function modules based on plcopen

Electromechanical Automation

We reserve the right to make technical changes 05.03.04 10:47 192-120111 N1 C3 T30 T40 - March 2004The data contained in this manual correspond to the current status at the time of printing.

Operating instructions Compax3 with IEC61131-3

Function modules based on PLCopen

192-120111 N1 C3 T30 T40 - March 2004

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

Introduction

2 192-120111 N1 C3 T30 T40 - March 2004

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


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Parker EME Device assignmentNew Compax3 functions

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Contents

1. Introduction ..............................................................................................13

1.1 Device assignment ................................................................................ 13

1.2 Type specification plate ........................................................................ 14

1.3 Release 1/2004 ....................................................................................... 151.3.1. New Compax3 functions..............................................................................15

1.3.1.1 Direct drives.......................................................................................151.3.1.2 Switching frequency of the power output stage can be set ..................151.3.1.3 Predefined external setpoint value optimized via analogue input.........151.3.1.4 UL certification ..................................................................................151.3.1.5 New machine zero modes..................................................................161.3.1.6 RS485 / RS232 interface....................................................................16

1.3.2. New functions of the Compax3 software tools ...........................................161.3.2.1 C3 ServoManager: configuration, setup and optimization of

Compax3 ...........................................................................................161.3.2.2 C3 MotorManager: configuration of almost any motors .......................171.3.2.3 C3 IEC61131-3 - Debugger................................................................171.3.2.4 CoDeSys - IEC61131-3 - development tool ........................................171.3.2.5 CamEditor: cam creation for C3 T40...................................................17

1.3.3. Complements / corrections in manual and online help ..............................17

1.4 Safety Instructions................................................................................. 181.4.1. General hazards ...........................................................................................181.4.2. Safety-conscious working ...........................................................................181.4.3. Special safety instructions ..........................................................................19

1.5 Warranty conditions .............................................................................. 19

1.6 Conditions of utilization ........................................................................ 201.6.1. Conditions of utilization for CE-conform operation....................................201.6.2. Conditions of utilization for UL permission ................................................22

2. Positioning with IEC61131-3...................................................................23

3. Compax3 device description..................................................................25

3.1 Plug and connector assignment Compax3.......................................... 263.1.1. Function of the LEDs on the front panel .....................................................273.1.2. Power supply plug X1 for 230VAC devices.................................................273.1.3. Power supply plug X1 for 400 VAC devices................................................283.1.4. Ballast resistor / high voltage supply plug X2 for 230VAC devices...........283.1.5. Ballast resistor / high voltage supply plug X2 for 400VAC devices...........293.1.6. Motor / Motor brake (plug X3) ......................................................................303.1.7. Control voltage 24VDC / enable (plug X4) ...................................................313.1.8. RS232 / RS485 interface (plug X10) .............................................................32

IntroductionNew Compax3 functions

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3.1.9. Analog / Encoder (plug X11) ........................................................................333.1.9.1 Wiring of analog outputs.....................................................................333.1.9.2 Wiring of the analog input...................................................................33

3.1.10. Digital inputs/outputs (plug X12).................................................................343.1.10.1 Input wiring of digital inputs ................................................................343.1.10.2 Output wiring of digital outputs ...........................................................35

3.1.11. Resolver / Feedback (connector X13)..........................................................363.1.12. Profibus plug X23.........................................................................................37

3.1.12.1 Adjusting the bus address / function of the bus LEDs..........................373.1.13. CANopen plug X23 .......................................................................................38

3.1.13.1 Adjusting the bus address / function of the bus LEDs..........................38

3.2 Installation and dimensions Compax3................................................. 393.2.1. Installation and dimensions of Compax3 S0xx V2 .....................................393.2.2. Installation and dimensions of Compax3 S038 and S075 V4 .....................403.2.3. Installation and dimensions of Compax3 S150 V4 .....................................413.2.4. Installation and dimensions of Compax3 S300 V4 .....................................42

4. Setting up Compax3 ................................................................................43

4.1 Configuration ......................................................................................... 434.1.1. Motor selection.............................................................................................454.1.2. Optimize motor reference point and switching frequency of the

power output stage ......................................................................................464.1.3. Ballast resistor .............................................................................................474.1.4. General drive ................................................................................................484.1.5. Defining the reference system.....................................................................48

4.1.5.1 Measure reference.............................................................................494.1.5.2 Locating the machine reference .........................................................524.1.5.3 Travel limits........................................................................................694.1.5.4 Interchange assignment direction reversal / end switchs.....................714.1.5.5 Changing the initiator logic .................................................................71

4.1.6. Defining jerk / ramps....................................................................................724.1.6.1 Ramp upon error and de-energize......................................................72

4.1.7. Limit and monitoring settings......................................................................724.1.7.1 Current Limit ......................................................................................724.1.7.2 Positioning window - Position reached..............................................734.1.7.3 Tracking error limit .............................................................................73

4.1.8. Encoder simulation ......................................................................................744.1.9. Recipe table..................................................................................................754.1.10. Profibus configuration .................................................................................76

4.1.10.1 Configuration of the process-data channel..........................................764.1.10.2 PKW parameter channel ....................................................................784.1.10.3 Error reaction to a bus failure .............................................................78

4.1.11. CANopen - configuration .............................................................................794.1.11.1 Possible PDO assignment..................................................................794.1.11.2 Error reaction to a bus failure .............................................................794.1.11.3 Baud rate ...........................................................................................794.1.11.4 Transmission cycle time .....................................................................80

4.1.12. RS485 setting values....................................................................................804.1.13. Configuration name / comments .................................................................80

4.2 Optimization ........................................................................................... 814.2.1. Control dynamics.........................................................................................81


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4.2.1.1 Stiffness of the speed controller .........................................................824.2.1.2 Damping of the speed controller.........................................................834.2.1.3 Filter for speed value..........................................................................834.2.1.4 Advanced control parameters.............................................................84

4.2.2. Calibration of the analog input ....................................................................874.2.2.1 Offset alignment.................................................................................874.2.2.2 Gain alignment...................................................................................88

4.2.3. Turning the motor holding brake on and off ...............................................89

4.3 Synchronization ..................................................................................... 904.3.1. Master reference system..............................................................................90

4.3.1.1 Time frame predefined setpoint value.................................................904.3.2. HEDA.............................................................................................................91

5. Programming based on IEC61131-3 ......................................................92

5.1 General.................................................................................................... 925.1.1. Requirements ...............................................................................................935.1.2. CoDeSys / Compax3 target system (Target Package) ................................93

5.1.2.1 Program development and test...........................................................945.1.2.2 Recipe management ..........................................................................94

5.1.3. Languages supported ..................................................................................945.1.4. Function range supported ...........................................................................95

5.1.4.1 Operators supported ..........................................................................955.1.4.2 Standard functions supported.............................................................965.1.4.3 Standard function modules supported ................................................96

5.1.5. Data types supported...................................................................................975.1.6. Retain Variables ...........................................................................................975.1.7. Recipe table with 9 columns and 32 lines...................................................985.1.8. Maximum program size................................................................................985.1.9. Cycle time.....................................................................................................985.1.10. Access to the Compax3 object directory ....................................................995.1.11. Compilation, debugging and down/upload of IEC61131 programs ...........99

5.2 Motion control via function modules ................................................. 1005.2.1. Compax3 status diagram ........................................................................ 1015.2.2. Virtual Master ............................................................................................. 1025.2.3. Library constants ....................................................................................... 1035.2.4. General rules / timing................................................................................. 1045.2.5. Control functions ....................................................................................... 106

5.2.5.1 Energizing the power output stage (MC_Power) ............................... 1065.2.5.2 Stop (MC_Stop) ............................................................................... 1075.2.5.3 Opening the brake (C3_OpenBrake) ................................................ 108

5.2.6. Reading values........................................................................................... 1095.2.6.1 Reading the current position (MC_ReadActualPosition).................... 1095.2.6.2 Read access to the (C3_READARRAY) array .................................. 1115.2.6.3 Reading the device status (MC_ReadStatus) ................................... 112

5.2.7. Motion functions ........................................................................................ 1135.2.7.1 Dynamic positioning ......................................................................... 1135.2.7.2 Absolute positioning (MC_MoveAbsolute) ........................................ 1145.2.7.3 Relative positioning (MC_MoveRelative) .......................................... 1175.2.7.4 Additive positioning (MC_MoveAdditive)........................................... 1195.2.7.5 Continuous positioning (MC_MoveVelocity)...................................... 1215.2.7.6 Machine zero (MC_Home) ............................................................... 123


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5.2.7.7 Current setting operation (C3_Current)............................................. 1245.2.7.8 Superimposed positioning (MC_MoveSuperImposed)....................... 1255.2.7.9 Electronic gearbox (MC_GearIn) ...................................................... 1275.2.7.10 Selecting a curve (MC_CamTableSelect) ......................................... 1295.2.7.11 Starting a selected curve (MC_CamIn) ............................................. 1305.2.7.12 Starting a selected curve with coupling movement (C3_CamIn)........ 1325.2.7.13 Exiting the active curve with coupling movement (C3_CamOut)........ 1345.2.7.14 Example of cams ............................................................................. 1365.2.7.15 Master signal phase shift (MC_Phasing)........................................... 138

5.2.8. Error handling ............................................................................................ 1405.2.8.1 Acknowledging errors (MC_Reset) ................................................... 1405.2.8.2 Reading axis errors (MC_ReadAxisError)......................................... 1415.2.8.3 Switching off error messages (C3_ERRORMASK) ........................... 142

5.2.9. Process image............................................................................................ 1435.2.9.1 Reading digital inputs (C3_INPUT)................................................... 1435.2.9.2 Write digital outputs (C3_OUTPUT).................................................. 1435.2.9.3 Reading/writing optional inputs/outputs............................................. 1445.2.9.4 Recording the axis position (MC_TouchProbe)................................. 146

5.3 IEC examples........................................................................................ 1485.3.1. Example in CFC: Using Compax3-specific function modules and

Compax3 objects........................................................................................ 1485.3.2. Example in CFC: Positioning 1.................................................................. 1495.3.3. Example in CFC: Positioning 2.................................................................. 1505.3.4. Example in CFC: positioning with set selection ....................................... 1515.3.5. Example in CFC: Cycle mode .................................................................... 1525.3.6. Example in ST: Cycle mode with a Move module ..................................... 153

6. RS232 & RS485 interface record.......................................................155

6.1 ASCII - record ....................................................................................... 156

6.2 Binary record........................................................................................ 157

6.3 CamDesigner........................................................................................ 160

7. CANopen.................................................................................................160

7.1 CANopen communication profile ....................................................... 1617.1.1. Object types ............................................................................................... 1627.1.2. Communication objects............................................................................. 162

7.1.2.1 CAN communication objects overview sorted according to CANNo.................................................................................................... 163

7.1.2.2 General communication objects ....................................................... 1657.1.2.3 Node Guarding................................................................................. 1677.1.2.4 Emergency message........................................................................ 1687.1.2.5 Service Data Object ......................................................................... 1687.1.2.6 Send process data to Compax3 ....................................................... 1697.1.2.7 Read process data from Compax3 ................................................... 177

7.2 Acyclic parameter channel.................................................................. 1847.2.1. Service Data Objects (SDO) ....................................................................... 184

7.2.1.1 SDO abort code ............................................................................... 1847.2.2. Object up-/download via CANopen ........................................................... 1857.2.3. Data formats of the bus objects ................................................................ 186


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7.2.3.1 Integer formats................................................................................. 1867.2.3.2 Unsigned - Formats.......................................................................... 1867.2.3.3 Fixed point format E2_6 ................................................................... 1867.2.3.4 Fixed point format C4_3 ................................................................... 1877.2.3.5 Bus format Y2 and Y4 ...................................................................... 1877.2.3.6 Bit sequence V2............................................................................... 1887.2.3.7 Byte string OS.................................................................................. 188

8. Profibus ..................................................................................................189

8.1 Typical application with fieldbus and IEC61131................................ 189

8.2 Cyclic process data channel............................................................... 1898.2.1. Control and status word ............................................................................ 190

8.3 Acyclic parameter channel.................................................................. 1908.3.1. Parameter access with DPV0: Required data channel ............................. 190

8.3.1.1 Order and response processing........................................................ 1918.3.1.2 Example: changing the stiffness ....................................................... 1928.3.1.3 Upload/download objects via the Profibus ........................................ 194

8.3.2. Data formats of the bus objects ................................................................ 1958.3.2.1 Integer formats................................................................................. 1958.3.2.2 Unsigned - Formats.......................................................................... 1958.3.2.3 Fixed point format E2_6 ................................................................... 1968.3.2.4 Fixed point format C4_3 ................................................................... 1968.3.2.5 Bus format Y2 and Y4 ...................................................................... 1978.3.2.6 Bit sequence V2............................................................................... 1988.3.2.7 Byte string OS.................................................................................. 198

9. Compax3 - Objects ................................................................................199

9.1 Object overview ................................................................................... 199

9.2 Object list sorted by object name....................................................... 2029.2.1. Object: Setpoint for analog output 0 ......................................................... 2049.2.2. Object: Setpoint for analog output 1 ......................................................... 2049.2.3. Object: current controller bandwidth ........................................................ 2059.2.4. Object:Damping of the current controller ................................................. 2059.2.5. Object: damping (speed controller)........................................................... 2059.2.6. Object: actual acceleration value filter...................................................... 2069.2.7. Object: actual acceleration value filter 2................................................... 2069.2.8. Object: actual speed value filter ................................................................ 2069.2.9. Object: Actual speed value filter 2............................................................. 2079.2.10. Object: moment of inertia .......................................................................... 2079.2.11. Object: D component speed controller ..................................................... 2079.2.12. Object: stiffness (speed controller)........................................................... 2089.2.13. Object: Profibus profile number ................................................................ 2089.2.14. Object: Status of the digital inputs............................................................ 2089.2.15. Object: Input word of the I/O option .......................................................... 2099.2.16. Object: Activating the input/output option M10/M12 ................................ 2099.2.17. Object: Error of the I/O option ................................................................... 2099.2.18. Object: Output word for the I/O option...................................................... 2109.2.19. Object: Error (n-1) in the error history....................................................... 210


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9.2.20. Object: Position from external signal source ........................................... 2119.2.21. Object: Speed from external signal source............................................... 2119.2.22. Object: 1. object of the setpoint PZD (Profibus) ....................................... 2129.2.23. Object: 1st object of actual value PZD ...................................................... 2129.2.24. Object: forward acceleration control......................................................... 2139.2.25. Object: forward current control ................................................................. 2139.2.26. Object: forward jerk control....................................................................... 2139.2.27. Object: forward speed controller............................................................... 2149.2.28. Object: Voltage feedforward ...................................................................... 2149.2.29. Object: maximum permissible negative current ....................................... 2149.2.30. Object: maximum permissible positive current........................................ 2159.2.31. Object: maximum permissible negative speed......................................... 2159.2.32. Object: maximum permissible positive speed.......................................... 2159.2.33. Object: negative end limit .......................................................................... 2169.2.34. Object: positive end limit ........................................................................... 2169.2.35. Object: Status of the Multiturn emulation ................................................. 2169.2.36. Object: Scaling factor for column 2 of the recipe array............................ 2179.2.37. Object: Scaling factor for Y2 positions ..................................................... 2179.2.38. Object: Scaling factor forY2 speeds.......................................................... 2179.2.39. Object: Scaling factor for Y2 voltages....................................................... 2189.2.40. Object: Scaling factor for column 1 of the recipe array............................ 2189.2.41. Object: Scaling factor for Y4 positions ..................................................... 2189.2.42. Object: Scaling factor for Y4 speeds......................................................... 2199.2.43. Object: Scaling factor for Y4 voltages....................................................... 2199.2.44. Object: Save objects permanently (Bus)................................................... 2199.2.45. Object: Read objects from Flash ............................................................... 2209.2.46. Object: save objects permanently............................................................. 2209.2.47. Object: tracking error time......................................................................... 2209.2.48. Object: tracking error limit......................................................................... 2219.2.49. Object: Position reached ........................................................................... 2219.2.50. Object: positioning window for position reached..................................... 2219.2.51. Object: position window time .................................................................... 2229.2.52. Object: Switch for disturbance feedforward ............................................. 2229.2.53. Object: Time constant disturbance filter................................................... 2229.2.54. Object: Rapidity of the speed monitor ...................................................... 2239.2.55. Object: Status actual acceleration unfiltered............................................ 2239.2.56. Object: Status actual acceleration filtered ................................................ 2239.2.57. Object: Status target acceleration ............................................................. 2249.2.58. Object: Status actual current effective (torque forming).......................... 2249.2.59. Object: Status control deviation current effective.................................... 2249.2.60. Object: Status current and jerk feedforward effective.............................. 2259.2.61. Object: Status current phase U ................................................................. 2259.2.62. Object: Status current phase V.................................................................. 2259.2.63. Object: Status target current effective (torque forming) .......................... 2269.2.64. Object: Status target jerk of setpoint encoder.......................................... 2269.2.65. Object: Status of voltage control signal.................................................... 2269.2.66. Object: status of actual current value ....................................................... 2279.2.67. Object: status of device utilisation............................................................ 2279.2.68. Object: Status long-term motor utilization................................................ 2289.2.69. Objekt: Status short-term motor utilization .............................................. 228


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9.2.70. Object: Status disturbance monitored ...................................................... 2299.2.71. Object: Status analog input cosine ........................................................... 2299.2.72. Object: Status analog input sine ............................................................... 2299.2.73. Object: Status cosine in signal processing .............................................. 2309.2.74. Object: Status sine in signal processing .................................................. 2309.2.75. Object: Status encoder level...................................................................... 2309.2.76. Object: Status actual position ................................................................... 2319.2.77. Object: Status position acutal value in the Y4 bus format ....................... 2319.2.78. Object: Status actual position without absolute reference ...................... 2319.2.79. Object: Status target position.................................................................... 2329.2.80. Object: Status target position of virtual master........................................ 2329.2.81. Object: Status target position without absolute reference....................... 2329.2.82. Object: Status encoder input 0 (24V) ........................................................ 2339.2.83. Object: Status encoder input 0 (5V) .......................................................... 2339.2.84. Object: status of tracking error ................................................................. 2339.2.85. Object: Status actual speed unfiltered ...................................................... 2349.2.86. Object: Status actual speed in the Y2 format............................................ 2349.2.87. Object: Status actual speed in the Y4 format............................................ 2349.2.88. Object: Status actual speed filtered .......................................................... 2359.2.89. Object: Status target speed controller input............................................. 2359.2.90. Object: Status target speed of setpoint encoder ...................................... 2359.2.91. Object: Status target speed virtual master ............................................... 2369.2.92. Object: Status Control deviation of speed ................................................ 2369.2.93. Object: Status speed and acceleration feedforward................................. 2369.2.94. Object: status of motor temperature ......................................................... 2379.2.95. Object: status of power stage temperature............................................... 2379.2.96. Object: Status analog input 0 .................................................................... 2379.2.97. Object: Status analog input 1 .................................................................... 2389.2.98. Object: status of auxiliary voltage............................................................. 2389.2.99. Object: Status DC bus voltage................................................................... 2389.2.100. Object: set objects to valid ........................................................................ 2399.2.101. Object: Variable column 1 row 1................................................................ 2409.2.102. Object: Variable column 2 row 1................................................................ 2419.2.103. Object: Variable column 3 row 1................................................................ 2419.2.104. Object: Variable column 4 row 1................................................................ 2419.2.105. Object: Variable column 5 row 1................................................................ 2429.2.106. Object: Variable column 6 row 1................................................................ 2429.2.107. Object: Variable column 7 row 1................................................................ 2429.2.108. Object: Variable column 8 row 1................................................................ 2439.2.109. Object: Variable column 9 row 1................................................................ 2439.2.110. Object: Indirect table access column 1 ..................................................... 2439.2.111. Object: Indirect table access column 2 ..................................................... 2449.2.112. Object: Indirect table access column 3 ..................................................... 2449.2.113. Object: Indirect table access column 4 ..................................................... 2449.2.114. Object: Indirect table access column 5 ..................................................... 2459.2.115. Object: Indirect table access column 6 ..................................................... 2459.2.116. Object: Indirect table access column 7 ..................................................... 2459.2.117. Object: Indirect table access column 8 ..................................................... 2469.2.118. Object: Indirect table access column 9 ..................................................... 2469.2.119. Object: Pointer to table row....................................................................... 246


