User Manuals: Parker Compax3 Series Servo Drive

Manuals and User Guides for Parker Compax3 Series Servo Drive. We have 3 Parker Compax3 Series Servo Drive manuals available for free PDF download: Operating Instructions Manual, Installation Manual

Parker Compax3 Series Operating Instructions Manual (414 pages)

Electromechanical Automation, Positioning via DeviceNet

Brand: Parker | Category: Controller | Size: 12.25 MB

Table of Contents

3
3. Compax3 Device Description

26
3.6 Connections of Compax3H

50
3.9 Installation and Dimensions Compax3

69
- Parker EME
  
  69
- 3.9.1. Mounting and Dimensions Compax3S
  
  71
  - 3 Compax3 Device Description
    
    26
    
    In this Chapter You Can Read About: Meaning of the Status Leds - Compax3 Axis Controller
    26
    
    Meaning of the Status Leds - Compax3 Axis Controller
    26
    
    Meaning of the Status Leds - Compax3Mp (Mains Module)
    27
    
    Compax3S Connectors
    28
    
    Connections of Compax3S
    28
    
    Connector and Pin Assignment C3S
    29
    
    Control Voltage 24VDC / Enable Connector X4 C3S
    31
    
    Motor / Motor Brake (C3S Connector X3)
    32
    
    C3Sxxx V2
    33
    
    Main Voltage Supply C3S Connector X1
    33
    
    Braking Resistor / High Voltage DC C3S Connector X2
    34
    
    C3Sxxx V4
    36
    
    Power Supply Connector X1 for 3AC 400VAC/480VAC-C3S Devices
    36
    
    Braking Resistor / High Voltage Supply Connector X2 for 3AC 400VAC/480VAC_C3S Devices
    37
    
