filter 110Mains filter for NFI01/03 111Mains filter NFI01/01 110Mains filter NFI01/02 110Maximum operating speed 50Motor 68Motor / Motor brake (plug X3) 25Motor cable for terminal box 109Motor cable with plug 108Motor Connection 25Motor data table for standard motors 100Motor holding brake 25Motor output choke MDR01/01 112Motor output choke MDR01/02 113Motor output filter 112Motor output filter MDR01/04 112Motor selection 39

NNew Compax3 functions 10New functions of the Compax3 software tools

11New machine zero modes 11Nominal value window 49

OOffset alignment 65Operator control module BDM 117Optimization 56Optimize motor reference point and switching

frequency of the power output stage 40Order code accessories 106, 107, 108, 109,

122, 124, 125, 126Order code for Compax3 91Order code for SMH/MH motors 105Output wiring of digital outputs 30Overview of motor cables 107

PParker servo motors 95Plug and connector assignment Compax3 21

Plug assignment Compax3S0xx V2 21, 22,23, 25, 26, 27, 28, 29, 31

Positions 69Power supply 21, 22Power supply plug X1 for 230VAC devices 22Power supply plug X1 for 400 VAC devices

23Predefined external setpoint value optimized

via analogue input 10Pulse encoder systems 101

RRef X11 125Release 1/2004 10Resolver 31Resolver / Feedback (connector X13) 31Resolver cable 106Resolverkabel 32Rising of current (Para) 64Rotary servo motors 97RS232 / RS485 interface (plug X10) 27RS232 cable 122RS232 plug assignment 27RS485 / RS232 interface 11RS485 cable to Pop 123RS485 plug assignment 27

SSafety Instructions 13Safety-conscious working 13Setpoint control 48Setting up Compax3 37Setup support 11SinCos-cable 32, 107Special safety instructions 14Speeds 70Status values 67Step/Direction Input 24V 44, 53Step/Direction Input RS422 44, 52Stiffness of the speed controller 57Switching frequency of the power output stage

can be set 10

TTechnical Data 127Test commissioning: Compax3 S0xx V2 I10

51Time frame predefined setpoint value 44, 47Torque motors 96Transmitter 76Transmitter systems for direct drives 95Turning the motor holding brake on and off

66Type specification plate 9

UUL certification 10Usage in accordance with intended purpose

13

W

Parker EME Index

I10 T10 192-120100 N9 - March 2004 133

Warranty conditions 14Wiring of analog outputs 29Wiring of the analog input 28Wiring of the motor output filter 113

XX1 22X10 27X11 28X12 29X13 31X2 23X3 25X4 26

ZZBH plug set 121

Index

134 I10 T10 192-120100 N9 - March 2004

step/direction and analogue command input - … and analogue command input i10 t10 192-120100 n9 ......

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