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9.2.120. Cam switching mechanism........................................................................ 2479.2.121. Object: Switch-off position of cam............................................................ 2489.2.122. Object: Switch-on position of cam ............................................................ 2489.2.123. Object: Source of cam ............................................................................... 2499.2.124. Object: Switch-off anticipation of cam...................................................... 2499.2.125. Object: Switch-on anticipation of cam ...................................................... 2509.2.126. Object: Enable cams group 0 .................................................................... 2509.2.127. Object: Enable cams group 1 .................................................................... 2509.2.128. Object: Number of cams ............................................................................ 2519.2.129. Object: Output cams group 0 .................................................................... 2519.2.130. Object: Output cams group 1 .................................................................... 2529.2.131. Object: Enable fast cams........................................................................... 2529.2.132. Object: Output fast cams........................................................................... 2529.2.133. Object: Hysteresis for cam switching mechanism ................................... 2539.2.134. Object: Switch-off position of fast cam..................................................... 2539.2.135. Object: Switch-on position of fast cam..................................................... 2549.2.136. Object: Source of fast cam ........................................................................ 2549.2.137. Object: Switch-off anticipation of fast cam............................................... 2559.2.138. Object: Switch-on anticipation of fast cam............................................... 2559.2.139. Object: Status signal source of master position monitoring ................... 2559.2.140. Object: Status master position .................................................................. 2569.2.141. Object: Status slave position..................................................................... 2569.2.142. Object: Automatic commutation starting current ..................................... 2569.2.143. Object: control word CW............................................................................ 2579.2.144. Object: control word 2 ............................................................................... 2579.2.145. Object: operating mode ............................................................................. 2589.2.146. Object: Operating mode display................................................................ 2589.2.147. Object: status word SW ............................................................................. 2589.2.148. Object: Status word 2................................................................................. 2599.2.149. Object: current error (n) ............................................................................. 2599.2.150. Object: acceleration and delay for the machine reference run ................ 2609.2.151. Object: initiator adjustment ....................................................................... 2609.2.152. Object: Jerk for the machine reference run .............................................. 2609.2.153. Object: setting the machine reference modes .......................................... 2619.2.154. Object: speed for the machine reference run ........................................... 2619.2.155. Object: Status control program cycle time ............................................... 2619.2.156. Object: Status maximum cycle time.......................................................... 2629.2.157. Object: Cycle time specification................................................................ 2629.2.158. Object: Baudrate ........................................................................................ 2629.2.159. Object: station address.............................................................................. 2639.2.160. Object: PPO type selection switch ............................................................ 2639.2.161. Object: List of the ProfiDrive standard signals......................................... 2639.2.162. Object: telegram selection switch ............................................................. 264

10. Status values..........................................................................................265

10.1 Device ................................................................................................... 266

10.2 Motor..................................................................................................... 267


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10.3 Positions............................................................................................... 268

10.4 Speeds .................................................................................................. 269

10.5 Currents ................................................................................................ 271

10.6 Inputs .................................................................................................... 273

10.7 CAM....................................................................................................... 274

10.8 IEC61131-3............................................................................................ 275

10.9 Transmitter ........................................................................................... 276

11. Error ........................................................................................................277

11.1 Error list ................................................................................................ 277

12. Compax3 Accessories ..........................................................................290

12.1 Order code for Compax3..................................................................... 290

12.2 Accessories order code ...................................................................... 291

12.3 Parker servo motors ............................................................................ 29312.3.1. Direct drives ............................................................................................... 293

12.3.1.1 Transmitter systems for direct drives ................................................ 29312.3.1.2 Linear motors................................................................................... 29412.3.1.3 Torque motors.................................................................................. 294

12.3.2. Rotary servo motors .................................................................................. 29512.3.2.1 Motor data table for standard motors................................................ 29812.3.2.2 Holding brake................................................................................... 29912.3.2.3 Pulse encoder systems .................................................................... 29912.3.2.4 Dimensions of the SMH(A)-motors ................................................... 30012.3.2.5 Dimensions of the MH(A)105-motors................................................ 30112.3.2.6 Dimensions of the MH(A)145 and MH(A)205 motors ........................ 30212.3.2.7 Order code for SMH/MH motors ....................................................... 303

12.4 Connections to the motor ................................................................... 30412.4.1. Resolver cable............................................................................................ 30412.4.2. SinCos cable............................................................................................... 30512.4.3. Overview of motor cables .......................................................................... 30512.4.4. Motor cable with plug................................................................................. 30612.4.5. Motor cable for terminal box...................................................................... 307

12.5 EMC measures ..................................................................................... 30812.5.1. Mains filter .................................................................................................. 308

12.5.1.1 Mains filter NFI01/01 ........................................................................ 30812.5.1.2 Mains filter NFI01/02 ........................................................................ 30912.5.1.3 Mains filter for NFI01/03 ................................................................... 309

12.5.2. Motor output filter ...................................................................................... 31012.5.2.1 Motor output filter MDR01/04............................................................ 31012.5.2.2 Motor output choke MDR01/01......................................................... 31012.5.2.3 Motor output choke MDR01/02......................................................... 31112.5.2.4 Wiring of the motor output filter......................................................... 311


12 192-120111 N1 C3 T30 T40 - March 2004

12.6 External ballast resistors .................................................................... 31212.6.1. BRM8/01 ballast resistors .......................................................................... 31312.6.2. BRM5/01 ballast resistor ............................................................................ 31312.6.3. Ballast resistor BRM6/02............................................................................ 31312.6.4. Ballast resistor BRM4/0x............................................................................ 314

12.7 Operator control module BDM............................................................ 315

12.8 EAM06 terminal block for inputs and outputs................................... 316

12.9 ZBH plug set......................................................................................... 319

12.10 Interface cable...................................................................................... 32012.10.1. RS232 cable................................................................................................ 32012.10.2. RS485 cable to Pop .................................................................................... 32112.10.3. I/O interface X12 ......................................................................................... 32212.10.4. Ref X11........................................................................................................ 32312.10.5. Encoder cable............................................................................................. 324

12.11 Input/output option M12 ...................................................................... 32512.11.1. Assignment of the X22 connector ............................................................. 325

12.11.1.1Input wiring of digital inputs .............................................................. 32612.11.1.2Output wiring of digital outputs ......................................................... 326

12.12 HEDA (motion bus) - Option M11 ....................................................... 326

12.13 HEDA (M11) & I/Os (M12) => Option M10 ........................................... 327

12.14 Profibus plug BUS08/01 ...................................................................... 328

12.15 CAN - plug BUS10/01........................................................................... 329

13. Technical Data........................................................................................330

14. Index........................................................................................................337

Parker EME Introduction

192-120111 N1 C3 T30 T40 - March 2004 13

You can read about the following in this chapter:Device assignment................................................................................................................................ 13Type plate.............................................................................................................................................. 14Release 1/2004..................................................................................................................................... 15Safety instructions................................................................................................................................. 18Warranty conditions .............................................................................................................................. 19Conditions of utilization......................................................................................................................... 20

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)

! I11 T30! I20 T30! I21 T30! I11 T40! I20 T40! I21 T40

1. Introduction

Introduction

14 192-120111 N1 C3 T30 T40 - 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:


192-120111 N1 C3 T30 T40 - March 2004 15

1.3 Release 1/2004

You can read about the following in this chapter:New Compax3 functions....................................................................................................................... 15New functions of the Compax3 software tools..................................................................................... 16Complements / corrections in manual and online help........................................................................ 17

1.3.1. New Compax3 functions

You can read about the following in this chapter:Direct drives .......................................................................................................................................... 15Switching frequency of the power output stage can be set................................................................. 15Optimization of the predefined external setpoint via the analog input ................................................ 15UL certification ...................................................................................................................................... 15New machine zero modes .................................................................................................................... 16RS485 / RS232 interface...................................................................................................................... 16

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 46) 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 90 ).

1.3.1.4 UL certification

Compax3 now with UL certification. (see on page 22)

Introduction

16 192-120111 N1 C3 T30 T40 - March 2004

1.3.1.5 New machine zero modes

! Several new machine zero modes with limit switch: MN-Mode ( see on page 67)1,2 7-10, 11-14, 17,18, 23-26, 27-30

! New machine zero modes in connection with the feedback module F12 (directdrives) and distance coded feedback systems: MN-Mode 130 - 133 ( see onpage 66)

! Limit switch (siehe auf Seite 70) configurable

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

You can read about the following in this chapter:C3 ServoManager: configuring Compax3, setup and optimization..................................................... 16C3 MotorManager: configuration of almost any motors ...................................................................... 17C3 IEC61131-3 - Debugger.................................................................................................................. 17CoDeSys - IEC61131-3 development tool ..................................................................................... 17CamEditor: Cam creation for C3 T40................................................................................................... 17

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.


192-120111 N1 C3 T30 T40 - March 2004 17

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

18 192-120111 N1 C3 T30 T40 - March 2004

1.4 Safety Instructions

You can read about the following in this chapter:General hazards ................................................................................................................................... 18Working safely....................................................................................................................................... 18Special safety instructions .................................................................................................................... 19

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.


192-120111 N1 C3 T30 T40 - March 2004 19

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

20 192-120111 N1 C3 T30 T40 - 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 than10m

S038, S075, S150 V4: NFI01/02 Only for motor lines longer than10m

S300 NFI01/03 Only for motor lines longer than10m

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:

unscreened: < 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.

Mains filter:

Motor and resolvercable:

Motor cable


192-120111 N1 C3 T30 T40 - March 2004 21

! MDR01/04 (max. 6.3A rated motor current)! MDR01/01 (max. 16A rated motor current)! MDR01/02 (max. 30A rated motor current)

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 page319).

< 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.

Resolverkabel

Motors:

Control:

Grounding:

Cable installation:

Accessories:

Warning:

Introduction

22 192-120111 N1 C3 T30 T40 - 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 290)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 330)! Motor cable: ( see on page 306) corresponding to the nominal output

currents (see on page 330)! 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 Positioning with IEC61131-3

192-120111 N1 C3 T30 T40 - March 2004 23

Due to its high functionality, Compax3 in the version IEC 61131-3 - Positioningwith function modules based on PLCopen forms an ideal basis for manyapplications in high-performance motion automation.A standard with general applicability was created with Standard IEC 61131-3. Theprogramming system is equipped with a series of functions in addition to thecompliant editor. The Motion Control functions specified in PLCopen are alsoprovided by Parker as a library with the device and control software.

The graphical program editor supports the following functions:! Ladder diagram! Function block diagram (structurally-guided)! Function block diagram (free graphical editor)

The text-oriented editor supports programming in! Instruction list! Structured text

Programming of Compax3 based on IEC 61131-3 is also made considerably easierby a series of additional functions. This includes in particular Syntax Coloring,multi-level undo/redo and context-sensitive input help.

Adding the cam function modules (T40) and the CamDesigner makes it easy tolaunch cam applications in the IEC program:! In the C3 ServoManager, define the master signal source under

"Synchronization".! Under CamDesigner: Modify cam sketch the curve and load into Compax3.! Using the IEC modules (MC_CamTableSelect) select the curve and couple to

curve (MC_CamIn or C3_CamIn); later decouple again with C3_CamOut.

The higher-level control system communicates with Compax3 via Profibus.A number of different cyclic transfer telegrams (which can be conveniently adjustedwith the Compax3 ServoManager) can be used to adjust bus communication to therequirements of specific applications.In addition to the cyclic data channel, parameter access is also possible via aDPV1 master or using the parameter channel with a DPV0 master.

2. Positioning with IEC61131-3

IEC 61131-3programming(function T30)

Cam modules (T40functions)

Profibus (I20 -functions)

Positioning with IEC61131-3

24 192-120111 N1 C3 T30 T40 - March 2004

The higher level control system communicates with Compax3 via CANopen.Via various cyclic process data objects (which can be comfortably set with theCompax3 ServoManager) the bus communication can be adapted to theapplication requirements.Apart from the cyclic process data objects, acyclic parameter access is possible viaservice data objects.

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 315 )) forCompax3 makes it possible to exchange devices quickly without the need for a PC.

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 320 )).

CANopen (I21 -functions)

Compax3 controltechnology

Model / standards /auxiliary material

Configuration

Parker EME Compax3 device description

192-120111 N1 C3 T30 T40 - March 2004 25

You can read about the following in this chapter:Plug and connector assignment Compax3 .......................................................................................... 26Installation and dimensions Compax3 ................................................................................................. 39

3. Compax3 device description

Compax3 device descriptionConditions of utilization for UL permission

26 192-120111 N1 C3 T30 T40 - March 2004

3.1 Plug and connector assignment Compax3

You can read about the following in this chapter:Function of the LEDs on the front panel .............................................................................................. 27Power supply plug X1 for 230VAC devices ......................................................................................... 27Power supply plug X1 for 400VAC devices ......................................................................................... 28Ballast resistor / High voltage supply plug X2 for 230VAC devices.................................................... 28Ballast resistor / High voltage supply plug X2 for 400VAC devices.................................................... 29Motor / Motor brake (plug X3)............................................................................................................... 30Control voltage 24 VDC / enable (plug X4).......................................................................................... 31RS 232 / RS485 interface (plug X10)................................................................................................... 32Analog / Encoder (plug X11) ................................................................................................................ 33Digital Inputs/Outputs (connector X12) ................................................................................................ 34Resolver / Feedback (plug X13)........................................................................................................... 35Profibus connector X23 ........................................................................................................................ 37CANopen connector X23...................................................................................................................... 38

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

192-120111 N1 C3 T30 T40 - March 2004 27

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

28 192-120111 N1 C3 T30 T40 - 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

192-120111 N1 C3 T30 T40 - March 2004 29

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)

30 192-120111 N1 C3 T30 T40 - 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 page319).

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 306)


192-120111 N1 C3 T30 T40 - March 2004 31

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

32 192-120111 N1 C3 T30 T40 - 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


192-120111 N1 C3 T30 T40 - March 2004 33

3.1.9. Analog / Encoder (plug X11)

PIN X11 ReferenceHigh Density Sub D

1 +24V (output for encoder) max. 70mA

2 Ain1 -: analogue input - (14-bit)

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 input + (14-bit)

10 Ain1 +: analogue input + (14-bit)

11 Ain0 -: analogue input - (14-bit)

12 - Input: direction RS422 (5V - level) B/ (encoder input/emulation)

13 Reserved N/ (Encoder simulation)

14 Reserved N (Encoder simulation)

15 GND

3.1.9.1 Wiring of analog outputs

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

X11/3

X11/15

332ΩX11/4

3.1.9.2 Wiring of the analog input

10nF

2.2KΩ

10KΩAin+

2.2KΩ

X11/910KΩ

10nF

Ain-X11/11


34 192-120111 N1 C3 T30 T40 - March 2004

Ain1 (X11/10 and X11/2) has the same wiring!

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 Output 0 (max. 100mA)




6 I0 Input 0

7 I1 Input 1

8 I2 Input 2

9 I3 Input 3

10 I4 Input 4

11 I 24V input for the digital outputs Pins 2 to 5

12 I5 Input 5 or limit or direction reversal switch

13 I6 Input 6 or limit or direction reversal switch

14 I7 Input 7 or home switch

15 O Gnd 24 V

All inputs and outputs have 24V level.Maximum capacitive load on the outputs: 50 nF (max. 4 Compax3 inputs)

Note:

The inputs and outputs are freely programmable using an IEC61131-3 program.Input 7 is provided as a machine reference initiator.

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.


192-120111 N1 C3 T30 T40 - March 2004 35

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.


36 192-120111 N1 C3 T30 T40 - March 2004

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

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 304)SinCos cablel (see on page 305)


192-120111 N1 C3 T30 T40 - March 2004 37

3.1.12. Profibus plug X23

PinX23

Profibus (Sub D)

1 Not assigned

2 Not assigned

3 Data line B

4 RTS

5 GND

6 +5V

7 Not assigned

8 Data line A

9 Not assigned

The assignment corresponds to Profibus standard EN 50170.Wiring (see on page 328).

3.1.12.1 Adjusting the bus address / function of the bus LEDs

Address setting

The address set here is the Node ID of the device.

Values:

1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved

Settings:

Left: OFFRight: ON(The address is set to 0 in the illustration to the left)

Value range: 1 ...127

Address 0 is set internally to address 126.

Function of the LEDs

Green LED (left) Red LED (right) Description

alternately flashing Field bus program missing

off flashing Compax3 not initialized

on flashing Bus operation mode (no DATA exchange)

on off Bus operation mode (DATA exchange)

on on Bus error


38 192-120111 N1 C3 T30 T40 - March 2004

3.1.13. CANopen plug X23

PinX23

CANopen (Sub D)

1 Reserved

2 CAN_L CAN Low

3 GNDfb Opto-isolated GND-supply

4 Reserved

5 SHIELD Shield optional

6 Reserved

7 CAN_H CAN High

8 Reserved

9 Not assigned

The assignment corresponds to CANopen DS301.At the beginning and end of the device chain a terminating resistor of 120Ω isrequired between CAN_L and CAN_HWiring (see on page Fehler! Es wurde kein Textmarkenname vergeben.).

3.1.13.1 Adjusting the bus address / function of the bus LEDs

Address setting

The address set here is the Node ID of the device.

Values:

1: 20; 2: 21; 3: 22; ... 7: 26; 8: reserved

Settings:

Left: OFFRight: ON(The address is set to 0 in the illustration to the left)

Value range: 1 ...127

Address 0 is set internally to address 126.

Function of the LEDs

Green LED (left) Red LED (right) Description

alternately flashing Field bus program missing

off flashing Compax3 not initialized

on flashing Bus operation mode (no DATA exchange)

on off Bus operation mode (DATA exchange)

on on Bus error


192-120111 N1 C3 T30 T40 - March 2004 39

3.2 Installation and dimensions Compax3

You can read about the following in this chapter:Installation and dimensions Compax3 S0xx V2................................................................................... 39Installation and dimensions Compax3 S038 and S075 V4 ................................................................. 40Installation and dimensions Compax3 S150 V4 .................................................................................. 41Installation and dimensions Compax3 S300 V4 .................................................................................. 42

3.2.1. Installation and dimensions of Compax3 S0xx V2

Mounting:

3 socket head screws M5

Mounting spacing:

Device separation 15 mm


40 192-120111 N1 C3 T30 T40 - March 2004

3.2.2. Installation and dimensions of Compax3 S038 and S075 V4

Mounting:


Mounting spacing:


248

80

259

267

279

65Compax3 S038 V4:

100Compax3 S075 V4:

115

7,5

40


192-120111 N1 C3 T30 T40 - March 2004 41

3.2.3. Installation and dimensions of Compax3 S150 V4

Mounting:


Mounting spacing:


248

259

158

267

279

80 39


42 192-120111 N1 C3 T30 T40 - March 2004

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!

Parker EME Setting up Compax3

192-120111 N1 C3 T30 T40 - March 2004 43

You can read about the following in this chapter:Configuration......................................................................................................................................... 43Optimization .......................................................................................................................................... 81Synchronization..................................................................................................................................... 90CamDesigner ...................................................................................................................................... 160

4.1 Configuration

You can read about the following in this chapter:Motor selection...................................................................................................................................... 45Optimize motor reference point and switching frequency of the power output stage ....................... 46Ballast resistor....................................................................................................................................... 47General drive......................................................................................................................................... 48Define reference system....................................................................................................................... 48Defining jerks and ramps...................................................................................................................... 72Limit and monitoring settings................................................................................................................ 72Encoder simulation ............................................................................................................................... 74Recipe table .......................................................................................................................................... 75Profibus configuration ........................................................................................................................... 76CANopen configuration......................................................................................................................... 79RS485 setting values............................................................................................................................ 80Designation of configuration /comments.............................................................................................. 80

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

Setting up Compax3Installation and dimensions of Compax3 S300 V4

44 192-120111 N1 C3 T30 T40 - March 2004

Configurations 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 page320 )) (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

Parker EME ConfigurationMotor selection

192-120111 N1 C3 T30 T40 - March 2004 45

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 89).

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 293 ) (Linear and Torque - Motors)

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

46 192-120111 N1 C3 T30 T40 - March 2004

4.1.2. 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:

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

Optimization of themotor reference

point

Optimizing theswitching frequencyof the power output

stage

Parker EME ConfigurationBallast resistor

192-120111 N1 C3 T30 T40 - March 2004 47

Compax3 S0xx V2 at 230VAV

Power 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*400VAC


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 re the pre-set values (standard values)!

4.1.3. Ballast resistor

If the regenerative brake output exceeds the amount of energy that can bestored by the servo-controller (see on page Fehler! Textmarke nichtdefiniert.), an error will be generated. To ensure safe operation, it is thennecessary to either! reduce the accelerations resp. the decelerations,! or an external ballast resistor (see on page 312) 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.

Setting up Compax3General drive

48 192-120111 N1 C3 T30 T40 - March 2004

4.1.4. General drive

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.

4.1.5. Defining the reference system

The reference system for positioning is defined by:! a unit,! the travel distance per motor revolution,! a machine zero point with true zero,! positive and negative end limits.

Parker EME ConfigurationDefining the reference system

192-120111 N1 C3 T30 T40 - March 2004 49

4.1.5.1 Measure reference

You can read about the following in this chapter:

You can select from among the following for the unit:! mm,! increments or! angle degree.The unit of measure is always [mm] for linear motors.

The measure reference to the motor is created with the value:"travel distance per motor revolution / pitch" in the selected unit.

You can enter the "travel distance per motor revolution" as a fraction (numeratordivided by denominator). This is useful in the case of endless operation mode or inreset mode if the value cannot be specified as a rational number. This makes itpossible to avoid long-term drifts.

Rotary table control

M 704

144° 7

Unit: degreesgear transmission ratio 70:4 => 4 load revolutions = 70 motor revolutionsTravel distance per motor revolution = 4/70 * 360° = 20.571 428 5 ...° (numbercannot be represented exactly)Instead of this number, you have the option of entering it exactly as a numeratorand denominator:Travel distance per motor revolution = 144/7This will not result in any drift in endless operation mode or in reset mode, evenwith relatively long motion in one direction.

Conveyor belt

7 4 10mmM 7

4

Unit

Travel distance permotor revolution /

pitch

Input as numeratorand denominator

Example 1:

Example 2:

Setting up Compax3Defining the reference system

50 192-120111 N1 C3 T30 T40 - March 2004

Unit: mmgear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutionsNumber of teeth for pinion: 12Tooth spacing: 10 mmTravel path per motor revolution = 4/7 * 12 * 10mm = 68.571 428 5 ... mm (thisnumber cannot be expressed exactly)Instead of this number, you have the option of entering it exactly as a numeratorand denominator:Travel distance per motor revolution = 480/7 mmFor "travel distance per motor revolution" that can be represented exactly, enter 1as the denominator.