    Connection of the Power Voltage of 2 C3S 3AC Devices
    38
    
    Installation Instructions Compax3M
    38
    
    Compax3Mp/Compax3M Connections
    40
    
    Front Connector
    40
    
    Connections on the Device Bottom
    41
    
    Connections of the Axis Combination
    42
    
    Connector and Pin Assignment
    43
    
    Control Voltage 24VDC Compax3Mp (Mains Module)
    45
    
    Braking Resistor / Temperature Switch Compax3Mp (Mains Module)
    47
    
    Temperature Switch Compax3Mp (Mains Module)
    48
    
    Measurement of the Motor Temperature of Compax3M (Axis Controller)
    49
    
    Connections of Compax3H
    50
    
    In this Chapter You Can Read About: Compax3H Plugs/Connections
    50
    
    Terminal Clamps - Max. Line Cross Section C3H
    52
    
    Plug and Pin Assignment C3H
    53
    
    Motor / Motor Brake C3H
    55
    
    Control Voltage 24 VDC C3H
    56
    
    Braking Resistor / Supply Voltage C3H
    57
    
    Mains Connection Compax3H
    57
    
    Connect Braking Resistor C3H
    58
    
    Connection of the Power Voltage of 2 C3H 3AC Devices
    59
    
    Communication Interfaces
    60
    
    Communikation Compax3M
    61
    
    Adjusting the Basic Address
    62
    
    Devicenet Connector X23
    63
    
    Function of the Bus Leds
    64
    
    Signal Interfaces
    65
    
    Analog / Encoder (Plug X11)
    66
    
    Digital Inputs/Outputs (Plug X12)
    67
    
    Connection of the Digital Outputs/Inputs
    68
    
    In this Chapter You Can Read About: Mounting and Dimensions Compax3S0Xxv2
    69
    
    Installation and Dimensions Compax3
    69
    
    Mounting and Dimensions Compax3S
    69
    
    Monting and Dimensions Compax3S100V2 and S0Xxv4
    70
    
    Monting and Dimensions Compax3S150V2 and S150V4
    71
    
    Mounting and Dimensions Compax3S300V4
    72
    
    Mounting and Dimensions C3MP/C3M
    73
    
    Installation and Dimensions Compax3Mp20/M300
    74
    
    Mounting and Dimensions C3H
    75
    
    Mounting Distances, Air Currents Compax3H050V4
    76
    
    Mounting Distances, Air Currents Compax3H1Xxv4
    77
    
    Safe Standstill with Compax3 Principle
    78
    
    Safety Function - Safety Torque off - Compax3S
    78
    
    Devices with the "Safe Standstill" Safety Function
    79
    
    3.10.3. Safety Instructions for the "Safety Torque Off" Function
    80
    
    N5 C3I22T11 June
    80
    
    3.10.4. Application Example for "Safe Standstill
    81
    
    Safe Standstill with Bus Option
    81
    
    3.11.1. General Description
    87
    
    Compax3M with Safety Option S1: Safe Torque off
    87
    
    Important Terms and Explanations
    87
    
    Intended Use
    88
    
    Advantages of Using the "Safe Torque Off" Safety Function
    89
    
    3.11.2. STO Function on the Compax3M
    90
    
    Safety Switching Circuits
    90
    
    Safety Notes and Limitations of the STO Function in the Compax3M
    91
    
    Technical Details of the Compax3M S1 Option
    92
    
    3.11.3. Compax3M STO Application Description
    93
    
    STO Function Description
    93
    
    STO Function with Safety Control Device Via Compax3M Inputs
    93
    
    STO Function with Safety Switching Device for Applications with Fieldbusses
    95
    
    Emergency Power-Off and Protective Door Monitoring Without Safety Switching Devices
    97
    
    3.11.4. STO Function Test
    98
    
    STO Test Protocol Specimen
    99
4. Setting up Compax3

100
- 4 Setting up Compax3
  100
  - Configuration
    100
    
    Motor Selection
    102
    
    Selection of the Supply Voltage Used
    102
    
    Test Commissioning of a Compax3 Axis
    102
  - In this Chapter You Can Read About: Test Commissioning of a Compax3 Axis
    102
    
    Optimize Motor Reference Point and Switching Frequency of the Motor Current
    103
    
    Braking Resistor
    106
    
    Defining the Reference System
    107
    
    General Drive
    107
    
    Measure Reference
    108
    
    Machine Zero
    111
Homing Modes with Home Switch (on X12/14)

116
- Without Direction Reversal Switches
  116
  - In this Chapter You Can Read About: Without Motor Reference Point
    
    116
  - In this Chapter You Can Read About: MN-M 19.20: MN-Initiator = 1 on the Positive Side
    