Travel distance per motor revolution / pitch

Counter

Unit: unit of measure Range: depends on the unit selected Standard value: dependson the unit selected

Resolution: 0.000 000 1 (7 places after the decimal point)

Unit Division Standard value

Increments* 10 ... 1 000 000 1024

mm 0,010 000 0 ... 2000,000 000 0 1,000 000 0

Degrees 0,010 000 0 ... 720,000 000 0 360,000 000 0

Denominator

Unit: - Range: 1 ... 1 000 000 Standard value: 1

Integer value

* The Increments unit applies only to position values; speed, acceleration and jerkare specified in this case in revolutions/s, revolutions/s2 and revolutions/s3 (orpitch/s, pitch/s2, pitch/s3).

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.

For applications in which the positioning range is repeated, reset mode is madeavailable. Examples include rotary table applications, conveyor belt, etc. .After the reset path (which can be specified exactly as numerator anddenominator (see on page 49)) the position values in the Compax3 are reset to 0.

Conveyor belt (from the "Conveyor belt" example) with reset path

7 4 10mm

300 mm

M 74

Reset mode

Example:

Parker EME ConfigurationDefining the reference system

192-120111 N1 C3 T30 T40 - March 2004 51

A reset path of 300 mm can be entered directly with numerator = 300 mm anddenominator = 1.Reset mode is not possible for linear motors.

Reset travel distance

Counter

Unit: unit of measure Range: depends on the unit selected Standard value: dependson the unit selected

Unit Division Standard value

Increments 10 ... 1 000 000 0

mm 1 ... 2000 0

Degrees 1 ... 720 0

Denominator

Unit: - Range: 1 ... 1 000 000 Standard value: 0

Integer value

Turn off reset mode

Reset mode is turned off for numerator = 0 and denominator = 0.

Setting up Compax3

52 192-120111 N1 C3 T30 T40 - March 2004

4.1.5.2 Locating the machine reference

You can read about the following in this chapter:Operation with SinCos Multiturn........................................................................................................... 52Operation with Multiturn emulation....................................................................................................... 53Machine zero modes overview............................................................................................................. 54Machine zero modes with home switch (on X12/14)........................................................................... 57Machine zero modes without home switch (on X12/14)...................................................................... 64Adjusting the home switch.................................................................................................................... 68

Essentially, you can select between operation with or without machine reference.The reference point for positioning is determined by using the machine referenceand the machine reference offset.

Machine reference run

In a machine zero run the drive moves to the position value 0 immediately afterfinding the machine zero proximity switch. The position value 0 is defined via themachine zero offset.A machine reference run is required each time after turning on the system foroperation with machine reference.

Operation with SinCos Multiturn

Using a SinCos Multiturn absolute value encoder (Motor - Option A7) as feedbacksystem, the absolute position can read in when switching on the Compax3. Amachine zero run after switch-on is then not necessary.In this case the reference only needs to be established once! at initial commissioning time! after an exchange of motor / feedback system! after a mechanical modification and! after replacing the device (Compax3)by carrying out a machine zero run.The machine zero run mode 35 "MN at the current position(see on page 64 )" isappropriate for this, because it is therewith possible to operate without proximityswitch, but any other machine zero run mode is possible too if the hardwareprerequisites are fulfilled.When you have once re-established the reference, reset the machine zero runmode to "without machine zero run".

Position referencepoint


192-120111 N1 C3 T30 T40 - March 2004 53

Operation with MultiTurn emulation

You can simulate the function of a SinCos Multiturn by the aid of a Multiturnemulation. A resolver or a SinCos Singleturn is sufficient as a feedback signal fromthe motor.It differs from the physical SinCos Multiturn in the way that it may not be moved bymore than half a turn in currentless state unless the absolute position is lost.Besides that, the Multiturn emulation offers the same function as the physicalSinCos Multiturn.You can switch on the Multiturn emulation directly in the wizard.You can assign the maximum permissible motor angle via the Multiturn validitywindowIf Compax3 states after switching on that this value is exceeded, this is indicatedvia a status. The status can be read in the IEC61131-3 program in object 3310.1("0" angle within the window; "-1" angle outside the window). Compax3 restoresnevertheless the absolute position, which is, however, not correct if the motor wasmoved by more than half a turn while currentless.

Setting up Compax3

54 192-120111 N1 C3 T30 T40 - March 2004

Machine zero modes overview

Selection of the machine zero modes (MN-M)

without direction reversal switches

MN-M 19, 20 (see on page 57 )

MN-M 21, 22 (see on page 58 )Without motor referencepoint

MN-M 19 ...30 with direction reversal switches

MN-M 23, 24, 25, 26 (see on page 59)

MN-M 27, 28, 29, 30 (see on page 59)

without direction reversal switches



Machine zero initiator onX12/14:MN-M 3 ... 14, 19 ... 30

With motor reference point

MN-M 3 ... 14with direction reversal switches

MN-M 7, 8, 9, 10 (see on page 62)

MN-M 11,12,13, 14 (see on page 63)

MN-M 35: at the current position (see on page 64)

MN-M 128, 129: by moving to block (see on page 64)Without motor referencepoint

MN-M 17, 18, 35, 128,129

with end switch as MN



Only motor reference


MN-M 130, 131 (see on page 66 )

Without machine zeroinitiator on X12/14:MN-M 1, 2, 17, 18, 33 .. 35,128, 129, 130 ... 133

MN-M 1, 2, 33, 34, 130 ...133

with end switch as MN


MN-M 132, 133 (see on page 68 )


192-120111 N1 C3 T30 T40 - March 2004 55

Definition of terms / explanations:

Motor zero point Zero pulse of the feedbackMotor feedback systems such as resolvers or SinCos giveone pulse per motor revolution.Some motor feedback systems of direct drives do also have a zeropulse, which is generated once or in defined intervals.By interpreting the motor zero point (generally in connectionwith the machine zero initiator) the machine zero can bedefined more exactly.

Machine zero initiator: For creating the mechanical referenceHas a defined position within or on the edge of the travelrange.

Direction reversalswitches:

Initiators on the edge of the travel range, which are used onlywith a machine zero run in order to detect the end of thetravel range.In some cases, the function direection reversal via currentis also possible, then you will need no initiator, Compax3detects the end of the travel range as a result of a rise incurrent. Please observe the respective notes.During operation, the direction reversal switches are oftenused as end switches.

Example axis with the initiator signals

4

1 2 3

5

6

7

8

9

10

11

- +

1: Direction reversal / end switch on the end of the travel range( the assignment of thedirection reversal/end switch inputs (see on page 71) to travel range side can bechanged).

2: Machine zero initiator (can, in this example, be released to 2 sides)

Setting up Compax3

56 192-120111 N1 C3 T30 T40 - March 2004

3: Direction reversal resp. end switch on the positive end of the travel range.(the assignment of the direction reversal/end switch inputs (see on page 71 ) totravel range side can be changed).

4: Positive direction of movement5: Signals of the motor zero point (zero pulse of the motor feedback)6: Signal of the home switch

(without inversion of the initiator logic (see on page 71)).7: Signal of the direction reversal resp. end switch on the positive end of the travel range

(without inversion of the initiator logic).8: Signal of the direction reversal / resp. end switch on the negative end of the travel

range (without inversion of the initiator logic).9: Signal of the home switch

(with inversion of the initiator logic (see on page 71)).10: Signal of the directon reversal resp. end switch on the positive end of the travel range

(with inversion of the initiator logic).11: Signal of the direction reversal / end switch on the negative end of the travel range

(with inversion of the initiator logic).


192-120111 N1 C3 T30 T40 - March 2004 57

Machine zero modes with home switch (on X12/14)

You can read about the following in this chapter:Without motor reference point .............................................................................................................. 57With motor reference point ................................................................................................................... 60

Without motor reference point

Without direction reversal switches

MN-M 19,20: MN-Initiator = 1 on the positive side

The MN initiator can be positioned at any location within the travel range. Thetravel range is then divided into 2 contiguous ranges: one range with deactivatedMN initiator (left of the MN initiator) and one range with activated MN initiator (rightof the MN initiator).When the MN initiator is inactive (signal = 0) the search for the machine referenceis in the positive travel direction.

MN-M 19: The negative edge of the MN initiator is used directly as an MN (themotor reference point is not taken into consideration)MN-M 20: The positive edge of the MN initiator is used directly as an MN (themotor reference point is not taken into consideration)

19

20

20

19

1

1: initiator level

Without motor zeropoint, without

direction reversalswitches

Setting up Compax3

58 192-120111 N1 C3 T30 T40 - March 2004

MN-M 21.22: MN-Initiator = 1 on the negative side

The MN initiator can be positioned at any location within the travel range. Thetravel range is then divided into 2 contiguous ranges: one range with deactivatedMN initiator (positive part of the travel range) and one range with activated MNinitiator (negative part of the travel range).When the MN initiator is inactive (signal = 0) the search for the machine referenceis in the negative travel direction.

MN-M 21: The negative edge of the MN proximity switch is used directly as MN(the motor zero point is not taken into consideration)MN-M 22: The positive edge of the MN initiator is used directly as an MN (themotor reference point is not taken into consideration)

22

22

21

21

1

1: initiator level

With direction reversal switches

Machine zero modes with a home switch which is activated in the middle of thetravel range and can be deactivated to both sides.The assignment of the direction reversal switches (see on page 71) can bechanged.

Functions: direction reversal via current

If no direction reversal switches are available, the reversal of direction can also beperformed during the machine zero run via the function direction reversal viacurrent.Here the drive runs towards the mechanical limit mounted at the end of the travelrange.The current rises. When the adjustable current limit is reached, the drive isdecelerated and changes the direction of movement.

Caution!Wrong settings can cause hazard for man and machine.

Without motor zeropoint, without



192-120111 N1 C3 T30 T40 - March 2004 59

It is therefore essential respect the following:! Choose a low machine zero speed.! Set the machine zero acceleration to a high value, so that the drive changes

direction quickly, the value must, however, not be so high that the current limitthreshold is already reached by accelerating or decelerating (without mechanicallimitation).

! The mechanical limitation as well as the load drain must be set so that they canabsorb the resulting kinetic energy.

MN-M 23...26: Direction reversal switches on the positive side

Without motor zero point, with direction reversal switches

23

24

252624

2623

2625

25

2324

1

2

1: Initiator signal level of the home switch2: Initiator level of the direction reversal switch

MN-M 27..0.30: Direction reversal switches on the negative side

Without motor zero point, with direction reversal switches

30

30

30

29

29

29

28

28

28

27

27

27

1

2

1: Initiator signal level of the home switch2: Initiator level of the direction reversal switch

Setting up Compax3

60 192-120111 N1 C3 T30 T40 - March 2004


Without direction reversal switches

MN-M 3.4: MN-Initiator = 1 on the positive side

The MN initiator can be positioned at any location within the travel range. Thetravel range is then divided into 2 contiguous ranges: one range with deactivatedMN initiator (left of the MN initiator) and one range with activated MN initiator (rightof the MN initiator).When the MN initiator is inactive (signal = 0) the search for the machine referenceis in the positive travel direction.

MN-M 3: The first motor reference point is used as MN with MN initiator = "0".MN-M 4: The first motor reference point is used as MN with MN initiator = 1.

3

4

4

3

1

2

1: motor reference point2: Initiator signal level of the home switch

With motor zeropoint, without



192-120111 N1 C3 T30 T40 - March 2004 61

MN-M 5,6: MN-Initiator = 1 on the negative side

The MN initiator can be positioned at any location within the travel range. Thetravel range is then divided into 2 contiguous ranges: one range with deactivatedMN initiator (positive part of the travel range) and one range with activated MNinitiator (negative part of the travel range).When the MN initiator is inactive (signal = 0) the search for the machine referenceis in the negative travel direction.

MN-M 5: The first motor reference point is used as MN with MN initiator = "0".MN-M 6: The first motor reference point is used as MN with MN initiator = 1.

6

5

5

6

1

2







With motor zeropoint, without


Setting up Compax3

62 192-120111 N1 C3 T30 T40 - March 2004




MN-M 7..0.10: Direction reversal switches on the positive side

Machine zero modes with a home switch which is activated in the middle of thetravel range and can be deactivated to both sides.

7

8

9108

107

109

9

78

1

2

3

1: motor reference point2: Initiator signal level of the home switch3: Initiator level of the direction reversal switch

With motor zeropoint, with direction

reversal switches


192-120111 N1 C3 T30 T40 - March 2004 63

MN-M 11..00.14: Direction reversal switches on the negative side

Machine zero modes with a home switch which is activated in the middle of thetravel range and can be deactivated to both sides.

14

14

14

13

13

13

12

12

12

11

11

11

1

2

3

1: motor reference point2: Initiator signal level of the home switch3: Initiator level of the direction reversal switch

With motor zeropoint, with direction

reversal switches

Setting up Compax3

64 192-120111 N1 C3 T30 T40 - March 2004

Machine zero modes without home switch (on X12/14)

Without motor reference point

MN-M 35: MN on the actual position

The current position when the MN run is activated is used as an MN.

35

MN-M 128/129: rising of current when moving to block

Without an MN initiator, an end of travel region (block) is used as an MN.The increase in the current is evaluated for this purpose (adjustable up to 100% ofthe reference current), if the motor is pressing against the end of the travel region.If the limit is exceeded, the MN is set. Tracking error is deactivated during the MNrun.

The machine zero offset must be set so that the zero point (reference point) forpositioning lies witihn the travel range.MN-M 128: Travel in the positive direction to the end of the travel region

MN-M 129: Travel in the negative direction to the end of the travel region





Please observe:


192-120111 N1 C3 T30 T40 - March 2004 65

MN-M 17.18: End switch as machine zero

17

1

18

1

1: Initiator level of the direction reversal switch







Setting up Compax3

66 192-120111 N1 C3 T30 T40 - March 2004


Machine zero only from motor reference

MN-M 33,34 MN on the motor zero point

The motor reference point is now evaluated (no MN initiator):

MN-M 33: For an MN trip, the next motor reference point in the negative traveldirection starting from the current position is used as the MN.MN-M 34: For an MN trip, the next motor reference point in the positive traveldirection starting from the current position is used as the MN.

3334

1

1: motor reference point

MN-M 130, 131: Recording absolute position via distance coding

Only for motor feedback with distance coding (the absolute position can bedetermined via the distance value).Compax3 determines the absolute position from the distance of two signals andthen stops the movement (does not automatically move to position 0).

131130

1

1: Signals of the distance coding

Without machinereference initiator


192-120111 N1 C3 T30 T40 - March 2004 67









MN-M 1.2: End switch as machine zero

End switch on the negative side

1

1

2


Setting up Compax3

68 192-120111 N1 C3 T30 T40 - March 2004

End switch on the positive side:

2

1

2


MN-M 132, 133: Determine absolute position via distance coding withdirection reversal switches

Only for motor feedback with distance coding (the absolute position can bedetermined via the distance value).Compax3 determines the absolute position from the distance of two signals andthen stops the movement (does not automatically move to position 0).

133132

1

2

132133

1: Signals of the distance coding2: Initiator level of the direction reversal switches


192-120111 N1 C3 T30 T40 - March 2004 69

Adjusting the machine zero proximity switch

This is helpful in some cases with machine reference modes that work with the MNinitiator and motor reference point.If the motor reference point happens to coincide with the position of the MNinitiator, there is a possibility that small movements in the will cause the machinereference point to shift by one motor revolution (to the next motor reference point).

- +

1

2

1: motor reference point2: Initiator level of the home switchA solution to this problem is to move the MN initiator by means of software. This isdone using the value initiator adjustment.

Initiator adjustment

Unit:Motor angle in degrees

Range: -360 ... 360 Standard value: 0

Move the machine reference initiator using software

4.1.5.3 Travel limits

Software end limits

The travel range is defined via the negative and positive end limits.0 1 2

1: negative end limit2: positive end limit

End limit in absolute operating mode

Positioning is limited to the end limits. The drive remains in place at the end limits ifa larger destination has been specified.

V

1 2

1: negative end limit2: positive end limitThe reference is the position reference point that was defined with the machinereference and the machine reference offset.

Setting up Compax3

70 192-120111 N1 C3 T30 T40 - March 2004

End limit in endless operating mode

Each single positioning is limited to the end limits; the drive continues only by thevalue of the end limits, even if a greater target distance was specified.The reference is the respective current position.

After the system is turned on, the end limits refer to the current position. The endlimits do not refer to the position reference point until after a machine referencerun.

In the case of inter-axis coupling the end limits are not monitored.

Hardware end limits

Hardware end limits are realized with the aid of end switchesThese are connected to X12/12 (input 5) and X12/13 (input 6) and can be activatedseparately.After the activation of an end switch the drive comes to a standstill with the rampvalues for errors.Please make sure that after the activation of the end switch there must be enoughtravel path left up to the limit stop.

2

V

3 4

1

1: End switch E5 (X12/12)2: End switch E6 (X12/13)3: Position of end switch E5 (X12/12)4: Position of end switch E6 (X12/13)The assignment of the end switches (see on page 71) can be changed!

The drive can then be moved out of the end switch range with a normal positioning.No further check is being performed.Therefore you must choose the direction according to the activated end switch!

Behavior after thesystem is turned on

Note:


192-120111 N1 C3 T30 T40 - March 2004 71

4.1.5.4 Interchange assignment direction reversal / end switchs

If this function is not activated, the direction reversal / end switches are assignedas follows:Direction reversal / end switch on I5 (X12/12): negative side of the travel rangeDirection reversal /end switch on I6 (X12/13): positive side of the travel range

If this function is activated, the direction reversal / end switches are assigned asfollows:Direction reversal / end switch on I5 (X12/12): positive side of the travel rangeDirecton reversal / end switch on I6 (X12/13): negative side of the travel range

4.1.5.5 Changing the initiator logic

The initiator logic of the end switches (this does also apply for the direction reversalswitches) and the machine zero initiator can be changed separately.! End switch E5 low active! End switch E6 low active! Machine zero initiator E7 low activeIn the basic settings the inversion is deactivated, so that the signals are highactive.

With this setting the inputs I5 to I7 can even be switched within their logic, if theyare not used as direction reversal/end switches or machine zero.

Interchangeassignment of

direction reversal /end switch is

activated

Setting up Compax3

72 192-120111 N1 C3 T30 T40 - March 2004

4.1.6. Defining jerk / ramps

You can read about the following in this chapter:Ramp upon error and deenergize ........................................................................................................ 72

4.1.6.1 Ramp upon error and de-energize

Ramp (delay) upon error and "De-energize"

3: Deceleration upon error and upon deactivation of MC_Power

4.1.7. Limit and monitoring settings

You can read about the following in this chapter:Current limit........................................................................................................................................... 72Positioning window position reached ................................................................................................ 73Tracking error limit ................................................................................................................................ 73

4.1.7.1 Current Limit

The current required by the speed controller is limited to the current limit.


192-120111 N1 C3 T30 T40 - March 2004 73

4.1.7.2 Positioning window - Position reached

Position reached indicates that the target position is located within the positionwindow.In addition to the position window, a position window time is supported. If the actualposition goes inside the position window, the position window time is started. If theactual position is still inside the position window after the position window time,"Position reached" is set.If the actual position leaves the position window within the position window time,the position window time is started again.When the actual position leaves the position window with Position reached = 1",Position is immediately reset to "0".Position monitoring is active even if the position leaves the position windowbecause of measures taken externally.

POS

1: position window2: position window time

POS: Target position reached (== object PositioningAccuracy_PositionTeached)

4.1.7.3 Tracking error limit

The tracking error is a dynamic error.The dynamic difference between the target position and the actual position during apositioning process is referred to as the tracking error - not to be confused with thestatic difference, which is always 0. The destination position is always approachedexactly.

The change of position over time can be specified exactly using the parametersjerk, acceleration and speed. The integrated target value generator calculates thecourse of the target position. Because of the delay in the feedback loop, the actualposition does not follow the target position exactly. This difference is referred to asthe tracking error.

In joint operation of several servo controllers (e.g. master controller and slavecontroller), tracking errors lead to problems due to the dynamic positiondifferences, and a large tracking error can lead to positioning overshoot.

If the tracking error exceeds the specified tracking error limit, the tracking errortime then expires. If the tracking error is even greater than the tracking error limitat the end of the tracking error time, an error is reported.If the tracking error falls short of the tracking error limit, a new tracking error time isthen started.

Disadvantagescaused by a tracking

error

Error message

Setting up Compax3

74 192-120111 N1 C3 T30 T40 - March 2004

The tracking error can be minimised with the help of the extended (advanced)controller parameters, in particular with the forward feed parameters (see on page84) (forward feed of rotation speed, acceleration, current and jerk).

1: tracking error limit2: tracking error timeERROR: Error output of positioning modulesQUIT: Ackn with MC_Reset module

4.1.8. Encoder simulation

You can make use of a permanently integrated encoder simulation feature to makethe actual position value available to additional servo drives or other automationcomponents.

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

Minimizing thetracking error


192-120111 N1 C3 T30 T40 - March 2004 75

4.1.9. Recipe table

If you would like to work with the recipe table, you can make preassignments in itwith Compax3 ServoManager.

Note:

The recipe array can also be loaded separately into the device.

Setting up Compax3

76 192-120111 N1 C3 T30 T40 - March 2004

4.1.10. Profibus configuration

You can read about the following in this chapter:Configuration of the process data channel .......................................................................................... 76Parameter channel PKW ...................................................................................................................... 78Error reaction upon bus failure............................................................................................................. 78

4.1.10.1 Configuration of the process-data channel

You can use the Process Data Channel (PZD) to exchange actual and targetvalues cyclically between the Compax3 and the Profibus master.Adjusting the cyclic PZD:The PZD is adjusted separately for the following transfer directions:! Profibus master ⇒ Compax3 (PAD)! Compax3 ⇒ Profibus-Master (PED)

Maximum size of the process-data channel:8 words (16 bytes) PAD and8 words (16 bytes) PED

The following objects can be placed in the process data channel:

Objects for the process data channel

No. Object name Object PNU PZD CAN No. PD Busformat

Wordwidth

634.4 Setpoint for analog output 0 C3.AnalogOutput0_DemandValue 24 PED/PAD 0x2019 R/TPDO I16 1635.4 Setpoint for analog output 1 C3.AnalogOutput1_DemandValue 103 PED/PAD 0x2020 R/TPDO I16 1120.2 Status of digital inputs C3.DigitalInput_Value 21 PED 0x6100.1 TPDO V2 1121.2 Input word of I/O option C3.DigitalInputAddition_Value 175 PED 0x6100.2 TPDO V2 1133.3 Output word for I/O option C3.DigitalOutputAddition_Value 176 PED/PAD 0x6300.2 R/TPDO V2 1683.1 Status of actual current value C3.StatusDevice_ActualCurrent 112 PED 0x6077 TPDO E2_6 1680.5 Status actual position C3.StatusPosition_Actual 28 PED 0x6064 TPDO C4_3 2680.8 Status positon actual value in the bus format

Y4C3.StatusPosition_Actual_Y4 119 PED 0x2022 TPDO Y4 2

680.2 Status target position virtual master C3.StatusPosition_DemandValue2 202 PED 0x2042 TPDO Y4 2680.6 Status of tracking error C3.StatusPosition_FollowingError 100 PED 0x60F4 TPDO C4_3 2681.5 Status actual speed unfiltered C3.StatusSpeed_Actual 8 PED 0x606C TPDO C4_3 2681.7 Status of the actual speed in the Y2 format C3.StatusSpeed_Actual_Y2 6 PED 0x2023 TPDO Y2 1681.8 Status of the actual speed in the Y4 format C3.StatusSpeed_Actual_Y4 117 PED 0x2024 TPDO Y4 2681.2 Status target speed virtual master C3.StatusSpeed_DemandValue2 203 PED 0x2043 TPDO Y4 2681.6 Status control deviation of speed C3.StatusSpeed_Error 101 PED 0x2027 TPDO C4_3 2685.3 Status of analog input 0 C3.StatusVoltage_AnalogInput0 23 PED 0x2025 TPDO Y2 1685.4 Status of analog input 1 C3.StatusVoltage_AnalogInput1 102 PED 0x2026 TPDO Y2 11901.1 Variable Column 1 Row 1 C3Array.Col01_Row01 130/341.1 PED/PAD 0x2301.1 R/TPDO Y4 21901.2 Variable Column 1 Row 2 C3Array.Col01_Row02 131/341.2 PED/PAD 0x2301.2 R/TPDO Y4 21901.3 Variable Column 1 Row 3 C3Array.Col01_Row03 132/341.3 PED/PAD 0x2301.3 R/TPDO Y4 21901.4 Variable Column 1 Row 4 C3Array.Col01_Row04 133/341.4 PED/PAD 0x2301.4 R/TPDO Y4 21901.5 Variable Column 1 Row 5 C3Array.Col01_Row05 134/341.5 PED/PAD 0x2301.5 R/TPDO Y4 21902.1 Variable Column 2 Row 1 C3Array.Col02_Row01 135/342.1 PED/PAD 0x2302.1 R/TPDO Y2 11902.2 Variable Column 2 Row 2 C3Array.Col02_Row02 136/342.2 PED/PAD 0x2302.2 R/TPDO Y2 11902.3 Variable Column 2 Row 3 C3Array.Col02_Row03 137/342.3 PED/PAD 0x2302.3 R/TPDO Y2 11902.4 Variable Column 2 Row 4 C3Array.Col02_Row04 138/342.4 PED/PAD 0x2302.4 R/TPDO Y2 11902.5 Variable Column 2 Row 5 C3Array.Col02_Row05 139/342.5 PED/PAD 0x2302.5 R/TPDO Y2 11903.1 Variable Column 3 Row 1 C3Array.Col03_Row01 140/343.1 PED/PAD 0x2303.1 R/TPDO I16 11903.2 Variable Column 3 Row 2 C3Array.Col03_Row02 141/343.2 PED/PAD 0x2303.2 R/TPDO I16 11903.3 Variable Column 3 Row 3 C3Array.Col03_Row03 142/343.3 PED/PAD 0x2303.3 R/TPDO I16 11903.4 Variable Column 3 Row 4 C3Array.Col03_Row04 143/343.4 PED/PAD 0x2303.4 R/TPDO I16 11903.5 Variable Column 3 Row 5 C3Array.Col03_Row05 144/343.5 PED/PAD 0x2303.5 R/TPDO I16 11904.1 Variable Column 4 Row 1 C3Array.Col04_Row01 145/344.1 PED/PAD 0x2304.1 R/TPDO I16 11904.2 Variable Column 4 Row 2 C3Array.Col04_Row02 146/344.2 PED/PAD 0x2304.2 R/TPDO I16 11904.3 Variable Column 4 Row 3 C3Array.Col04_Row03 147/344.3 PED/PAD 0x2304.3 R/TPDO I16 11904.4 Variable Column 4 Row 4 C3Array.Col04_Row04 148/344.4 PED/PAD 0x2304.4 R/TPDO I16 1

I20 Function


192-120111 N1 C3 T30 T40 - March 2004 77

No. Object name Object PNU PZD CAN No. PD Busformat

Wordwidth

1904.5 Variable Column 4 Row 5 C3Array.Col04_Row05 149/344.5 PED/PAD 0x2304.5 R/TPDO I16 11905.1 Variable Column 5 Row 1 C3Array.Col05_Row01 150/345.1 PED/PAD 0x2305.1 R/TPDO I16 11905.2 Variable Column 5 Row 2 C3Array.Col05_Row02 151/345.2 PED/PAD 0x2305.2 R/TPDO I16 11905.3 Variable Column 5 Row 3 C3Array.Col05_Row03 152/345.3 PED/PAD 0x2305.3 R/TPDO I16 11905.4 Variable Column 5 Row 4 C3Array.Col05_Row04 153/345.4 PED/PAD 0x2305.4 R/TPDO I16 11905.5 Variable Column 5 Row 5 C3Array.Col05_Row05 154/345.5 PED/PAD 0x2305.5 R/TPDO I16 11906.1 Variable Column 6 Row 1 C3Array.Col06_Row01 155/346.1 PED/PAD 0x2306.1 R/TPDO I32 21906.2 Variable Column 6 Row 2 C3Array.Col06_Row02 156/346.2 PED/PAD 0x2306.2 R/TPDO I32 21906.3 Variable Column 6 Row 3 C3Array.Col06_Row03 157/346.3 PED/PAD 0x2306.3 R/TPDO I32 21906.4 Variable Column 6 Row 4 C3Array.Col06_Row04 158/346.4 PED/PAD 0x2306.4 R/TPDO I32 21906.5 Variable Column 6 Row 5 C3Array.Col06_Row05 159/346.5 PED/PAD 0x2306.5 R/TPDO I32 21907.1 Variable Column 7 Row 1 C3Array.Col07_Row01 160/347.1 PED/PAD 0x2307.1 R/TPDO I32 21907.2 Variable Column 7 Row 2 C3Array.Col07_Row02 161/347.2 PED/PAD 0x2307.2 R/TPDO I32 21907.3 Variable Column 7 Row 3 C3Array.Col07_Row03 162/347.3 PED/PAD 0x2307.3 R/TPDO I32 21907.4 Variable Column 7 Row 4 C3Array.Col07_Row04 163/347.4 PED/PAD 0x2307.4 R/TPDO I32 21907.5 Variable Column 7 Row 5 C3Array.Col07_Row05 164/347.5 PED/PAD 0x2307.5 R/TPDO I32 21908.1 Variable Column 8 Row 1 C3Array.Col08_Row01 165/348.1 PED/PAD 0x2308.1 R/TPDO I32 21908.2 Variable Column 8 Row 2 C3Array.Col08_Row02 166/348.2 PED/PAD 0x2308.2 R/TPDO I32 21908.3 Variable Column 8 Row 3 C3Array.Col08_Row03 167/348.3 PED/PAD 0x2308.3 R/TPDO I32 21908.4 Variable Column 8 Row 4 C3Array.Col08_Row04 168/348.4 PED/PAD 0x2308.4 R/TPDO I32 21908.5 Variable Column 8 Row 5 C3Array.Col08_Row05 169/348.5 PED/PAD 0x2308.5 R/TPDO I32 21909.1 Variable Column 9 Row 1 C3Array.Col09_Row01 170/349.1 PED/PAD 0x2309.1 R/TPDO I32 21909.2 Variable Column 9 Row 2 C3Array.Col09_Row02 171/349.2 PED/PAD 0x2309.2 R/TPDO I32 21909.3 Variable Column 9 Row 3 C3Array.Col09_Row03 172/349.3 PED/PAD 0x2309.3 R/TPDO I32 21909.4 Variable Column 9 Row 4 C3Array.Col09_Row04 173/349.4 PED/PAD 0x2309.4 R/TPDO I32 21909.5 Variable Column 9 Row 5 C3Array.Col09_Row05 174/349.5 PED/PAD 0x2309.5 R/TPDO I32 21910.1 Indirect table access Column 1 C3Array.Indirect_Col01 181 PED/PAD 0x2311 R/TPDO Y4 21910.2 Indirect table access Column 2 C3Array.Indirect_Col02 182 PED/PAD 0x2312 R/TPDO Y2 11910.3 Indirect table access Column 3 C3Array.Indirect_Col03 183 PED/PAD 0x2313 R/TPDO I16 11910.4 Indirect table access Column 4 C3Array.Indirect_Col04 184 PED/PAD 0x2314 R/TPDO I16 11910.5 Indirect table access Column 5 C3Array.Indirect_Col05 185 PED/PAD 0x2315 R/TPDO I16 11910.6 Indirect table access Column 6 C3Array.Indirect_Col06 186 PED/PAD 0x2316 R/TPDO I32 21910.7 Indirect table access Column 7 C3Array.Indirect_Col07 187 PED/PAD 0x2317 R/TPDO I32 21910.8 Indirect table access Column 8 C3Array.Indirect_Col08 188 PED/PAD 0x2318 R/TPDO I32 21910.9 Indirect table access Column 9 C3Array.Indirect_Col09 189 PED/PAD 0x2319 R/TPDO I32 21900.1 Pointer to table row C3Array.Pointer_Row 180 PED/PAD 0x2300 R/TPDO U16 13701.3 output of cam group 0 C3Cam.ControlledSwitches_Output0 205/501.3 PED/PAD 0x2401.3 R/TPDO U16 13701.5 output of cam group 1 C3Cam.ControlledSwitches_Output1 206/501.5 PED/PAD 0x2401.5 R/TPDO U16 13700.3 output for fast cams C3Cam.ControlledSwitchesFast_Output 204/500.3 PED/PAD 0x2400.3 R/TPDO U16 11100.3 CW control word C3Plus.DeviceControl_Controlword_1 1 PED/PAD 0x6040 R/TPDO V2 11100.4 Control word 2 C3Plus.DeviceControl_Controlword_2 3 PED/PAD 0x201B R/TPDO V2 11100.5 Operating mode C3Plus.DeviceControl_OperationMode 127/930 PED/PAD 0x6060 R/TPDO I16 11000.5 Operating mode display C3Plus.DeviceState_ActualOperationMode 128 PED/PAD 0x6061 R/TPDO I16 11000.3 Status word SW C3Plus.DeviceState_Statusword_1 2 PED/PAD 0x6041 R/TPDO V2 11000.4 Status word 2 C3Plus.DeviceState_Statusword_2 4 PED/PAD 0x201C R/TPDO V2 1550.1 Current error (n) C3Plus.ErrorHistory_LastError 115/947.0 PED 0x603F/

0x201D.1TPDO U16 1

Assignment of the process data channel

Assignment of the process data channel is automated in Compax3 ServoManager.You select the objects that you wish to place one after the other in the processinput data (PED: Compax3 => PLC) and in the process output data (PAD: PLC =>Compax3).ServoManager continuously checks areas of the PZD that are free and enablesadditional input options correspondingly.

Depending on the configuration that is set, the resulting PPO type is displayed inthe "Profibus telegram" wizard window (in the status line of the wizard window).You can use this value for the configuration of the Profibus master.

When data is read out of the Process Data Channel (PZD), the word width of theindividual objects must be carefully noted.

Assignment:Object Word width Assignment Address

POSITION_position 2 AW(n) & AW(n+1) AD(n)

POSITION_speed 2 AW(n+2) & AW(n+3) AD(n+2)

AnalogOutput0_DemandValue 1 AW(n+4) AW(n+4)

AnalogOutput1_DemandValue 1 AW(n+5) AW(n+5)

Array_Col1_Row1 2 AW(n+6) & AW(n+7) AD(n+6)

PPO type

Assignment of thePZD

Example:

Setting up Compax3

78 192-120111 N1 C3 T30 T40 - March 2004

PLC

0 2 6AW(n) AW(n+1)

4AW(n+2)

0 2 6EW(n) EW(n+1)

4EW(n+2)

PLC

16 Byte

16 ByteAW(n+3)

EW(n+3)

8AW(n+4)

8EW(n+4)

10AW(n+5)

10EW(n+5)

12AW(n+6)

12EW(n+6)

14AW(n+7)

14EW(n+7)

4.1.10.2 PKW parameter channel

Parameter access with DPV0

In addition to cyclic data exchange, you can use the PKW mechanism for acyclicaccess to parameters.The PKW mechanism is implemented for Profibus masters without DPV1functionality.PKW: Parameter identification value

You can select between:! No PKW - without acyclic parameter access.! PKW - parameter access with a PKW length of 8 bytes.

PKW structure

PWEPKE

Octet2 Octet 3

PKW

0 2 4

IND

Octet1 Octet6 Octet 7Octet5Octet 4 Octet 8

8

Additional information on the structure of the PKW

4.1.10.3 Error reaction to a bus failure

Here you can adjust how Compax3 will respond to a fieldbus error:! No reaction: Compax3 remains in the current operating mode! Go into error status.


192-120111 N1 C3 T30 T40 - March 2004 79

4.1.11. CANopen - configuration

You can read about the following in this chapter:Possible PDO assignment.................................................................................................................... 79Error reaction upon bus failure............................................................................................................. 79Baud rate............................................................................................................................................... 79Transmit cycle time............................................................................................................................... 80

4.1.11.1 Possible PDO assignment

Via the process data objects (PDOs) actual values and target values arecontinually exchanged between Compax3 and the CANopen client.4 cyclic PDOs are possible, they are configured with the help of the Compax3ServoManager:The PDOs are set separately for the transmission directions! CANopen - Client ⇒ Compax3 (RPDO)! Compax3 ⇒ CANopen - Client (TPDO)

Possible objects for the process data channel are listed in a table (see on page76).

4.1.11.2 Error reaction to a bus failure

Here you can adjust how Compax3 will respond to a fieldbus error:! No reaction: Compax3 remains in the current operating mode! Go into error status.

4.1.11.3 Baud rate

Selecting the Baud rate.Bear in mind that the maximum cable length depends on the Baud rate:Baud rate Maximum length

1Mbit/s 25m800kbit/s 50m500kbit/s 100m250kbit/s 250m125kbit/s 500m50kbit/s 1,000m20kbit/s 2,500m10kbit/s 5,000m

I21 Function

Setting up Compax3

80 192-120111 N1 C3 T30 T40 - March 2004

4.1.11.4 Transmission cycle time

For the TPDOs a transmission cycle time can be set in each case.This time specifies the time intervals at which Compax3 applies the cyclic data newto the respective PDO.The minimum value is thereby 1ms.

4.1.12. RS485 setting values

If Master=Pop was selected, only the settings compatible with the Pops (ParkerOperator Panels) made by Parker are possible.

Please note that the connected Pop has the same RS485 setting values.

You can test this with the "PopDesigner" software.

"Master=General" makes all Compax3 settings possible.

You can use this address to allow the master to access multiple devicessimultaneously.

The device address of the connected Compax3 can be set here.

Adjust the transfer speed (baud rate) to the master.

Adjust the protocol settings to the settings of your master.

4.1.13. Configuration name / comments

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

Multicast address

Device address

Baud rate

Protocol


192-120111 N1 C3 T30 T40 - March 2004 81

4.2 Optimization

You can read about the following in this chapter:Controller dynamic ................................................................................................................................ 81Calibration of the analog input.............................................................................................................. 87Engaging and disengaging the motor holding brake ........................................................................... 89

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.

4.2.1. Control dynamics

You can read about the following in this chapter:Stiffness of speed controller ................................................................................................................. 82Damping of speed controller................................................................................................................. 83Filter actual speed value....................................................................................................................... 83Advanced controller parameters .......................................................................................................... 84

Setting up Compax3

82 192-120111 N1 C3 T30 T40 - March 2004

4.2.1.1 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.


192-120111 N1 C3 T30 T40 - March 2004 83

4.2.1.2 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.

4.2.1.3 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

84 192-120111 N1 C3 T30 T40 - March 2004

4.2.1.4 Advanced control parameters

Controller structure:

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.

2100.8: Current controller bandwidth


2100.9: Damping current controller


Switching of theuser level


192-120111 N1 C3 T30 T40 - March 2004 85

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.

Positioning without forward control:

3

4

21

t

t

Advantages:

Principle:

Setting up Compax3

86 192-120111 N1 C3 T30 T40 - March 2004

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

2010.2: Acceleration forward control


Additional effect of forward acceleration control

t

t

2

1

3

4



192-120111 N1 C3 T30 T40 - March 2004 87

2010.4: Current forwards control


Additional effect of forward current control

t

t

2

1

3

4


2010.5: Jerk forward control


4.2.2. Calibration of the analog input

You can read about the following in this chapter:Offset alignment.................................................................................................................................... 87Gain alignment...................................................................................................................................... 88

4.2.2.1 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.

Setting up Compax3

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4.2.2.2 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.


192-120111 N1 C3 T30 T40 - March 2004 89

4.2.3. 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! by deactivating the MC_Power module! the ServoManager

Thereafter the motor is braked to zero rotation speed on the set ramp.When zero speed is reached, the motor is de-energized with the delay "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 (acknowledge) (after error) with the MC_Reset module! by activating the MC_Power module! the ServoManager

The motor is energized with the delay "delay time for brake release".

t

t

2

1

4

3

5

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

Setting up Compax3

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4.3 Synchronization

You can read about the following in this chapter:Reference system Master..................................................................................................................... 90HEDA..................................................................................................................................................... 91

4.3.1. Master reference system

The following are available as signal sources for the Master target value:! Virtual Master (Master motion generated with IEC program)! HEDA (option M10 or M11)

real time bus with 0.5 ms bus cycle! Encoder input 5V! Step/direction input 5V or! +/-10V analog input as pulses per revolutionThe remaining signal sources are not yet available.

Synchronizing the reference system

The second wizard window is used to produce the reference for the master axis.Enter the appropriate data of the master.

4.3.1.1 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!

T40 Function

T40 Function


192-120111 N1 C3 T30 T40 - March 2004 91

4.3.2. HEDA

Select whether the device to be configured will be a HEDA master or a HEDAslave.

HEDA master:

The selected master signal is sent via the HEDA to the slave (generally the Camaxis).You have the option of selecting which signal will be sent to the slave as a mastersignal.In addition, 3 other values (objects) can be transferred via the HEDA (max 4words).

HEDA slave:

The master signal is read automatically.The 3 additional values (objects) transferred by the master can be assigned toobjects (generally they can be placed on a cell of the array to allow for then to befurther processed in the IEC program).

T40 Function

Programming based on IEC61131-3

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You can read about the following in this chapter:General.................................................................................................................................................. 92Motion control with function modules ................................................................................................. 100IEC examples..................................................................................Fehler! Textmarke nicht definiert.

Safety Instructions:

! Before generating a boot project, (program is saved in FLASH), perform aprogram stop, since uncontrolled movements are possible while a boot project isbeing generated.

! Caution!During the program test, note the motion sequences of your drive.Especially when working with break points, online changes, coercing variables,sequence control or debugging, it is always essential to ensure that onlycontrolled motion sequences take place.These functions can change the control sequence of the program and affectbehavior related to the program sequence and program execution time!Online change and forcing variables directly affects sequence logic.

5.1 General

You can read about the following in this chapter:Prerequisites ......................................................................................................................................... 93CoDeSys / Compax3 Target system (Target Package) ...................................................................... 93Languages Supported .......................................................................................................................... 94Function range supported..................................................................................................................... 95Data types supported............................................................................................................................ 97Retain variables .................................................................................................................................... 97Recipe table with 9 columns and 32 rows............................................................................................ 98Maximum program size ........................................................................................................................ 98Cycle time.............................................................................................................................................. 98Access to Compax3 object directory.................................................................................................... 99Compiling, Debugging and Down / Upload of IEC61131 Programs ................................................... 99

5. Programming based onIEC61131-3

Parker EME Programming based on IEC61131-3

192-120111 N1 C3 T30 T40 - March 2004 93

5.1.1. Requirements

! Installation of the Compax3 ServoManager.! Installation of the CoDeSys programming tool (in development system version).

If CoDeSys is already installed, please remove the previous Parker targets with"Install Target" before installing the new CoDeSys version.

! Installation of necessary Target Packages (target systems).! These are installed automatically if you install CoDeSys from the Compax3

CD.! Otherwise, the target must be installed:

• Bring up the "InstallTarget" program (program group "3S Software":"CoDeSys V2.3").

• From "Open", select the target file; file name: Compax3.tnf.• The selected target can be installed with "Install".