    116
    
    MN-M 21.22: MN Initiator = 1 on the Negative Side
    117
    
    With Direction Reversal Switches
    118
    
    With Motor Reference Point
    120
  - In this Chapter You Can Read about
    
    120
    
    MN-M 3.4: MN-Initiator = 1 on the Positive Side
    120
    
    Without Direction Reversal Switches
    120
    
    MN-M 5.6: MN Initiator = 1 on the Negative Side
    121
    
    Travel Limit Settings
    129
    
    Change Assignment Direction Reversal / Limit Switches
    132
    
    Change Initiator Logic
    132
    
    Acceleration / Deceleration for Positioning
    133
    
    Acceleration for Positioning and Velocity Control
    133
    
    Defining Jerk / Ramps
    133
    
    Jerk Limit for Positioning
    133
    
    Speed for Positioning
    133
    
    Jerk for STOP, JOG and Error
    135
    
    Ramp Upon Error and De-Energize
    135
    
    Current (Torque) Limit
    136
    
    Limit and Monitoring Settings
    136
    
    Positioning Window - Position Reached
    136
    
    Following Error Limit
    137
    
    Maximum Operating Speed
    138
    
    4.1.10. Encoder Simulation
    139
    
    Encoder Bypass with Feedback Module F12 (for Direct Drives)
    139
    
    4.1.11. I/O Assignment
    140
    
    4.1.12. Position Mode in Reset Operation
    141
    
    Examples in the Help File
    142
    
    4.1.13. Reg-Related Positioning / Defining Ignore Zone
    143
    
    4.1.14. Write into Set Table
    144
    
    Programmable Status Bits (Psbs)
    144
    
    4.1.15. Motion Functions
    145
    
    Moveabs and Moverel
    145
    
    Reg-Related Positioning (Regsearch, Regmove)
    146
    
    Electronic Gearbox (Gearing)
    151
    
    4.1.16. Error Response
    152
    
    Speed Specification (Velocity)
    152
    
    Stop Command (Stop)
    152
    
    4.1.17. Configuration Name / Comments
    153
    
    4.1.18. Dynamic Positioning
    154
    
    Configuring the Signal Source
    155
    
    Select Signal Source for Gearing
    155
    
    Encoder A/B 5V, Step/Direction or SSI Feedback as Signal Source
    156
    
    Signal Source HEDA
    156
    
    +/-10V Analog Speed Setpoint Value as Signal Source
    158
    
    Optimization
    159
    
    Optimization Window
    160
    
    Monitor Information
    161
    
    Scope
    161
4.3.2.2 User Interface

162
- User Interface
  162
- Oscilloscope Operating Mode Switch
  163
- Setting the Time Basis XDIV
  163
- Settings for Channels 1
  164
- Special Functions
  165
  - Example: Setting the Oscilloscope
    167
  - Controller Optimization
    169
    
    Introduction
    170
- Trigger Settings
  165
Parker Eme 4.3.3.2 Configuration

173
- Configuration
  173
- Control Path
  173
- Mass Inertia
  174
- Motor Parameters Relevant for the Control
  174
- Nominal Point Data
  174
- Quality of Different Feedback Systems
  176
- Saturation Values
  176
- Typical Problems of a Non Optimized Control
  177
- Feedback Error Compensation
  178
- Commutation Settings
  180
- I²T - Monitoring of the Motor
  180
- Relevant Appication Parameters
  183
Parker Eme

187
Parker Eme 4.3.3.3 Automatic Controller Design

191
- Automatic Controller Design
  191
- Dynamics of a Control
  191
- In this Chapter You Can Read about
  191
- Oscillating Plant
  191
- Stability, Attenuation
  192
- Velocity, Bandwidth
  193
- Setpoint and Disturbance Behavior of a Control Loop
  195
- Response
  197
- Cascade Control
  198
- Limitation Behavior
  198
- Stiffness
  199
- Automated Controller Design
  201
- Controller Coefficients
  202
4.3.3.4 Setup and Optimization of the Control

204
- In this Chapter You Can Read about
  204
- Setup and Optimization of the Control
  204
- Standard
  204
- Standard Cascade Structure
  205
- Control Signal Limitations
  206
- Standard Optimization Parameters
  206
- Feedforward Channels
  208
- Control Signal Filter / Filter of Actual Acceleration Value
  210
Parker Eme Advanced

211
- Advanced
  211
- Extended Cascade (Structure Variant 1)
  212
- Extended Cascade Structure (Structure Variant 2 with Disturbance Variable Observer)
  214
- Optimization Parameter Advanced
  215
- EMC Feedforward
  216
- Filter "External Command Interface
  216
- Load Control
  216
- Luenberg Observer
  216
- Motor Parameters
  216
- Voltage Decoupling
  216
- Commutation Settings of the Automatic Commutation
  218
- Notch Filter
  222
- Saturation Behavior
  224
- Control Measures for Drives Iinvolving Friction
  225
- Commissioning Window
  226
- Proceeding During Controller Optimization
  228
  - Signal Filtering with External Command Value
    237
    
    Gearbox
    237
    
    Signal Filtering for External Setpoint Specification and Electronic
    237
    
    Cam
    238
  - Input Simulation
    240
    
    Calling up the Input Simulation
    240
    
    Functionality
    241
  - Setup Mode
    242
    
    Motion Objects in Compax3
    243
  - Load Identification
    244
    
    Boundary Conditions
    244
    
    Principle
    244
    
    Process of the Automatic Determination of the Load Characteristic Value (Load Identification)
    245
    