5.1.2. CoDeSys / Compax3 target system (Target Package)

Caution! New target system files (targets) for T30 and T40!

Beginning with Compax3 software version V2.0, two new Compax3 targets areincluded with delivery (containing module and object descriptions).! CoDeSys for C3 T30: for Compax3 T30 (as per Compax3 Software version

V2.0)! CoDeSys for C3 T40: for Compax3 T40 (as per Compax3 Software version

V2.0)The old target is still available for programs that were created earlier (created withCompax3 software version < V2.0).! CoDeSys for Compax3: for Compax3 T30This programs are thus still capable of running.When migrating to a new target, you must be certain that the module and objectnames have been changed.Edit the appropriate parts of the IEC program accordingly.


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5.1.2.1 Program development and test

CoDeSys is the development environment for control systems which will help youdevelop Compax3 IEC61131 programs. CoDeSys is called up from the Compax3ServoManager (under programming: IEC61131-3 development environment)The IEC program can be integrated into the C3 ServoManager project or exportedagain from the project as required.When CoDeSys is brought up, the IEC program stored in the project is opened. Ifthe project does not contains an IEC program, a selection dialog appears.

After the IEC61131 program has been developed and compiled with CoDeSys, it isdownloaded to Compax3 by means of the ServoManager (in Download:IEC61131-3).

For testing your program directly with Compax3, you may use the Compax3IEC61131-3 debugger (the debug functions of CoDeSys are not supported inconjunction with Compax3). the debugger is called up in the ServoManager (underprogramming: IEC61131-3 debugger). The debugger accesses automatically thelast IEC61131-3 program loaded into Compax3 via Download: IEC61131-3 andmakes its modules and variables available in the project tree.The data from Compax3 are read via the instruction log in. Please note in thisregard that the interface to Compax3 can only be assigned once: Online functionsin the ServoManger like Upload, Download, Status display in the optimizing windowor oscilloscope function are not possible at a time. These functions interrupt theconnection between debugger and Compax3 automatically.

5.1.2.2 Recipe management

The recipe management function in CoDeSys is not supported in conjunction withCompax3. Please use the recipe table available in Compax3 (also see in theconfiguration wizard).

5.1.3. Languages supported

! IL (Instruction List)! ST (Structured Text)! FBD (Function block diagram)! CFC (continuous function chart editor)! LD (Ladder diagram)

Programdevelopment

Download toCompax3

Program test


192-120111 N1 C3 T30 T40 - March 2004 95

5.1.4. Function range supported

You can read about the following in this chapter:Operators supported............................................................................................................................. 95Standard functions supported............................................................................................................... 96Standard function modules supported ................................................................................................. 96

5.1.4.1 Operators supported

IL FBP / CFC / SFC STLD(N)

ST(N)RSAND(N) AND AND(N)OR(N) OR OR(N)XOR(N) XOR XOR(N)NOT NOT NOTADD ADD +SUB SUB -MUL MUL *DIV DIV /GT GT >GE GE >=EQ EQ =NE NE <>LE LE <=LT LT <RET RET RETURN

MOVE:=

CAL(C/N)JMP(C/N)

CASEDOELSEELSIFEND_CASEEND_FOREND_IFEND_REPEATEND_WHILEEXITFORIFREPEATTHENTOUNTILWHILE


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5.1.4.2 Standard functions supported

Bit manipulation functions

SHL, SHR, ROL, ROR

Numeric functions

ABS, SQRT, SIN, COS

Functions for type conversion

Type conversionsx_TO_y

X=Source data type, Y=Target data type

TRUNC

Functions for selection

MIN Not for BOOL /WORD / DWORDMAX Not for BOOL /WORD / DWORDLIMIT Not for BOOL /WORD / DWORDSEL Not for BOOL /WORD / DWORD

5.1.4.3 Standard function modules supported

FlipFlops

RS, SR,

Trigger

R_TRIG, F_TRIG,

Counter

CTU, CTD, CTUD,

Timer

TON, TOF, TP,maximum 8 pcs., time resolution 0.5ms(the number of timers required is displayed in the CoDeSys output window duringcompilation)


192-120111 N1 C3 T30 T40 - March 2004 97

5.1.5. Data types supported

The following data types are available for IEC61131-3 programming:Name FormatBOOL Logical variable.

States: TRUE or FALSEINT 16-bit integer: fixed point number without places after the decimalDINT 32-bit integer: fixed point number without places after the decimalREAL 32-bit floating point: 16 bits before the decimal and 16 bits after the

decimal pointWORD 16-bit bit sequence (no range of values)DWORD 32-bit bit sequence (no range of values)TIME 32-bit format with a maximum value of 4194.3035s

(Resolution: 0.5 ms)ENUM User-defined type of enumeration (local enumerations are not supported)Altogether 500 16-bit variables are available. These include BOOL, INT, andWORD.Altogether 150 32-bit variables are available. These includeDINT,DWORD,TIME,REAL.The number of the required variables is displayed in the CoDeSys output windowduring compilation.

5.1.6. Retain Variables

6 retain variables (variables that are safe from power failure) are available! 3x16-bit retain-variables! 3x32-bit retain-variables


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5.1.7. Recipe table with 9 columns and 32 lines

An array is available for storing values, i.e. a table with 9 columns and 32 rows.The table is freely assignable and can be used to store position sets or for recipemanagement, for example.In addition, this table can be used to exchange data with an external control systemor a POP, for example.

The layout of the table is as follows:Column 1Type:REALObjectsO1901

Column 2Type:REALObjectsO1902

Column 3Type:INTObjectsO1903



Column 6Type:DINTObjectsO1906




Row 1"Array_Col1_Row1"(1901.1)









... ... ... ... ... ... ... ... ...

... ... ... ... ... ... ... ... ...

... ... ... ... ... ... ... ... ...Row 32"Array_Col1_Row32"(1901.32)









In addition to direct access to every individual field in the table, direct access isalso possible through pointer addressing.To do this, the table pointer "ArrayPointer_Row" (Object 1900.1) must be set to thedesired rows.This makes access to Columns 1 through 9 of the referenced rows possiblethrough "Array_Indirect_Col1" to "Array_Indirect_Col9" (objects 1910.1 to 1910.9).

5.1.8. Maximum program size

Up to 5000 (IL) instructions are possible (please note that function modules thatare integrated also require program memory).The number of instructions generated is displayed in the CoDeSys output windowby the Compax3 compiler during interpretation.

5.1.9. Cycle time

Minimum cycle time: 1 ms.The cycle time can be adjusted with the Compax3 ServoManager whendownloading IEC61131-3 programs.It is possible to optimize later in the optimization display of the Compax3Servomanager. The cycle time is displayed there in increments of 500 µs (2 = 1ms; 3 = 1.5 ms; etc.).The IEC61131-3 program is stopped cycle time of 0.


192-120111 N1 C3 T30 T40 - March 2004 99

5.1.10. Access to the Compax3 object directory

All Compax3 objects are encapsulated in the "C3" program module.Access to Compax3 objects in CoDeSys:

Compax3 objects are divided into groups:C3. Compax3 - ObjectsC3Array. Recipe tableC3Pop. Objects for the Parker Operator Panel Pop.C3Cam. Objects for T40 cam control.C3Plus. Additional objects that are generally not required.C3Scope. Objects for programming the oscilloscope functions.The object name reveals the group assignment.

5.1.11. Compilation, debugging and down/upload of IEC61131programs

! Translating IEC61131-3 programs in CoDeSys! Downloading or uploading of IEC61131-3 programs with the Compax3

ServoManager.! The debugger is called in the C3 ServoManager under Programming: IEC61131-

3 Debugger.

Note:

Before compiling you have to enter for which Compax3 versions the compilation isto be executed.Please note that when selecting "all versions" not all functions are available, onlythe minimal range of functions is supported.Only if the latest firmware version was selected (and the corresponding firmware isloaded in the target Compax3) all functions described here are supported.


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5.2 Motion control via function modules

You can read about the following in this chapter:Copax3 status diagram....................................................................................................................... 101Virtual Master ...................................................................................................................................... 102Library constants................................................................................................................................. 103General rules / timing.......................................................................................................................... 104Control functions ................................................................................................................................. 106Reading values ................................................................................................................................... 109Motion functions.................................................................................................................................. 113Error handling...................................................................................................................................... 140Process image .................................................................................................................................... 143


192-120111 N1 C3 T30 T40 - March 2004 101

5.2.1. Compax3 status diagram

StandstillHoming

Stopping

ContinuousMotion

Errorstop

Discrete MotionMC_MoveAbsolute; MC_MoveRelative; MC_MoveAdditive

MC_MoveVelocity

MC_Stop

Error

MC_StopDone

MC_Move Velocity

Done

Error

MC_Stop

Error

ErrorMC_Stop

Done

Error

MC_Home

MC_Stop

MC_Power

MC_Reset

powered

not powered

SynchronizedMotion

MC_GearIn(Slave)MC_CamIn(Slave)MC_Phasing(Slave)MC_MoveSuperimposed(Slave)C3_CamIn(Slave)

Error

MC_GearIn(Slave)MC_GearIn(Slave)

MC_GearIn(Slave)MC_CamIn(Slave)C3_CamIn(Slave)

MC_Stop

C3_CamOut(Slave)

MC_MoveSuperimposedMC_MoveVelocity

MC_MoveAbsoluteMC_MoveRelativeMC_MoveAdditiveMC_MoveSuperimposed

MC_MoveRelativeMC_MoveAdditiveMC_MoveAbsoluteMC_MoveSuper-

imposed

! Functions C3 Ixx T30: Transitions and states as continuous line, text not in italics! Functions of C3 Ixx T40: complete status diagram, all functions! Special T40 functions are displayed in italics and in dashed line


102 192-120111 N1 C3 T30 T40 - March 2004

5.2.2. Virtual Master

The IEC program can be created for 2 axes:! The Slave axis (the present Compax3)! A virtual Master whose position value can be used as a master position.The axis can be selected with the "Axis" input.The rule for this is:! Axis = AXIS_REF_LocalAxis: Slave - Axis! Axis = AXIS_REF_Virtual: virtual Master

Status diagram of the virtual master

StandstillHoming

Stopping

ContinuousMotionDiscrete Motion

MC_MoveAbsoluteMC_MoveRelativeMC_MoveAdditive MC_MoveVelocity

MC_MoveAbsolute; MC_MoveRelative; MC_MoveAdditive

MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

MC_MoveVelocity

MC_Stop

MC_Stop

MC_MoveVelocity

Done

MC_Stop

MC_Stop

Done

MC_Home

Create a program for the virtual axis.The virtual axis supports the function modules listed in the status diagram.To do so, the input/output variable Axis is assigned to the constantAXIS_REF_Virtual.The position value of the virtual axis can be used as master signal source.

Please note that the virtual axis is only available for function modules listed in thestatus diagram.

T40 Function

Note:


192-120111 N1 C3 T30 T40 - March 2004 103

5.2.3. Library constants

The following global constants are declared in the PLCopen function modulelibrary:Name Type DescriptionFor power supply of the axis inputs/outputs of modules:Axis_Ref_LocalAxis INT Local axis (physically present axis)Axis_Ref_Virtual INT virtual Master (only with T40)For the selection of the master signal source (only with T40):Axis_Ref_Analog INT +/-10V analog inputAxis_Ref_StepDir5V INT Step / direction input 5VAxis_Ref_Encoder5V INT Encoder A/B - input 5VAxis_Ref_Virtual INT virtual MasterAxis_Ref_HEDA INT HEDAAxis_Ref_ActualPosition INT reserved (actual position value)Axis_Ref_ReferencePosition

INT reserved (position target value)

General constantsMC_Direction_Positive INT For supply of the Direction input of the

MC_MoveVelocity module (for positiverotational direction)

MC_Direction_Negative INT For supply of the Direction input of theMC_MoveVelocity module (for negativerotational direction)

MC_Direction_Current INT For supply of the Direction input of theMC_MoveVelocity module (retaining the lastrotational direction to be selected)

Direction_Memory INT (Variable) The MC_MoveVelocity modules instancesstore the last direction parameter in thisvariable. This variable can only be used byMotion Control modules and must not beoverwritten!


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5.2.4. General rules / timing

General rules

! The outputs "Done", "InVelocity", "Error", "ErrorID" and "CommandAborted" resetwith the falling edge of the "Execute" input.

! If the "Execute" input goes back to FALSE again before the module action (forexample positioning) has been completed ("pulse to Execute"), the correspondingoutputs (for example "Done") will still be set for exactly ONE cycle upontermination.

! The outputs "Done" and "Error" are never simultaneously TRUE.! If the instance of a function module receives a new "Execute" signal before the

function ends, the module will not show any response (no "Done" and no"Command Aborted") in reference to the previous action.

! Parameters are accepted with the rising edge of the "Execute" signal.! To be able to accept modified parameters, the module must be triggered again

with an "Execute" signal.

! If an input parameter is missing, the previous value of this instance will be used inaccordance with IEC61131-3.

! The default value is used the first time a call is made.

! "Position" is a value that is defined for a reference system, i.e. a specific positionvalue is a fixed location in the reference system.

! "Distance" is the difference between 2 positions.

! "Velocity", "Acceleration", "Deceleration" and "Jerk" are always positive variables.! "Position" and "Distance" may be positive or negative.

! All function modules have an "Error" output that can be activated by a moduleduring a module sequence.

! The ErrorID (error number) can be read by an axis error with the"MC_ReadAxisError" module.

The "Done" output is set if the function module has been successfully executed.If one positioning process is interrupted by a second before it is complete, the firstfunction module will not set "Done".

"CommandAborted" is set if a positioning process is interrupted by a secondpositioning process, by "MC_Stop" or MC_Power.The reset behavior of "CommandAborted" is the same as "Done".If "CommandAborted" occurs, the other outputs will be reset.

Please note that the limits are specified in revolutions.To convert to the configured unit, multiply the min/max values by the "traveldistance per motor revolution".

Status of theoutputs

Input parameters

Missing inputparameters

Position anddistance

Sign

Error handling

Behavior of the"Done" - output

Behavior of the"CommandAborted"

output

Value range of themovement

parameters


192-120111 N1 C3 T30 T40 - March 2004 105

With a configured linear motor, all revolution data must be replaced by pitch.To convert to the configured unit, the min/max values must be multiplied by thepitch length (see the technical data for the motor).

Linear motors


106 192-120111 N1 C3 T30 T40 - March 2004

5.2.5. Control functions

You can read about the following in this chapter:Energizing the power output stage (MC_Power)............................................................................... 106Stop (MC_Stop) .................................................................................................................................. 107Release brake (C3_OpenBrake) ........................................................................................................ 108

5.2.5.1 Energizing the power output stage (MC_Power)

FB name MC_PowerSupplies current to the power output stage

VAR_IN_OUTAxis INT Axis ID (Library constants)

VAR_INPUTEnable BOOL Activates the module; as long as Enable=True, the power

output stage will be energized.

VAR_OUTPUTStatus BOOL Status of the power output stage (TRUE= axis energized,

FALSE= axis de-energized)Error BOOL Error while de-energizing power output stageNotes:! If the input parameter "Enable" = TRUE, all enables of the axis will be set.! All enables will be reset if the input parameter "Enable" = FALSE, the axis

decelerates with the configured error ramp to (rotational) speed = 0.! The controller is enabled with the MC_POWER function module.! During automatic commutation, the output "Status" is not set to TRUE for

energizing, but rather not until after automatic commutation has been successfullycompleted.

Enable : BOOLAxis : (VAR_IN_OUT)

Status : BOOLError : BOOL

MC_POWER


192-120111 N1 C3 T30 T40 - March 2004 107

5.2.5.2 Stop (MC_Stop)

FB name MC_StopStops the current movement


VAR_INPUTExecute BOOL Stops the movementDeceleration DINT Value of deceleration (always positive) [Units/s²] <Value

range>1

Jerk DINT Value of the deceleration jerk [Units/s³] (always positife)<value range>2

VAR_OUTPUTDone BOOL Movement stoppedError BOOL Error while stopping positioningNote: As long as the "Execute" input is set, the axis remains in the "Stopping"status (as long the axis is energised) and is unable to execute any additionalmovement commands!If the axis is switched to a de-energized state by setting the Enable signal of the"MC_Power" module to FALSE, the Stopping state will then be exited.If the enable signal of the "MC_Power" module is set to TRUE again, the axis goes back tothe "Stopping" state again if the Execute input of the "MC_Stop" module is still TRUE.

Execute : BOOL Done : BOOLError : BOOL

MC_STOP

Deceleration : DINTJerk : DINTAxis : (VAR_IN_OUT)

The following illustration shows an example of how the MC_STOP moduleinterrupts and stops a movement that is in progress.If a positioning module is interrupted by the MC_STOP module, it reports"Command Aborted" and can no longer be executed as long as the MC_STOPmodule is active. If the MC_STOP module is inactive (no "Execute" signal), thefunction module can be executed again.

1 Deceleration for STOP: Min: 0.24 rev/s²; Max: 1000000 rev/s²2 Jerk for STOP: Min: 30 rev/s³; Max: 125000000 rev/s³


108 192-120111 N1 C3 T30 T40 - March 2004

Execute

Distance

Done

Error

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute Done

Error

MC_STOP

Deceleration

Jerk

AxisAXIS_REF_LocalAxis

AXIS_REF_LocalAxis

go

MC_STOP

Execute (Stop Axis)

t

t

t

t

t

10

10

10

10

0

Command-Aborted

Execute (go)

Done (Stopp)

Velocity

MC_MOVERELATIVE

BewegungsablaufMoving diagram

stopAxis

400

4000

6000. 0

500. 0

100

100

1000

1000

5.2.5.3 Opening the brake (C3_OpenBrake)

FB name C3_OpenBrakeOpening the motor holding brake works only with no current (standstill - not powered)

VAR_INPUTOpenBrake BOOL "TRUE" opens the motor holding brakeWhen current is being supplied to the drive, the input has no function.

C3_OpenBrake

OpenBrake : BOOL


192-120111 N1 C3 T30 T40 - March 2004 109

5.2.6. Reading values

You can read about the following in this chapter:Reading the actual position (MC_ReadActualPosition)..................................................................... 109Reading access to the array (C3_READARRAY) ............................................................................. 111Reading the device status (MC_ReadStatus).................................................................................... 112

5.2.6.1 Reading the current position (MC_ReadActualPosition)

FB name MC_ReadActualPositionReading the current axis position


VAR_INPUTEnable BOOL Activates the module, continuous reading of the axis

position as long as Enable=TRUE

VAR_OUTPUTDone BOOL Position value availableError BOOL Error while reading the positionPosition REAL Axis positionNote: -


Done : BOOL

Position : REAL

MC_READACTUALPOSITION

Error : BOOL

You can read the current position of the axis with this module.As long as the input parameter "Enable" = TRUE, the current parameter value willbe supplied cyclically to the output parameter "Position".The status of the input parameter must be present for at least one module call.The following illustration shows the behavior of parameters in theMC_READACTUALPOSITION function module.


110 192-120111 N1 C3 T30 T40 - March 2004

Enable Done

Error

Position


AxisAXIS_REF_LocalAxis


Enable

t

t

10

10

Done

go

t

10Position


192-120111 N1 C3 T30 T40 - March 2004 111

5.2.6.2 Read access to the (C3_READARRAY) array

FB name C3_READARRAYThis module is used for simplified read access to the array (recipe table).

VAR_INPUTEnable BOOL The desired rows can be read with the Enable input (after

selecting "Row").Row INT The desired row in the table must be created at the end of

the Row module input.

VAR_OUTPUTError BOOL Error as an output indicates that an error was encountered

while reading the array(a row that does not exist selected on the Row input).

Col1 Col9 REALINTDINT

The individual columns of the array can be accessedthrough outputs Col1 through Col9.

Notes: - Rows will be read cyclically as long as Enable = TRUE.C3_READARRAY

Row : INTEnable : BOOL

Col5 : INTCol6 : DINTCol7 : DINT

Col1 : REALCol2 : REAL

Col3 : INT

Error : BOOL

Col4 : INT

Col8 : DINTCol9 : DINT


112 192-120111 N1 C3 T30 T40 - March 2004

5.2.6.3 Reading the device status (MC_ReadStatus)

FB name MC_ReadStatusSpecifies the current status according to the PLCopen status machine


VAR_INPUTEnable BOOL Activates the module; continuous outputs of output

parameters as long as Enable=TRUE

VAR_OUTPUTDone BOOL Status values availableError BOOL Error while executing moduleErrorstop BOOL Error stop function. The motor brakes as specified by the

stop ramp and is de-energized;Stopping BOOL The motor is stopped;Standstill BOOL The motor is stopped; DiscreteMotion BOOL Individual movement;ContinuousMotion BOOL Continuous positioning;Homing BOOL Machine reference is approached;SynchronizedMotion

BOOL Synchronous motion

Note: See also in the status diagram.


Done : BOOL

Errorstop : BOOL

SynchronizedMotion : BOOL

MC_READSTATUS

Error : BOOL

Standstill : BOOL

ContinuousMotion : BOOLDiscreteMotion : BOOL

Stopping : BOOL

Homing : BOOL


192-120111 N1 C3 T30 T40 - March 2004 113

5.2.7. Motion functions

You can read about the following in this chapter:Dynamic positioning............................................................................................................................ 113Absoute Positioning (MC_MoveAbsolute) ......................................................................................... 114Relative Positioning (MC_MoveRelative)........................................................................................... 117Additive Positioning (MC_MoveAdditive) ........................................................................................... 119Continuous Positioning (MC_MoveVelocity)...................................................................................... 121Machine zero (MC_Home) ................................................................................................................. 123Current setting operation (C3_Current) ............................................................................................. 124Superimposed Positioning (MC_MoveSuperImposed) ..................................................................... 125Electronic gear (MC_GearIn).............................................................................................................. 127Select cam (MC_CamTableSelect).................................................................................................... 129Start selected cam (MC_CamIn) ........................................................................................................ 130Start selected cam with coupling movement (C3_CamIn) ................................................................ 132Terminate active cam with coupling movement (C3_CamOut)......................................................... 134Example of cam .................................................................................................................................. 136Master signal phase shift (MC_Phasing) ........................................................................................... 138

5.2.7.1 Dynamic positioning

Dynamic positioning processes can be performed with the modulesMC_MoveAbsolute, MC_MoveRelative and MC_MoveAdditive. The speed can bealtered dynamically with MC_MoveVelocity.

In "Discrete Motion" state

If another, second positioning process is activated in the "Discrete Motion (see onpage 101)" the 1st positioning process will be interrupted. The transition to the newdestination occurs dynamically, i.e. without any intervening stop.

Note the following in this regard:

! The new position / distance and the speed are taken over by the secondpositioning process.

! The values for acceleration, deceleration and jerks are not taken over. The valuesof the original positioning process apply.

In "Continuous Motion" state

If in the "Continuous Motion state (see on page 101)" a positioning process(MC_MoveAbsolute, MC_MoveRelative or MC_MoveAdditive) or aMC_MoveVelocity is activated, the active function module will be interrupted. Allinput variables of the new positioning process will then be taken over.

Superimposed positioning

Please note also the difference to Superimposed positioning (see on page 125)with MC_MoveSuperImposed.Here, the movement of the active function module is executed until the end.


114 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.2 Absolute positioning (MC_MoveAbsolute)

FB name MC_MoveAbsoluteAbsolute positioning to a specified position.


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgePosition REAL Absolute target position of the movement to be executed

(configured unit [Units] ) (positive and negative direction)<Value range>3

Velocity REAL Value of the maximum speed (always positive) (notnecessarily reached) [Units/s] <value range>4

Acceleration DINT Value of the acceleration (always positife) [Units/s²] <valuerange>5

Deceleration DINT Value of deceleration (always positive) [Units/s²] <Valuerange>6

Jerk DINT Value of the acceleration - jerk (see on page 116) [Units/s³](always positive) <value range>7

JerkDecel DINT Value of the deceleration jerk [Units/s³] (always positife)<value range>8

VAR_OUTPUTDone BOOL Specified target position on the setpoint encoder output is

reachedCommandAborted BOOL Positioning abortedError BOOL Error while executing module Note: -If a SuperImposed movement is started during an absolute movement, the absoluteposition is not accessed, but the absolute position plus the position entered in theSuperImposed.The same applies if a SuperImposed movement is already being executed and anabsolute movement is started, then the absolute position is not accessed but thesum of both values.After the SuperImposed movement has been finished, the absolute position isaccessed with the next absolute movement.

Execute : BOOLPosition : REAL

Done : BOOL

Error : BOOL

MC_MOVEABSOLUTE

CommandAborted : BOOLVelocity : REALAcceleration : DINTDeceleration : DINTJerk : DINTJerkDecel : DINTAxis : (VAR_IN_OUT)

3 Target position: Min: -4000000 rev; Max: 4000000 rev4 Speed for positioning: Min: 0.00001157 rev/s; Max: 2000 rev/s5 Acceleration for positioning: Min: 0.24 rev/s²; Max: 100000 rev/s²6 Deceleration for positioning: Min: 0.24 rev/s²; Max: 1000000 rev/s²7 Acceleration jerk for positioning: Min: 30 rev/s³; Max: 125000000 rev/s³8 Deceleration jerk for positioning: Min: 30 rev/s³; Max: 125000000 rev/s³


192-120111 N1 C3 T30 T40 - March 2004 115

The following illustration shows two examples of the combination of twoMC_MOVEABSOLUTE modules.! The left part (a) of the time diagram shows a case in which the second function

module (FB) is executed after the first function module.When the first function module has reached Position 60, the "Done" output givesthe execution command to the second function module, which then moves toPosition 100.

! The right part (b) of the diagram shows a case in which the second functionmodule is activated while the first function module is being executed. The firstfunction module is automatically interrupted.The second function module moves directly to position 100 whether or notposition 60 of the first function module has already been reached.

Execute

Position

Done

Error

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Position

Done

Error

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test

1. InstanzFirst motion

2. InstanzSecond motion

100. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-Aborted

Execute (Test)

Done

Velocity

absolute Positionabsolute position



a b

60


116 192-120111 N1 C3 T30 T40 - March 2004

Jerk

A motion process generally starts from a standstill, accelerates constantly at thespecified acceleration to then move at the selected speed to the target position.The drive is brought to a stop before the target position with the delay that hasbeen set in such a manner as to come to a complete stop at the target position. Toreach the set acceleration and deceleration, the drive must change the acceleration(from 0 to the set value or from the set value to 0). This change in speed is limitedby the maximum jerk.

t

4

t

t

t

1

2

3

1: Position2: Speed3: Acceleration4: JerkChanges in acceleration (jerks) often have negative effects on the mechanicalsystems involved. There is a danger that mechanical resonance points will beexcited or that impacts will be caused by existing mechanical slack points.You can reduce these problems to a minimum by specifying the maximum jerk.


192-120111 N1 C3 T30 T40 - March 2004 117

5.2.7.3 Relative positioning (MC_MoveRelative)

FB name MC_MoveRelativeRelative positioning by a specified distance.


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeDistance REAL Relative distance of the movement to be executed

(configured unit [Units] ) <value range>9

Velocity REAL Value of the maximum speed (always positive)(not necessarily reached) [Units/s] <value range>10





VAR_OUTPUTDone BOOL Specified target distance on the setpoint encoder output is

reachedCommandAborted BOOL Positioning abortedError BOOL Error while executing moduleNote:In the case of dynamic positioning (module is called during a positioning process)the specified position is added to the current actual position.

Execute : BOOLDistance : REAL

Done : BOOL

Error : BOOL

MC_MOVERELATIVE




118 192-120111 N1 C3 T30 T40 - March 2004

The following illustration shows two examples of the combination of twoMC_MOVERELATIVE modules.! The left part (a) of the time diagram shows a case in which the second function

module is executed after the first function module.When the first function module has traveled a distance of 60 units, the "Done"output gives the execution command to the second function module, which thenmoves on another 40 units.

! The right part (b) of the diagram shows a case in which the second functionmodule is activated while the first function module is being executed. Becausethe second module is started during the execution of the first function module, thefirst function module is automatically interrupted.The second function module immediately travels 40 units whether or not the 60units of the first function modules have already been traveled.

Execute

Distance

Done

Error

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Distance

Done

Error

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test



40. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-Aborted

Execute (Test)

Done

Velocity

relative Positionrelative position



a b


192-120111 N1 C3 T30 T40 - March 2004 119

5.2.7.4 Additive positioning (MC_MoveAdditive)

FB name MC_MoveAdditiveAdds a relative distance to the target position of a positioning process in progress.


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeDistance REAL Relative Distance <Value range>15

Velocity REAL Value of the maximum speed (always positive) (notnecessarily reached) [Units/s] <value range>16



Jerk DINT Value of the acceleration - jerk (see on 116) [Units/s³](always positive) <value range>19


VAR_OUTPUTDone BOOL Specified distance has been reachedCommandAborted BOOL Positioning abortedError BOOL Error during positioningNote:In the case of dynamic positioning (module is called during a positioning process)the specified position is added to the current target position.


Done : BOOL

Error : BOOL

MC_MOVEADDITIVE




120 192-120111 N1 C3 T30 T40 - March 2004

The following illustration shows two examples of the combination of anMC_MOVEABSOLUTE and an MC_MOVEADDITIVE module.! The left part (a) of the time diagram shows a case in which the second function

module is executed after the first function module.After the first function module has traveled to Position 60, the "Done" output givesthe execution command to the second FB, which then moves on another 40 units.

! The right part (b) of the diagram shows a case in which the second functionmodule is activated while the first FB is being executed. Because the secondmodule is started during the execution of the first FB, the first FB is automaticallyinterrupted.The second function module adds the missing units that are still lacking for thefirst module and then moves an additional 40 units with the new predefinedsettings.

Execute

Position

Done

Error

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Distance

Done

Error

MC_MOVEADDITIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test



40. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-Aborted

Execute (Test)

Done

Velocity

Position



a b

60


192-120111 N1 C3 T30 T40 - March 2004 121

5.2.7.5 Continuous positioning (MC_MoveVelocity)

FB name MC_MoveVelocityContinuous controlled positioning with adjustable speed


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeVelocity REAL Value of the maximum speed (always positive) (not

necessarily reached) [Units/s] <value range>21

Acceleration DINT Value of the acceleration and deceleration (alwayspositive) [Units/s²] <value range>22

Direction INT Selection: positive direction, negative direction, actualdirection; Library Constants (see on page 103)

VAR_OUTPUTInVelocity BOOL Specified target speed on the setpoint output is reachedCommandAborted BOOL Execution interruptedError BOOL Error during positioningNote: To be able to stop the drive, the function module must be interrupted byanother positioning function module or positioning must be stopped by calling theMC_Stop function module.

Caution!

The configured software end limits are not observed for thismodule!

Execute : BOOL InVelocity : BOOL

Error : BOOL

MC_MOVEVELOCITY

CommandAborted : BOOLVelocity : REALAcceleration : DINTDirection : INTAxis : (VAR_IN_OUT)

21 The target speed in the Speed Control mode: Min: -2000 rev/s; Max: 2000 rev/s22 Acceleration / deceleration in the Speed Control mode: Min: 0.24 rev/s²; Max: 1000000 rev/s²


122 192-120111 N1 C3 T30 T40 - March 2004

Example

The following illustration shows two examples of the combination of twoMC_MOVEVELOCITY modules.! The left part (a) of the time diagram shows a case in which the second function

module is executed after the first function module.After the first function module has accelerated to a speed of 3000, the"InVelocity" output, AND-linked with the "Next" signal gives the executioncommand to the second FB, which then slows to a speed of 2000.

! The right part (b) of the diagram shows a case in which the second FB isactivated while the first function module is being executed. Because the secondmodule is started during the execution of the first FB, the first FB is automaticallyinterrupted.During the acceleration of the first module, the second module slows againsimilarly to a speed of 2000 without the speed of the first module having beenreached.

Run InVelocity

Error

MC_MOVEVELOCITY

CommandAbortedVelocity

Acceleration

Direction

Axis

Run

Velocity

InVelocity

Error

MC_MOVEVELOCITY

CommandAborted

Acceleration

Direction

Axis

OR

Next



2000

100"MC_Direction_

Positive"

3000

100

"MC_Direction_Positive"

AXIS_REF_LocalAxis

go


Velocity

Next

t

t

t

t

t

t

10

10

10

10

10

0

2000

3000

Command Aborted

Test

Finish = InVelocity

Velocity


BewegungMotion

&

Test

Execute (go)

t

10

1

Finish

AXIS_REF_LocalAxis

a b


192-120111 N1 C3 T30 T40 - March 2004 123

5.2.7.6 Machine zero (MC_Home)

FB name MC_HomePredefined search for the machine reference point


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgePosition REAL Position at the reference point (configured unit [Units] ) =

machine zero offset

VAR_OUTPUTDone BOOL Referencing process completedCommandAborted BOOL Referencing process abortedError BOOL Error while searching for machine reference point

Note:This module gives the command to search for the machine reference point; not for"zero" position. The type of search function (machine reference mode) can beadjusted with the configuration or with the object "HOMING_mode" (Object1130.4).Objects that are connected with the machine reference point:! C3Plus.HOMING_speed (Object 1130.3)! C3Plus.HOMING_accel (Object 1130.1)! C3Plus.HOMING_mode (Object 1130.4)! C3Plus.HOMING_edge_sensor_distance (Object 1130.7)

Execute : BOOL Done : BOOL

Error : BOOL

MC_HOME

CommandAborted : BOOLPosition : REALAxis : (VAR_IN_OUT)

Machine reference offset

0 1

1: machine reference offset.The machine reference offset is used to determine the actual reference point forpositioning.The rule for this is: Referene point = machine reference + machine reference offsetNote: if the machine reference initiator is located at the positive end of the travelrange, the machine reference offset must = 0 or be negative.

A change in the machine reference offset does not take effect until the nextmachine reference run.


124 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.7 Current setting operation (C3_Current)

FB name C3_CurrentCurrent control. The speed and position controller are turned off.The system controls to the specified current.The current setting can be made with the module input or with an analog input.


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeCurrent INT Current to be set in [mA]Mode INT 0 = The current read during Execute on the Current input is

set.3 = After Execute, the Current input is read again in eachcycle and the corresponding current is set (Execute mustbe permanently present for this mode).

VAR_OUTPUTInCurrent BOOL Specified current setCommandAborted BOOL Command abortedError BOOL ErrorNote:! The power supply current (optimization parameter) is set to 100% to operate

C3_Current.! The status current control must be aborted with MC_Stop before new

positionings are possible.

Execute : BOOLCurrent : INT

InCurrent : BOOL

Error : BOOL

C3_Current

CommandAborted : BOOLMode : INTAxis : (VAR_IN_OUT)


192-120111 N1 C3 T30 T40 - March 2004 125

5.2.7.8 Superimposed positioning (MC_MoveSuperImposed)

FB name MC_MoveSuperImposedSuperimposing of active positioning with an additional relative distance.The positioning process that is currently underway is not interrupted byMC_MoveSuperImposed; it is superimposed instead

VAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxis

VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeDistance REAL Additional distance for superimposed positioning

(configured unit [Units] ) (positive and negative direction)<value range>23

VelocityDiff REAL Value of the maximum speed difference compared to thespeed of the current positioning (always positive) (notnecessarily reached) [Units/s] <Value range>24





VAR_OUTPUTDone BOOL Additional distance was added to the current positioningBusy BOOL Superimposed motion is performedCommandAborted BOOL Positioning abortedError BOOL Error while executing module Note:! In the PLCopen state Discrete Motion the module changes the speed and the

target position of the active movement.! In the PLCopen state "Standstill" the MC_MoveSuperImposed module acts like

the MC_MoveRelative module.! MC_MoveSuperImposed does not interrupt an active command.

Caution!



T40 Function


126 192-120111 N1 C3 T30 T40 - March 2004


Done : BOOL

Error : BOOL

MC_MOVESUPERIMPOSED

CommandAborted : BOOLVelocityDiff : REALAcceleration : DINTDeceleration : DINTJerk : DINT

Axis : (VAR_IN_OUT)

Busy : BOOL

JerkDecel : DINT

Execute

Distance

Done

Error

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Distance

Done

Error

MC_MOVESUPERIMP

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis



10

100

50

50

1000

1000

AXIS_REF_LocalAxis

50

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go_REL


Execute (go_REL)

Done

t

t

t

t

t

t

10

10

1

0

10

0

200300

Command-Aborted

Execute (go_SUP)

Done

Velocity



go_SUP

10

Distance

400

100

0

50

70

t1 2 3 4 5 6 7 8 9 10 11 12 13


192-120111 N1 C3 T30 T40 - March 2004 127

5.2.7.9 Electronic gearbox (MC_GearIn)

FB name MC_GearInControlled speed and position synchronicity with adjustable transmission ratio

VAR_IN_OUTMain INT Axis- ID of the Master signal source (see on page 103)Sub INT Axis ID; constant: AXIS_REF_LocalAxis

VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeRatioNumerator REAL Transmission ratio of numeratorRatioDenumerator INT Transmission ratio of denominatorAcceleration DINT Value of the acceleration / deceleration (always positive)

[Units/s²] <Value range>29

VAR_OUTPUTInGear BOOL Synchronicity achievedCommandAborted BOOL Command abortedError BOOL Error while executing module Note:! The transmission ratio can be changed at any time with a positive edge on

Execute. InGear is reset until synchronicity is achieved again.! For example, if speed synchronicity is not achieved because of limiting effects,

the position difference that arises will be made up.! Acceleration / deceleration to the set transmission ratio takes place without a jerk

limit.! If the master and slave units do not correspond, this fact must be considered for

the transmission ratio.

Caution!


Master : AXIS_REFSlave : AXIS_REF

Master : AXIS_REF

InGear : BOOLCommandAborted : BOOL

MC_GearIn

Slave : AXIS_REFExecute : BOOLRatioNumerator : REALRatioDenominator : INTAcceleration : DINT

Error : BOOL

29 Acceleration for positioning: Min: 0.24 rev/s²; Max: 100000 rev/s²

T40 Function


128 192-120111 N1 C3 T30 T40 - March 2004

Master

Slave

Error

MC_GEARIN

CommandAborted

Execute

RatioNumerator

RatioDenominator

Acceleration

MyMaster

First Execute

t

t

t

t

t

10

10

10

10

0

SecondInGear

Second Execute

First InGear

MySlave Velocity

Bewegungsablaufmotion

MySlave

100

100

100

InGear

Master

Slave

Error

MC_GEARIN

CommandAborted

Execute

RatioNumerator

RatioDenominator

Acceleration

100

100

100

InGear





Ratio reached

Ratio reached

Master

Slave

Master

Slave


192-120111 N1 C3 T30 T40 - March 2004 129

5.2.7.10 Selecting a curve (MC_CamTableSelect)

FB name MC_CamTableSelectSelect a curve, set the Master position to 0 and issue a global master position enable.

VAR_IN_OUTMain INT Axis- ID of the Master signal source (see on page 103)Sub INT Axis ID; constant: AXIS_REF_LocalAxisCamTable INT Cam No: MC_Cam_Ref

VAR_INPUTExecute BOOL Curve selection with positive edgePeriodic BOOL =FALSE: run through curve once

=TRUE: run through curve cyclicallyis terminated with C3_CamOut, MC_Stop or error.

VAR_OUTPUTDone BOOL Curve selection completedError BOOL Command aborted

Error during curve selection or Master connection Note:! This module must always be executed before the CamIn module.


Master : AXIS_REF

CamTable : MC_CAM_REFDone : BOOL

MC_CamTableSelect

Slave : AXIS_REFCamTable : MC_CAM_REFExecute : BOOLPeriodic : BOOL Error : BOOL

T40 Function


130 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.11 Starting a selected curve (MC_CamIn)

FB name MC_CamInStart the curve selected with MC_CamtableSelect without coupling movement


VAR_INPUTExecute BOOL Curve start with positive edge

VAR_OUTPUTInSync BOOL Synchronous operation activeCommandAborted BOOL Command abortedError BOOL Command aborted

Error during curve operationEndOfProfile BOOL End of a curve cycle.

The end of each curve cycle is displayed by a pulse withthe length of an IEC cycle.Suitable for setting up a loop counter.

Note:! This module must always be executed after the CanTableSelect module.! In cam operation the functions: read objects from Flash (Object 20.10) and save

objects permanently (Object 20.11 as well as in the optimization window of theCompax3 ServoManager) are disabled.

Caution!



Master : AXIS_REF

InSync : BOOL

MC_CamIn

Slave : AXIS_REFExecute : BOOL

CommandAborted : BOOLError : BOOL

EndOfProfile : BOOL

T40 Function


192-120111 N1 C3 T30 T40 - March 2004 131

Execute

Slavezyklus

t

t

t

10

10

10

InSync

EndOfProfile

1

t

10

Periodic = 1 (CamControlMode = 3: Start Forever):

Execute

Slavezyklus

t

t

t

10

10

10

InSync

EndOfProfile

1

t

10

Periodic = 0 (CamControlMode = 1: Single Start):


132 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.12 Starting a selected curve with coupling movement (C3_CamIn)

FB name C3_CamInStart the curve selected with MC_CamtableSelect with an adjustable coupling movement


VAR_INPUTExecute BOOL Curve start with positive edgeCouplingMode INT 0 = immediate coupling

1 = coupling with quadratic function2 = coupling with change-over function

CouplingPosition REAL Master coupling position in Master units (ME)SyncPosition REAL Master synchronous position in Master units (MS)

VAR_OUTPUTInSync BOOL Synchronous operation activeCommandAborted BOOL Command abortedError BOOL Command aborted

Error during curve operationEndOfProfile BOOL End of a Slave curve cycle.

The end of each Master curve cycle is displayed by a pulsewith the length of an IEC cycle.Suitable for setting up a loop counter.

Note:! With CouplingMode =1 the curve must be constantly rising at the SyncPosition.! With CouplingMode =1 coupling is possible over a number of curve cycles to

reduce the current.! In cam operation the functions: read objects from Flash (Object 20.10) and save

objects permanently (Object 20.11 as well as in the optimization window of theCompax3 ServoManager) are disabled.

Caution!



Master : AXIS_REF

InSync : BOOL

C3_CamIn



EndOfProfile : BOOL

CouplingMode : INTCouplingPosition : REALSyncPosition : REAL

T40 Function


192-120111 N1 C3 T30 T40 - March 2004 133

Execute

Masterzyklus

t

t

t

10

10

10

InSync

Slavezyklus

1

t

10

Periodic = 1 (CamControlMode = 3: Start Forever):

EndOfProfile

t

10

ME MS

Example with CouplingMode = 1 and Periodic = TRUE.


134 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.13 Exiting the active curve with coupling movement (C3_CamOut)

FB name C3_CamOutDecouple the active curve with adjustable coupling movement


VAR_INPUTExecute BOOL Activate the decoupling process with a positive edgeDecouplingMode INT 0 = immediate decoupling

1 = decoupling with quadratic function2 = decoupling with change-over function

DecouplingPosition

REAL Master decoupling position in Master units (MA)

BrakingPosition REAL Master braking position in Master units (MB)StandStillPosition REAL Slave standstill position in Slave units (S0)

VAR_OUTPUTDone BOOL Decoupling completeInSync BOOL Wait for decoupling positionError BOOL Command aborted

Error during curve operationEndOfProfile BOOL End of the curve cycle.