    Tips
    246
  - Alignment of the Analog Inputs
    246
    
    Gain Alignment
    247
    
    Offset Alignment
    247
    
    Signal Processing of the Analog Inputs
    247
4.3.9. C3 Servosignalanalyzer

248
- C3 Servosignalanalyzer
  248
  - Servosignalanalyzer - Function Range
    248
  - Signal Analysis Overview
    249
  - Installation Enable of the Servosignalanalyzer
    250
  - N5 C3I22T11 June
    251
  - Analyses in the Time Range
    252
  - Measurement of Frequency Spectra
    255
  - Measurement of Frequency Responses
    258
4.3.9.7 Overview of the User Interface

265
- In this Chapter You Can Read About: Selection of the Signal or System to be Measured
  265
  - Mechanical System
    267
  - Position Control
    268
  - Frequency Settings
    270
  - Velocity Control
    271
  - Other Settings
    273
  - Operating and Status Field
    275
  - Display of the Measurement Result
    277
  - Dispaly of the Measurement Point at the Cursor Position
    278
    
    Basics of Frequency Response Measurement
    279
  - In this Chapter You Can Read about
    
    282
    
    Examples Are Available as a Movie in the Help File
    284
    
    4.3.10. Profileviewer for the Optimization of the Motion Profile
    285
    
    Input Values
    285
    
    Mode 1: Time and Maximum Values Are Deduced from Compax3
    285
    
    Mode 2: Compax3 Input Values Are Deduced from Times and Maximum Values
    286
    
    4.3.11. Turning the Motor Holding Brake on and off
    287
  - 5 Communication
    
    288
    
    Compa3 Communication Variants
    288
    
    PC <-> Compax3 (RS232)
    289
    
    PC <-> Compax3 (RS485)
    290
    
    PC <-> C3M Device Combination (USB)
    291
    
    USB-RS485 Moxa Uport 1130 Adapter
    292
    
    ETHERNET-RS485 Netcom 113 Adapter
    293
    
    Modem Westermo TD-36 485
    295
    
    C3 Settings for RS485 Two Wire Operation
    298
    
    C3 Settings for RS485 Four Wire Operation
    299
    
    COM Port Protocol
    300
    
    RS485 Setting Values
    300
    
    ASCII - Record
    301
    
    Binary Record
    302
    
    Remote Diagnosis Via Modem
    305
    
    Structure
    305
    
    Configuration of Local Modem 1
    306
    
    Configuration of Remote Modem 2
    307
    
    Recommendations for Preparing the Modem Operation
    308
- Overview of the User Interface
  265
5.4 Devicenet

309
- Devicenet
  309
  - Devicenet Configuration
    309
  - Error Reaction to a Bus Failure
    309
  - Devicenet Operating Modes
    310
    
    Operating Mode: Speed Control
    311
    
    Operating Mode: Direct Positioning
    312
    
    Operating Mode: Positioning with Set Selection
    314
    
    Controlword /Statusword
    317
  - Status Machine
    324
  - Devicenet Object Classes
    326
    
    Object Classes
    327
    
    Overview of the Devicenet Object Classes
    327
    
    Manufacturer-Specific Object Class
    328
    
    Data Formats of the Bus Objects
    334
  - Devicenet Application Description
    337
- 6 Status Values
  338
  - D/A-Monitor
    338
  - 7 Error
    