Note:! With CouplingMode =1 decoupling is possible over a number of curve cycles to

reduce the current.


Master : AXIS_REF

Done : BOOL

C3_CamOut


Error : BOOLEndOfProfile : BOOL

DecouplingMode : INTDecouplingPosition : REALBrakingPosition : REAL

StandstillPosition : REAL

InSync : BOOL

T40 Function


192-120111 N1 C3 T30 T40 - March 2004 135

Execute

Masterzyklus

t

t

10

10

10

Done

Slavezyklus

1

t

10

Periodic = 1

EndOfProfile

t

10

MA MB

InSync

t

10

S0

t

Example with DecouplingMode = 1 and Periodic = TRUE


136 192-120111 N1 C3 T30 T40 - March 2004

5.2.7.14 Example of cams


Master : AXIS_REF

InSync : BOOL

MC_CamIn




Master : AXIS_REF


MC_CamTableSelect



Master : AXIS_REF


MC_CamTableSelect



Master : AXIS_REF

InSync : BOOL

MC_CamIn


AXIS_REF_HEDA

Start1

1

2

1

MC_Stop

ExecuteStop

1

4

3

2

5

EndOfProfile : BOOL


EndOfProfile : BOOL


Master : AXIS_REF

Done : BOOL

C3_CamOut


Error : BOOLEndOfProfile : BOOL

DecouplingMode : INTDecouplingPosition : REALBrakingPosition : REALStandstillPosition : REAL

InSync : BOOLE4

1

6

AXIS_REF_LocalAxis

1*

3*

2*

1* Change of cams2* Decoupling position3* Standstill position

T40 Function


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! After starting, the 1st curve is selected with the MC_CamTableSelect (1) module.! Master position recording starts and is immediately coupled with MC_CamIn (2).! When the curve is running, a new curve is prepared with the second

MC_CamTableSelect module (3).! The change takes place by running the second MC_CamIn module (4).

his ensures that the running master cycle is terminated with the old curve and thenew curve is processed in the next master cycle.

! The curve is decoupled with C3_CamOut (6) and moved to a standstill position.! The conditions for a jerk-free curve transition are:

! Starting speed of Curve 2 = end speed of Curve 1.! Starting position of Curve 2 = End position of Curve 1.

! A stop signal aborts curve operation.! The Master target value is assigned by HEDA.


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5.2.7.15 Master signal phase shift (MC_Phasing)

FB name MC_PhasingA phase equalization between Master and Slave can be performed with a position offset.Only the Master signal in the Slave is affected in this case. The Master itself remainsunaffected.Calling MC_Phasing a second time causes an additional offset of the Master signal by thevalue specified in PhaseShift


VAR_INPUTExecute BOOL Starts the sequences of the module with positive edgePhaseShift REAL Relative distance that is added to the Master signal

(configured unit [Units] ) (positive and negative direction)<Value range>30

Velocity REAL Speed when adjusting the Master signal (always positive)(not necessarily reached) [Units/s] <Value range>31

Acceleration DINT Acceleration when adjusting the Master signal (ialwayspositive) [Units/s²] <Value range>32

Deceleration DINT Deceleration when adjusting the Master signal (alwayspositive) [Units/s²] <Value range>33

Jerk DINT Acceleration jerk (see on page 116) [Units/s³] whenadjusting the Master signal (always positive) <Valuerange>34

JerkDecel DINT Deceleration jerk [Units/s³] when adjusting the Mastersignal (always positive) <Value range>35

VAR_OUTPUTDone BOOL Phase offset achievedCommandAborted BOOL Command abortedError BOOL Error while executing moduleNote:This function is only possible in cam operation.


T40 Function


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Master : AXIS_REF

Done : BOOLCommandAborted : BOOL

MC_Phasing

Slave : AXIS_REFExecute : BOOLPhaseShift : REALVelocity : REALAcceleration : DINTDeceleration : DINT

Error : BOOL

Jerk : DINTJerkDecel : DINT

0

t

0

t

t

t

360

Master : AXIS_REF

Slave : AXIS_REF

Master : AXIS_REF

Done : BOOL

CommandAborted : BOOL

MC_Phasing

Slave : AXIS_REF

Execute : BOOL

PhaseShift : REAL

Velocity : REAL

Acceleration : DINT

Deceleration : DINT

Error : BOOL

Jerk : DINT

Done

Execute

Velocity

Position

phase shift master position "seen" by slave

physical master positionphase velocity

master velocity

0

0

JerkDecel : DINT


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5.2.8. Error handling

You can read about the following in this chapter:Acknowledging Errors (MC_Reset).................................................................................................... 140Reading axis errors (MC_ReadAxisError) ......................................................................................... 141Switching off error messages (C3_ERRORMASK) ........................................................................... 142

5.2.8.1 Acknowledging errors (MC_Reset)

FB name MC_Reset Acknowledges errors (transition from "Errorstop" status to "Standstill" status).


VAR_INPUTExecute BOOL Activates the module if there is a positive edge

VAR_OUTPUTDone BOOL Error successfully acknowledged, axis is in the "Standstill"

state againError BOOL Acknowledge failed /not possibleErrorID WORD Error description, according to error historyNote: After the error is successfully acknowledged, the power must be supplied tothe power output stage again by a rising flank on the enable input of theMC_POWER power module.

Execute : BOOLAxis : (VAR_IN_OUT)

Done : BOOL

ErrorID : WORD

MC_RESET

Error : BOOL


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5.2.8.2 Reading axis errors (MC_ReadAxisError)

FB name MC_ReadAxisErrorThis function module displays axis errors.


VAR_INPUTEnable BOOL Activates the module

VAR_OUTPUTDone BOOL Output values availableError BOOL Compax3 in error stateErrorID WORD Current error descriptionNote: -


Done : BOOL

ErrorID : WORD

MC_READAXISERROR

Error : BOOL


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5.2.8.3 Switching off error messages (C3_ERRORMASK)

FB name C3_ERRORMASKThis module is used to switch off error messages

VAR_INPUTExecute BOOL The selected error mask is activatedDisable_PLC BOOL TRUE is used to switch off error 0x6281.Disable_HEDA BOOL TRUE is used to switch off HEDA errors.Disable_Fieldbus BOOL TRUE is used to switch off the errors 0x8120 and

0x8121.Disable_MotorStalled BOOL TRUE is used to switch off error 0x7121.Disable_Tracking BOOL TRUE is used to switch off error 0x7320.Disable_IOShortCircut BOOL TRUE is used to switch off error 0x5380.Disable_IOAddSupply BOOL TRUE is used to switch off error 0x5117.Disable_BusVoltageLow BOOL TRUE is used to switch off error 0x3222.Disable_E5LimitSwitch BOOL TRUE is used to switch off error 0x54A0.Disable_E6LimitSwitch BOOL TRUE is used to switch off error 0x54A1.Error listNotes: The setting of the error mask is made internally via a C3 object. If theobjects are saved permanently, the setting is memorized after Power off.

Execute : BOOLDisable_PLC : BOOL

C3_ERRORMASK

Disable_HEDA : BOOLDisable_Fieldbus : BOOLDisable_MotorStalled : BOOLDisable_Tracking : BOOLDisable_IOShortCircuit : BOOLDisable_IOAddSupply : BOOLDisable_BusVoltageLow : BOOLDisable_E5LimitSwitch : BOOLDisable_E6LimitSwitch : BOOL


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5.2.9. Process image

You can read about the following in this chapter:Reading digital inputs (C3_INPUT) .................................................................................................... 143Writing digital outputs (C3_OUTPUT)................................................................................................ 143Reading / writing optional inputs/outputs ........................................................................................... 144Recording the axis position (MC_TouchProbe)................................................................................. 146

5.2.9.1 Reading digital inputs (C3_INPUT)

FB name C3_INPUTUsed to generate a process image of the digital inputs.

VAR_INPUTI0 ... I7 BOOL Displays the status of the respective input.Notes: the module should always be brought up at the beginning of the processingcycle.

I5: BOOLI6: BOOLI7: BOOL

C3_INPUT

I1: BOOLI2: BOOLI3: BOOL

I0: BOOL

I4: BOOL

5.2.9.2 Write digital outputs (C3_OUTPUT)

FB name C3_OUTPUTUsed to generate a process image of the digital outputs.

VAR_OUTPUTO0 ... O3 BOOL Displays the status of the respective output.Notes: the module should always be brought up at the end of the processing cycle.

C3_OUTPUT

O1: BOOLO2: BOOLO3: BOOL

O0: BOOL


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5.2.9.3 Reading/writing optional inputs/outputs

C3_IOADDITION_0

FB name C3_IOADDITION_0Is used to create a process image of the optional digital inputs/outputs.

VAR_INPUTI0 ... I3 BOOL Displays the status of the respective input.O0 ... O3 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs. You mayonly use either inputs or outputs exclusively.Notes: The module should always be brought up at the beginning (inputs) or end(outputs) of the processing cycle.

OutputEnable : BOOL I0 : BOOL

C3_IOADDITION_0

O0 : BOOL I1 : BOOLI2 : BOOLI3 : BOOL

Error : BOOL

O1 : BOOLO2 : BOOLO3 : BOOL

C3_IOADDITION_1


VAR_INPUTI4 ... I7 BOOL Displays the status of the respective input.O4 ... O7 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs. You mayonly use either inputs or outputs exclusively.Notes: the module should always be brought up at the beginning of the processingcycle.


C3_IOADDITION_1


Error : BOOL



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C3_IOADDITION_2


VAR_INPUTI8 ... I11 BOOL Displays the status of the respective input.O8 ... O11 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs. You mayonly use either inputs or outputs exclusively.Notes: the module should always be brought up at the beginning of the processingcycle.


C3_IOADDITION_2


Error : BOOL



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5.2.9.4 Recording the axis position (MC_TouchProbe)

FB name MC_TouchProbeSave the axis position to the trigger event


VAR_INPUTExecute BOOL Activates the module if there is a positive edgeTriggerInput INT Selects the trigger input and optionally an enable input.

Constants must be connected with "+"; thus alwaysTouchProbeInputx + TouchProbeEnabley (see in theexample)

ExpectedPosition REAL The position for which the trigger event is expectedTolerance REAL The tolerance band around the ExpectedPosition in which

the trigger event will be acceptedStartIgnore REAL Position: the beginning of the range in which the trigger

event will be ignoredStopIgnore REAL Position: end of the range, in which a trigger event will be

ignored

VAR_OUTPUTDone BOOL Trigger event has occurred and position has been recordedRecordedPosition REAL The position at which the trigger event was detectedError BOOL Error while executing module

Note:

! Temporal precision of signal recording: <1µs! TriggerInput: Trigger Input:

Via the constants "TouchProbeInput0" ... "TouchProbeInput7" (X12/6 - X12/14)the trigger signal input is selected.The constant "TouchProbeEnable0" ... "TouchProbeEnable7" (X12/6 - X12/14)?are used to select the enable input. The constant "TouchProbeEnableNone" isused to enable the trigger input directly.Two constants mut always be connected with "+":TouchProbeInputx +TouchProbeEnabley with x ≠ y.

Axis : Execute : BOOL

Done : BOOL

Error : BOOL

MC_TouchProbe

RecordedPosition : REALTriggerInput : INTExpectedPosition : REALTolerance : REALStartIgnore : REALStopIgnore : REAL


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Execute : BOOLPosition : REAL

Done : BOOL

Error : BOOL

MC_MOVEABSOLUTE


Axis : Execute : BOOL

Done : BOOL

Error : BOOL

MC_TouchProbe

RecordedPosition : REALTriggerInput : INTExpectedPosition : REALTolerance : REALStartIgnore : REALStopIgnore : REAL

ADD 10100100100100

AXIS_REF_LocalAxis

1.0

AXIS_REF_LocalAxisinp.I1

TouchProbeInput7 + TouchProbeEnable65010

05

POSAProbe

Execute

Done

t

t

tFALSE

TRUE

FALSE

TRUE

FALSE

Triggerinput Signal

Axis Position

TRUE

t

ExpectedPosition + Tolerance

RecordedPosition

StopIgnore

ExpectedPosition - Tolerance

StartIgnore

Sampling Points

1

! The module does only read in a position if this position is within a permissibleposition range between (ExpectedPosition - Tolerance) and (ExpectedPosition +Tolerance)

! Within this position range, the positions are read in with a temporal exactitude of<1µs (determined by linear interpolation) and accepted with the TriggerInputsignal.

! If the trigger signal is emitted outside the permissible position range and outsidethe range between SgartIgnore and StopIgnore, the module will report an error.


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5.3 IEC examples

You can read about the following in this chapter:Example in CFC: Using Compax3 specific function modules and Compax3 objects ...................... 148Example in CFC: Positioning 1........................................................................................................... 149Example in CFC: Positioning 2........................................................................................................... 150Example in CFC: Positioning with set selection................................................................................. 151Example in CFC: cycle mode ............................................................................................................. 152Example in ST: cycle mode with a move module.............................................................................. 153

5.3.1. Example in CFC: Using Compax3-specific function modulesand Compax3 objects

! Read in the process image of the digital inputs with the InputStatus module.! Generate a process image of the digital outputs with the OutputStatus module.! Digital input I0, used for counting an external event. The event is only detected as

an event if! The I0 input is at TRUE for at least 0.5 seconds and! The voltage on analog input 0 exceeds the threshold value of 3.5 volts.

! When 5 of these events have been counted, the digital output is set to O0. At thesame time, the program prevents additional events on the I0 from being counted.The counter state can be reset again with Input I1 as soon as it reaches a valueof 5.


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5.3.2. Example in CFC: Positioning 1

! Input I7 enables the power output stage! Input I0 starts an absolute positioning process with fixed parameters! Input I6 is used to stop the movement! After positioning is complete, there will be a return to Position 0 as soon as Input

I1 has been activated


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5.3.3. Example in CFC: Positioning 2

! Input I7 enables the power output stage! Input I0 starts an absolute positioning process! If an event (I1) occurs during the positioning, the target position will be moved

back by 20 ("MoveAdditive")! If an event occurs while positioning is not in progress, it has no effect


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5.3.4. Example in CFC: positioning with set selection

! Input I7 enables the power output stage! The position, speed and ramps can be stored in the array (table) (for example

input with the Compax3 ServoManager)! The desired set can be selected with inputs I1 through I5 (binary coded)! Input I0 starts the positioning (absolute positioning)! Positioning that is in progress can be stopped with Input I6


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5.3.5. Example in CFC: Cycle mode

Example a: Cycle mode

! Input I7 enables the power output stage! Input I0 starts cyclical positioning. During this process, two positions are

approached in alternation.! Input I6 stops cycle mode


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5.3.6. Example in ST: Cycle mode with a Move module

! Input I0 starts cycle mode. Two positions are approached alternately.! There is a pause of 1 second after the first position is reached.! There is a pause of 1.5 seconds after the second position is reached.! Input I1 stops cycle mode.


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Parker EME RS232 & RS485 interface record

192-120111 N1 C3 T30 T40 - March 2004 155

You can read about the following in this chapter:ASCII protocol ..................................................................................................................................... 156Binary protocol .................................................................................................................................... 157

You can communicate with Compax3 in order to read or write objects via plug X10on the front plate either with RS232 or with RS485.As a rule 2 records are possible:! ASCII record: simple communication with Compax3! Binary record: fast and secure communication with Compax3 by the aid of block

securing.

Switching between the ASCII and the binary record via automatic recorddetection.

RS232: SSK1RS485: as SSK27 / RS485 is activated by +5V on X10/1.

6. RS232 & RS485 interfacerecord

Wiring

RS232 & RS485 interface record

156 192-120111 N1 C3 T30 T40 - March 2004

6.1 ASCII - record

The general layout of a command string for Compax3 is as follows:

[Adr] command CRAdr RS232: no address

RS485: Compax3 address in the range 0 ... 99Address settings can be made in the C3 ServoManager under "RS485 settings"

Command valid Compax3 commandCR End sign (carriage return)

A command consists of the representable ASCII characters (0x21 .. 0x7E). Smallletters are converted automatically into capitals and blanks (0x20) are deleted, ifthey are not placed between two quotation marks.Separator between places before and after the decimal is the decimal point (0x2E).A numeric value can be given in the Hex-format if it is preceded by the $ sign.Values can be requested in the Hex-format if the CR is preceded additionally bythe $ sign.

All commands requesting a numeric value from Compax3 are acknowledged withthe respective numeric value in the ASCII format followed by a CR withoutpreceding command repetition and following statement of unit. The length of theseanswer strings differs depending on the value.Commands requesting an Info-string (e.g. software version), are onlyacknowledged with the respective ASCII character sequence followed by a CR,without preceding command repetition. The length of these anser strings is hereconstant.Commands transferring a value to Compaxe or triggering a function in Compax3are acknowledged by:

>CR

if the value can be accepted resp. if the function can be executed at that point intime.If this is ot the case or if the command syntax was invalid, the command is

is acknowledged with !xxxxCR

The 4 digit error number xxxx is given in the HEX format; you will find the meaningin the appendix.

When using RS485, each answer string is preceded by a "*" (ASCII - character:0x2A).

Compax3 commands

RS232: O [$] Index , [$] Subindex [$]

RS485: Address O [$] Index , [$] Subindex [$]

Command

Answer strings

RS485 answer string

Read object


192-120111 N1 C3 T30 T40 - March 2004 157

The optional "$" after the subindex stands for "hex-output" which means that anobject value can also be requested in hex;e.g. "O $0192,2$":

RS232: O [$] Index , [$] Subindex = [$] Wert [ ; Value2 ; Value3 ; ...]

RS485: Address O [$] Index , [$] Subindex = [$] Wert [ ; Value2 ; Value3 ; ...]

The optional "$" preceding Index, Subindex and value stands for "Hex-input" whichmeans that Index, Subindex and the value to be transferred can also be entered inhex (e.g. O $0192,2=$C8).

6.2 Binary record

The binary record with block securing is based on 5 different telegrams:! 2 request telegrams which the control sends to Compax3 and! 3 response telegrams which Compax3 returns to the control.

Telegram layout

Basic structure:Start code Address Number of data bytes - 1 Data block securingSZ O L D0 D1 ... Dn Crc(Hi) Crc(Lo)

The start code defines the frame type and is composed as follows:Bit 7 6 5 4 3 2 1 0Frame type Frame identification PLC Gateway AddressRdObj Read object 1 0 1 0 x 1 x xWrObj Write object 1 1 0 0 x 1 x xRsp Answer 0 0 0 0 0 1 0 1Ack Positive command acknowledgement 0 0 0 0 0 1 1 0Nak Negative command acknowledgement 0 0 0 0 0 1 1 1

Write object

RS232 & RS485 interface record

158 192-120111 N1 C3 T30 T40 - March 2004

Bits 7, 6, 5 and 4 of the start code form the telegram identification; Bit 2 is always1.Bits 3, 1 and 0 have different meanings for the request and response telegrams.The address is only necessary for RS484.

-> Compax3

! the address bit (Bit 0 = 1 ) shows if the start code is followed by an address (onlyfor RS485; for RS232 Bit 0 = 0)

! the gateway bit (Bit 1 = 1) shows if the message is to be passed on.(Please set Bit 1 = 0, as this function is not yet available)

! the PLC bit (Bit 3 = 0 ) allows access to objects in the PLC format (U16, U32,IEEE Floating Point). For information into which PLC format the objects areconverted, please refer to the object description.

Compax3 ->

! Bits 0 and 1 are used to identify the response! Bit 3 is always 0The maximum number of data bytes in the request telegram is 256, in the responsetelegram 253.The block securing (CRC16) is made via the CCITT table algorith for all characters.After receiving the start code, the timeout monitoring is activated in order to avoidthat Compax3 waits in vain for further codes (e.g. connection interrupted) Thetimeout period between 2 codes received is fixed to 5ms (5 times the code time at9600Baud)

Write object WrObj telegramSZ Adr L D0 D1 D2 D3 ... Dn Crc(Hi) Crc(Lo)0xCX n Index(Hi) Index(Lo) Subindex value 0x.. 0x..

Describing an object by a value.

Positive acknowledgement Ack-telegramSZ L D0 D1 Crc(Hi) Crc(Lo)0x06 1 0 0 0x.. 0x..

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

Negative acknowledgement Nak - telegramSZ L D0 D1 Crc(Hi) Crc(Lo)0x07 1 F-No.(Hi) F-No.(Lo) 0x.. 0x..

Answer from Compax3 if access to the object was denied (e.g. function cannot beexecuted at that point in time or object has no reading access). The error no. iscoded according to the DriveCom profile resp. the CiA Device Profile DSP 402.

Read object RdObj - telegramSZ Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)0xAX n Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(L

o)Subindex2 ... ... 0x.. 0x..

Reading one or several objects

Answer Rsp - telegramSZ L D0 ... Dx-1 Dx ... Dy-1 Dy-D.. D ... D.. D ... Dn Crc(Hi) Crc(Lo)0x05 n Value1 Value 2 Value 3 Value .. Value n 0x.. 0x..

Request telegrams

Response telegram


192-120111 N1 C3 T30 T40 - March 2004 159

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

Checksum calculation for the CCITT table algorith

The block securing for all codes is performed via the following function and thecorresponding table:The CRC16 variable is set to 0 before sending a telegram.