    339
    
    Error List
    339
  - 8 Order Code
    
    340
    
    Order Code Device: Compax3
    341
    
    Accessories Order Code
    342
    
    Order Code for Mains Module: Compax3Mp
    342
  - 9 Compax3 Accessories
    
    346
    
    Direct Drives
    346
    
    Parker Servo Motors
    346
    
    Feedback Systems for Direct Drives
    347
    
    Linear Motors
    348
    
    Rotary Servo Motors
    348
    
    Torque Motors
    348
    
    EMC Measures
    349
    
    Mains Filter
    349
    
    Mains Filter NFI01/01
    350
    
    Mains Filter NFI01/02
    350
    
    Mains Filter for NFI01/03
    351
    
    Mains Filter Nfi02/0X
    351
    
    Mains Filter NFI03/01 & NFI03/03
    352
    
    Mains Filter NFI03/02
    352
    
    Motor Output Filter
    353
    
    Motor Output Filter MDR01/01
    353
    
    Motor Output Filter MDR01/04
    353
    
    Mains Filter
    354
    
    Motor Output Filter MDR01/02
    354
    
    Wiring of the Motor Output Filter
    354
9.3 Connections to the Motor

355
- Connections to the Motor
  355
  - Resolver Cable
    356
  - Sincos© Cable
    357
  - Endat Cable
    358
  - Overview of Motor Cables
    358
  - Motor Cable with Plug
    359
  - Motor Cable for Terminal Box
    360
    
    Connection of Terminal Box MH145 & MH205
    361
  - Encoder Cable
    362
- Gbk 2
  362
- External Braking Resistors
  363
9.4.1. Permissible Braking Pulse Powers of the Braking Resistors

364

Parker Compax3 Series Operating Instructions Manual (150 pages)

Positioning via digital I/Os

Brand: Parker | Category: DC Drives | Size: 3.8 MB

Table of Contents

3
3.1 Plug and Connector Assignment Compax3

20
4. Setting up Compax3

35
- 4 Setting up Compax3
  
  35
  - Configuration
    35
    
    Motor Selection
    37
    
    Optimize Motor Reference Point and Switching Frequency of the Power Output Stage
    38
    
    Ballast Resistor
    39
    
    Defining the Reference System
    40
    
    General Drive
    40
  - Define Reference System
    40
    
    Measure Reference
    41
    
    Machine Reference Modes (MN-Ms)
    44
    
    Adjusting the Machine Zero Proximity Switch
    48
    
    Software End Limits
    49
    
    Defining Jerk / Ramps
    50
  - Defining Jerks and Ramps
    50
    
    Ramp Upon Error / Deenergize
    51
    
    Current Limit
    52
    
    Limit and Monitoring Settings
    52
    
    Positioning Window - Position Reached
    52
    
    Tracking Error Limit
    53
    
    Encoder Simulation
    54
    
    Operating Modes
    55
    
    Positioning
    55
    
    Define Positioning Data Records
    59
    
    4.1.10. RS485 Setting Values
    62
    
    Dynamic Positioning
    62
    
    4.1.11. Configuration Name / Comments
    63
  - Designation of Configuration /Comments
    63
  - Test Commissioning Compax3
    64
  - Test Setup Compax3
    64
  - Device Status
    66
  - Device States
    66
  - Optimization
    68
    
    Control Dynamics
    68
    
    Stiffness of the Speed Controller
    69
    
    Damping of the Speed Controller
    70
    
    Filter for Speed Value
    70
    
    Advanced Control Parameters
    71
    
    Commissioning Mode
    75
    
    Turning the Motor Holding Brake on and off
    76
- 5 RS232 & RS485 - Interface Record
  
  77
  - ASCII - Record
    77
  - I11 T11 192-120101 N6 - March
    77
  - Binary Record
    79
- 6 Status Values
  
  82
  - Device
    83
  - Motor
    83
  - Positions
    84
  - Speeds
    85
  - Currents
    87
  - Inputs
    88
  - Cam
    89
  - Iec61131-3
    90
  - Transmitter
    91
- 7 Error
  
  92
  - Error List
    92
- 8 Compax3 Accessories
  
  105
  - Order Code for Compax3
    105
  - Accessories Order Code
    106
  - Parker Servo Motors
    108
    
    Direct Drives
    108
    
    Transmitter Systems for Direct Drives
    108
    
    Linear Motors
    109
    
    Torque Motors
    109
8.3.2. Rotary Servo Motors

110
- Rotary Servo Motors
  110
  - Motor Data Table for Standard Motors
    113
- Motor Data Table of the Standard Motors
  113
  - Holding Brake
    114
  - Pulse Encoder Systems
    114
  - Dimensions of the SMH(A)-Motors
    115
- Dimensions of the SMH(A) Motors
  115
- Connections to the Motor
  119
  - Resolver Cable
    119
  - Overview of Motor Cables
    120
  - Sincos Cable
    120
  - Motor Cable with Plug
    121
  - Motor Cable for Terminal Box
    122
- EMC Measures
  123
  - Mains Filter
    123
  - Mains Filter NFI01/01
    123
  - Mains Filter for NFI01/03
    124
  - Mains Filter NFI01/02
    124
  - Motor Output Choke MDR01/01
    125
  - Motor Output Filter
    125
  - Motor Output Filter MDR01/04
    125
  - Motor Output Choke MDR01/02
    126
  - Wiring of the Motor Output Filter
    126
- External Ballast Resistors
  127
  - Ballast Resistor BRM6/02
    128
  - BRM5/01 Ballast Resistor
    128
  - BRM8/01 Ballast Resistors
    128
  - Ballast Resistor Brm4/0X
    129
- Operator Control Module BDM
  130
- EAM06 Terminal Block for Inputs and Outputs
  131
- ZBH Plug Set
  134
- 8.10 Interface Cable
  135
  - 8.10.1. RS232 Cable
    135
  - 8.10.2. RS485 Cable to Pop
    136
  - 8.10.3. I/O Interface X12
    137
  - 8.10.4. Ref X11
    138
  - 8.10.5. Encoder Cable
    139
- 9 Technical Data
  
  140
- 10 Index
  
  147

Parker Compax3 Series Installation Manual (60 pages)

Single axis devices

Brand: Parker | Category: Industrial Electrical | Size: 3.12 MB

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Controller Control Unit Industrial Equipment

Dryer DC Drives

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User Manuals: Parker Compax3 Series Servo Drive

Parker Compax3 Series Operating Instructions Manual (414 pages)

Table of Contents

Table of Contents

In this Chapter You Can Read About: Device Assignment

1 Introduction

2 Compax3 XXXX I22T11 Introduction

3. Compax3 Device Description

3.6 Connections of Compax3H

3.9 Installation and Dimensions Compax3

Parker EME

3.9.1. Mounting and Dimensions Compax3S

3 Compax3 Device Description

4. Setting up Compax3

Homing Modes with Home Switch (on X12/14)

In this Chapter You Can Read About: Without Motor Reference Point

In this Chapter You Can Read About: MN-M 19.20: MN-Initiator = 1 on the Positive Side

In this Chapter You Can Read about

4.3.2.2 User Interface

Parker Eme 4.3.3.2 Configuration

Parker Eme

Parker Eme 4.3.3.3 Automatic Controller Design

4.3.3.4 Setup and Optimization of the Control

Parker Eme Advanced

4.3.9. C3 Servosignalanalyzer

4.3.9.7 Overview of the User Interface

In this Chapter You Can Read about

5 Communication

5.4 Devicenet

7 Error

8 Order Code

9 Compax3 Accessories

9.3 Connections to the Motor

9.4.1. Permissible Braking Pulse Powers of the Braking Resistors

11 Index

Parker Compax3 Series Operating Instructions Manual (150 pages)

Table of Contents

Table of Contents

1 Introduction

2 Compax3 I11 T11: Positioning Via Digital I/Os

3 Compax3 Device Description

3.1 Plug and Connector Assignment Compax3

4. Setting up Compax3

4 Setting up Compax3

5 RS232 & RS485 - Interface Record

6 Status Values

7 Error

8 Compax3 Accessories

8.3.2. Rotary Servo Motors

9 Technical Data

10 Index

Parker Compax3 Series Installation Manual (60 pages)

Table of Contents

Table of Contents

1 Notes on the Documents Supplied

2 Introduction

You Can Read about the Following in this Chapter

3 Compax3 Device Description

3.2 Plug and Connector Assignment Compax3

4 Technical Data

5 Index

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