CRC16 = UpdateCRC16(CRC16, Character);

This function is called up for each Byte (Character) of the telegram.The result forms the last two bytes of the telegramCompax3 checks the CRC value on receipt and reports CRC error in the case of adeviation.

const unsigned int _P CRC16_table[256] = 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0;

unsigned int UpdateCRC16(unsigned int crc,unsigned char value)

unsigned int crc16;

crc16 = (CRC16_table[(crc >> 8) & 0x00FF] ^ (crc << 8) ^ (unsigned int)(value));

return crc16;

Block securing:

Function call:

Function

CANopen

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6.3 CamDesigner

After calling up the CamDesigner with modify cam you can enter the key data ofthe cam via an input window.For further information please refer to the CamDesigner Help.Following is a summary of the relevant help chapters.

You can read about the following in this chapter:CANopen communication profile........................................................................................................ 161Acyclic parameter channel ................................................................................................................. 184

T40 Function

7. CANopen

I21 Function

Parker EME CANopen

192-120111 N1 C3 T30 T40 - March 2004 161

7.1 CANopen communication profile

The CANopen communication objects described in this chapter are either setto sensible standard values or they are set under menu control with the help

of the ServoManager.

The communication objects described below must be modified only forspecial deviating settings.

! CAN is an open system which has been standardised in the ISO 11898 and OSIreference model ISO 7498.

! CAN is Multi-Master compatible.! Data transmission takes place with up to 8 Bytes useful data.! The CAN objects are designated with an 11 Bit identifier (ID or COB-ID: CAN

Object identifier). The identifier specifies the priority of the objects (the smaller thevalue of the object ID is, the higher is the priority level of the object).

! The COB-ID consists of the function code and the node ID:

Structure of the COB-ID

Bit 10 9 8 7 6 5 4 3 2 1 0

Function code NodeID (1 ... 127)NodeID: The Compax3 device address is used here as standard value.

CANopen

162 192-120111 N1 C3 T30 T40 - March 2004

7.1.1. Object types

The following table shows the preset COB-IDs:Communication objecttype

Functioncode

COB -Identifier(dec)

COB -Identifier(hex)

DefinedinIndex...

Description

Broadcast objectsNMT 0000b 0 0h - Network management and identifier assignmentSYNC 0001b 128 80h 1005h SYNC is not implemented in Compax3.TIME 0010b 256 100h 1012h TIME is not implemented in Compax3.Point to point objectsEMCY 0001b 129-255 81h-FFh 1014h Error messagesT-PDO1 0011b 385-511 181h-1FFh 1800h Assignment via Index 1A00h

T-PDO2 0101b 641-767 281h-2FFh 1801h Assignment via Index 1A01hT-PDO3 0111b 897-1023 381h-3FFh 1802h Assignment via Index 1A02hT-PDO4 1001b 1153-1279 481h-1279h 1803h Assignment via Index 1A03h

Transmit process data object( Compax3) max. 8 Bytes

R-PDO1 0100b 513-639 201h-27Fh 1400h Assignment via Index 1600hR-PDO2 0110b 769-895 301h-37Fh 1401h Assignment via Index 1601h R-PDO3 1000b 1025-1151 401h-47Fh 1402h Assignment via Index 1602hR-PDO4 1010b 1281-1407 501h-57Fh 1403h Assignment via Index 1603h

Receive process data objects( Compax3) max. 8 Bytes

T-SDO1 1011b 1409-1535 581h-5FFh 1200h Transmit service data object 1T-SDO2 -* -* - 1201h Transmit service data object 2R-SDO1 1100b 1537-1663 601h-67Fh 1200h Receive service data object 1R-SDO2 -* -* - 1201h Receive service data object 2Node guard 1110b 1793-1919 701h-77Fh 100Eh Check bus subscribers.

* The SDO2 are not activated.The standard value of the COB-ID for an object is calculated as follows: COB-ID =(function code * 128) + device addressThe standard values of the COB-Ids can be changed via communication objectsvia SDOs.

Application of the communication object types

Transmission of real time data (faster transmission because higher priority) T-PDO Transmit process data object: Compax3 answer.R-PDO Receive process data object: send to Compax3.

Once only transmission, e. g. of parameters or programme lines T-SDO Transmit service data object: Compax3 answer.R-SDO Receive service data object: send to Compax3.

7.1.2. Communication objects

General note:Every CAN object which is created as array (with subindex) contains the number ofentries in subindex 0. This object was not listed separately.

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7.1.2.1 CAN communication objects overview sorted according to CANNo.

CAN-No Name Bus format Standard value Minimumvalue

Maximumvalue

Access

0x1000 Device Type Unsigned32 0x00020192 0x00000000 0xFFFFFFFF const0x1001 Error Register Unsigned8 0x00 0x00 0xFF ro0x1005 COB-ID SYNC Unsigned32 0x80000080 0x00000001 0xFFFFFFFF rw0x1006 Communication Cycle Period Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1007 Synchronous Window Length Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1008 Manufacturer Device Name Visible_String C3xxxxxxxxxxxxxxxxx

xconst

0x1009 Manufacturer Hardware Version Visible_String CTPxxxxxxxxLEIxxxxxxxx

const

0x100A Manufacturer Software Version Visible_String Vxxxxxxxxxxxxxxxxxxx

const

0x100C Guard Time Unsigned16 0x0000 0x0 0xFFFF rw0x100D Life Time Factor Unsigned8 0x00 0x0 0xFF rw0x1014 COB-ID EMCY Unsigned32 0x000000FF 0x00000001 0xFFFFFFFF rw0x1015 Inhibit Time Emergency Unsigned16 0x0 0x0 0xFFFF rw0x1018 Identity Object -0x1018.1 Vendor Id Unsigned32 0x0 0x0 0xFFFFFFFF ro0x1018.2 Product Code Unsigned32 0x0 0x0 0xFFFFFFFF ro0x1018.3 Revision number Unsigned32 0x0 0x0 0xFFFFFFFF ro0x1018.4 Serial number Unsigned32 0x0 0x0 0xFFFFFFFF ro0x1200 Server SDO1 Parameter -0x1200.1 SDO1: COB-ID Client -> Server Unsigned32 0x0000067F 0x00000001 0xFFFFFFFF ro0x1200.2 SDO1: COB-ID Server -> Client Unsigned32 0x000005FF 0x00000001 0xFFFFFFFF ro0x1200.3 Node ID of the SDO1 client Unsigned8 0x00 0x00 0xFF rw0x1201 Server SDO2 Parameter -0x1201.1 SDO2: COB-ID Client -> Server Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw0x1201.2 SDO2: COB-ID Server -> Client Unsigned32 0x800006E0 0x00000001 0xFFFFFFFF rw0x1201.3 Node ID of the SDO2 Client Unsigned8 0x00 0x00 0xFF rw0x1400 Receive PDO1 communication

parameters-

0x1400.1 RPDO1: COB-ID Unsigned32 0x0000027F 0x00000001 0xFFFFFFFF rw0x1400.2 RPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw0x1400.3 RPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw0x1400.5 RPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1401 Receive PDO2 communication

parameters-

0x1401.1 RPDO2: COB-ID Unsigned32 0x0000037F 0x00000001 0xFFFFFFFF rw0x1401.2 RPDO2: Transmission Type Unsigned8 0xFE 0x00 0xFF rw0x1401.3 RPDO2: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw0x1401.5 RPDO2: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1402 Receive PDO3 communication

parameter-

0x1402.1 RPDO3: COB-ID Unsigned32 0x0000047f 0x0 0xFFFFFFFF rw0x1402.2 RPDO3: Transmission Type Unsigned8 0xFE 0x0 0xFF rw0x1402.3 RPDO3: Inhibit Time Unsigned16 0x0000 0x0 0xFFFF rw0x1402.5 RPDO3: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1403 Receive PDO4 communication

parameter-

0x1403.1 RPDO4: COB-ID Unsigned32 0x0000057f 0x0 0xFFFFFFFF rw0x1403.2 RPDO4: Transmission Type Unsigned8 0xFE 0x0 0xFF rw0x1403.3 RPDO4: Inhibit Time Unsigned16 0x0000 0x0 0xFFFF rw0x1403.5 RPDO4: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1600 Receive PDO1 mapping parameter -0x1600.1 RPDO1 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1600.2 RPDO1 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1600.3 RPDO1 mapping entry 3 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1600.4 RPDO1 mapping entry 4 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1600.5 RPDO1 mapping entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1601 Receive PDO2 mapping parameter -0x1601.1 RPDO2 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1601.2 RPDO2 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1601.3 RPDO2 mapping entry 3 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1601.4 RPDO2 mapping entry 4 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw

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CAN-No Name Bus format Standard value Minimumvalue

Maximumvalue

Access

0x1601.5 RPDO2 mapping entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1602 Receive PDO3 mapping parameter -0x1602.1 RPDO3 mapping entry 1 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1602.2 RPDO3 mapping entry 2 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1602.3 RPDO3 mapping entry 3 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1602.4 RPDO3 mapping entry 4 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1602.5 RPDO3 mapping entry 5 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1603 Receive PDO3 mapping parameter -0x1603.1 RPDO4 mapping entry 1 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1603.2 RPDO4 mapping entry 2 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1603.3 RPDO4 mapping entry 3 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1603.4 RPDO4 mapping entry 4 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1603.5 RPDO4 mapping entry 5 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1800 Transmit PDO1 communication

parameter-

0x1800.1 TPDO1: COB-ID Unsigned32 0x000001FF 0x00000001 0xFFFFFFFF rw0x1800.2 TPDO1: Transmission Type Unsigned8 0xFE 0x00 0xFF rw0x1800.3 TPDO1: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw0x1800.5 TPDO1: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1801 Transmit PDO2 communication

parameter-

0x1801.1 TPDO2: COB-ID Unsigned32 0x000002FF 0x00000001 0xFFFFFFFF rw0x1801.2 TPDO2: Transmission Type Unsigned8 0xFE 0x00 0xFF rw0x1801.3 TPDO2: Inhibit Time Unsigned16 0x0000 0x0000 0xFFFF rw0x1801.5 TPDO2: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1802 Transmit PDO3 communication

parameter-

0x1802.1 TPDO3: COB-ID Unsigned32 0x000003ff 0x0 0xFFFFFFFF rw0x1802.2 TPDO3: Transmission Type Unsigned8 0xFE 0x0 0xFF rw0x1802.3 TPDO3: Inhibit Time Unsigned16 0x0000 0x0 0xFFFF rw0x1802.5 TPDO3: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1803 Transmit PDO4 communication

parameter-

0x1803.1 TPDO4: COB-ID Unsigned32 0x000004ff 0x0 0xFFFFFFFF rw0x1803.2 TPDO4: Transmission Type Unsigned8 0xFE 0x0 0xFF rw0x1803.3 TPDO4: Inhibit Time Unsigned16 0x0000 0x0 0xFFFF rw0x1803.5 TPDO4: Event Timer Unsigned16 0x0 0x0 0xFFFF rw0x1A00 Transmit PDO1 mapping parameter -0x1A00.1 TPDO1 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A00.2 TPDO1 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A00.3 TPDO1 mapping entry 3 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A00.4 TPDO1 mapping entry 4 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A00.5 TPDO1 mapping entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A01 Transmit PDO2 mapping parameter -0x1A01.1 TPDO2 mapping entry 1 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A01.2 TPDO2 mapping entry 2 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A01.3 TPDO2 mapping entry 3 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A01.4 TPDO2 mapping entry 4 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw 0x1A01.5 TPDO2 mapping entry 5 Unsigned32 0x00000000 0x00000000 0xFFFFFFFF rw0x1A02 Transmit PDO3 mapping parameter -0x1A02.1 TPDO3 mapping entry 1 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A02.2 TPDO3 mapping entry 2 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A02.3 TPDO3 mapping entry 3 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A02.4 TPDO3 mapping entry 4 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A02.5 TPDO3 mapping entry 5 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A03 Transmit PDO4 mapping parameter -0x1A03.1 TPDO4 mapping entry 1 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A03.2 TPDO4 mapping entry 2 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A03.3 TPDO4 mapping entry 3 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A03.4 TPDO4 mapping entry 4 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw0x1A03.5 TPDO4 mapping entry 5 Unsigned32 0x00000000 0x0 0xFFFFFFFF rw

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7.1.2.2 General communication objects

CANopen com. object: Device typeCANopen Index 0x1000 Access: constObject name Device TypeBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark:

CANopen com. object: Error registerCANopen Index 0x1001 Access: roObject name Error RegisterBus format: Unsigned8 PDO-Mapping NoMinimum value 0x00 Maximum value 0xFFRemark: Bit 0 ="1" indicates a present error

CANopen com. object: COB-ID of the SYNC messageCANopen Index 0x1005 Access: rwObject name COB-ID SYNCBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:

Structure of the COB-ID entry:Bit: 31 30 29 28-11 10-00 1 0 0000000000000000000 COB-ID

Bit 31 No meaningBit 30 = "0":Bit 30 = "1":

Compax3 generates no SYNC telegramCompax3 generates SYNC telegram

Bit 29 = "0": 11Bit identifierBit 28-11: = 0 because 11Bit IdentifierBit 10-0: CAN object identifier

CANopen com. object: Period of a communication cycleCANopen Index 0x1006 Access: rwObject name Communication Cycle PeriodBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark:

CANopen

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CANopen com. object: Length of the synchronisation windowCANopen Index 0x1007 Access: rwObject name Synchronous Window LengthBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark:

CANopen com. object: Device nameCANopen Index 0x1008 Access: constObject name Manufacturer Device NameBus format: Visible_String PDO-Mapping NoMinimum value Maximum valueRemark:

CANopen com. object: Hardware versionCANopen Index 0x1009 Access: constObject name Manufacturer Hardware VersionBus format: Visible_String PDO-Mapping NoMinimum value Maximum valueRemark:

CANopen com. object: Software versionCANopen Index 0x100A Access: constObject name Manufacturer Software VersionBus format: Visible_String PDO-Mapping NoMinimum value Maximum valueRemark:

CANopen com. object: General device informationCANopen Index 0x1018 Access:Object name Identity ObjectBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object: Vendor IdCANopen Index 0x1018.1 Access: roObject name Vendor IdBus format: Unsigned32 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFFFFFRemark:

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CANopen com. object: Product codeCANopen Index 0x1018.2 Access: roObject name Product CodeBus format: Unsigned32 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFFFFFRemark:

CANopen com. object: Revision numberCANopen Index 0x1018.3 Access: roObject name Revision numberBus format: Unsigned32 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFFFFFRemark:

CANopen com. object: Serial numberCANopen Index 0x1018.4 Access: roObject name Serial numberBus format: Unsigned32 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFFFFFRemark:

7.1.2.3 Node Guarding

Node guarding is utilised for checking the bus communication. A check is madewhether a certain bus subscriber is still active. After elapse of the guard time themaster sends an object and receives a reply from the addressed subscriber(slave). The master and the slave are checked. An error is generated if the masterreceives no reply several times (according to the specification in the lifetime factor).An error is also generated if the slave (Compax3) receives no interrogation severaltimes (according to the specification in the lifetime factor).

CANopen com. object: Guard timeCANopen Index 0x100C Access: rwObject name Guard TimeBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFRemark:

CANopen com. object: Lifetime factorCANopen Index 0x100D Access: rwObject name Life Time FactorBus format: Unsigned8 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFRemark:

CANopen

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7.1.2.4 Emergency message

Layout:Byte 0 1 2 3 4 5 6 7Contents

Error code (see onpage 277)

Errorregister

-

CANopen com. object: COB-ID of the EMCY messageCANopen Index 0x1014 Access: rwObject name COB-ID EMCYBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:


Bit 31 No meaningBit 30 No meaningBit 29 = "0": 11Bit identifierBit 28-11: = 0 because 11Bit IdentifierBit 10-0: CAN object identifier

CANopen com. object: Inhibit Time EmergencyCANopen Index 0x1015 Access: rwObject name Inhibit Time EmergencyBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFRemark:

7.1.2.5 Service Data Object

CANopen com. object: Server SDO1 ParameterCANopen Index 0x1200 Access:Object name Server SDO1 ParameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

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CANopen com. object: SDO1: COB-ID R-SDOCANopen Index 0x1200.1 Access: roObject name SDO1: COB-ID Client -> ServerBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:

CANopen com. object: SDO1: COB-ID T-SDOCANopen Index 0x1200.2 Access: roObject name SDO1: COB-ID Server -> ClientBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:


Bit 31 = "0":Bit 31 = "1":

SDO activatedSDO deactivated

Bit 30 = "1": reserved ="0"Bit 29 = "0": 11Bit identifierBit 28-11: = 0 because 11Bit IdentifierBit 10-0: CAN object identifier

CANopen com object: Node ID of the SDO1 clientCANopen Index 0x1200.3 Access: rwObject name Node ID of the SDO1 clientBus format: Unsigned8 PDO-Mapping NoMinimum value 0x00 Maximum value 0xFFRemark:

7.1.2.6 Send process data to Compax3

CANopen com. object: Receive PDO1 communication parametersCANopen Index 0x1400 Access:Object name Receive PDO1 communication parametersBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object: RPDO1: COB-IDCANopen Index 0x1400.1 Access: rwObject name RPDO1: COB-IDBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:

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Bit 31 = "0":Bit 31 = "1":

Telegram activatedTelegram deactivated

Bit 30 = "1":Bit 30 = "1":

RTR allowedno RTR allowed

Bit 29 = "0": 11Bit identifierBit 28-11: = 0 because 11Bit IdentifierBit 10-0: CAN object identifier

CANopen com. object: RPDO1: Transmission typeCANopen Index 0x1400.2 Access: rwObject name RPDO1: Transmission TypeBus format: Unsigned8 PDO-Mapping NoMinimum value 0x00 Maximum value 0xFFRemark: 0: Acyclic synchronous PDOs (event controlled)

1-240: cyclic synchronous PDOs254: anynchronous PDOs

CANopen com. object: RPDO1: Inhibit timeCANopen Index 0x1400.3 Access: rwObject name RPDO1: Inhibit TimeBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0000 Maximum value 0xFFFFRemark:

CANopen com. object: RPDO1: Event timerCANopen Index 0x1400.5 Access: rwObject name RPDO1: Event TimerBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFRemark:

CANopen com. object: Receive PDO2 communication parametersCANopen Index 0x1401 Access:Object name Receive PDO2 communication parametersBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

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CANopen com.object: RPDO2: COB-IDCANopen Index 0x1401.1 Access: rwObject name RPDO2: COB-IDBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:

Layout (see on page 170)





CANopen com. object: Receive PDO3 communication parameterCANopen Index 0x1402 Access:Object name Receive PDO3 communication parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array



CANopen

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CANopen com. object: Receive PDO4 communication parameterCANopen Index 0x1403 Access:Object name Receive PDO4 communication parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array



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CANopen com. object RPDO4: Transmission typeCANopen Index 0x1403.2 Access: rwObject name RPDO4: Transmission TypeBus format: Unsigned8 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFRemark: 0: Acyclic synchronous PDOs (event controlled)




CANopen com. object: Receive PDO1 mapping parameterCANopen Index 0x1600 Access:Object name Receive PDO1 mapping parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object: RPDO1 mapping entry 1CANopen Index 0x1600.1 Access: rwObject name RPDO1 mapping entry 1Bus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark: Structure: index (2 Byte), subindex (1 Byte), object length in bytes (1

Byte)


Byte)

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Byte)


Byte)

CANopen com. object: RPDO1 mapping entry 5CANopen Index 0x1600.5 Access: rwObject name RPDO1 mapping entry 5Bus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark: Structure: index (2 Byte), subindex (1 Byte), object length in bytes (1 Byte)





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Byte)

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Byte)

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7.1.2.7 Read process data from Compax3

CANopen com. object: Transmit PDO1 communication parameterCANopen Index 0x1800 Access:Object name Transmit PDO1 communication parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object: TPDO1: COB-IDCANopen Index 0x1800.1 Access: rwObject name TPDO1: COB-IDBus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000001 Maximum value 0xFFFFFFFFRemark:


CANopen com. object: TPDO1: Transmission typeCANopen Index 0x1800.2 Access: rwObject name TPDO1: Transmission TypeBus format: Unsigned8 PDO-Mapping NoMinimum value 0x00 Maximum value 0xFFRemark: 0: Acyclic synchronous PDOs (event controlled)


CANopen com. object: TPDO1: Inhibit timeCANopen Index 0x1800.3 Access: rwObject name TPDO1: Inhibit TimeBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0000 Maximum value 0xFFFFRemark:

CANopen com. object: TPDO1: Event timerCANopen Index 0x1800.5 Access: rwObject name TPDO1: Event TimerBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFRemark:


CANopen

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CANopen com. object TPDO2: Inhibit timeCANopen Index 0x1801.3 Access: rwObject name TPDO2: Inhibit TimeBus format: Unsigned16 PDO-Mapping NoMinimum value 0x0000 Maximum value 0xFFFFRemark:


CANopen com. objext: Transmit PDO3 communication parameterCANopen Index 0x1802 Access:Object name Transmit PDO3 communication parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object TPDO3: COB-IDCANopen Index 0x1802.1 Access: rwObject name TPDO3: COB-IDBus format: Unsigned32 PDO-Mapping NoMinimum value 0x0 Maximum value 0xFFFFFFFFRemark:

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CANopen

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CANopen com. object: Transmit PDO1 mapping parameterCANopen Index 0x1A00 Access:Object name Transmit PDO1 mapping parameterBus format: - PDO-Mapping NoMinimum value Maximum valueRemark: Array

CANopen com. object: TPDO1 mapping entry 1CANopen Index 0x1A00.1 Access: rwObject name TPDO1 mapping entry 1Bus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark: Structure: index (2 Byte), subindex (1 Byte), object length in bytes (1

Byte)

CANopen com. object: TPDO1 mapping entry 2CANopen Index 0x1A00.2 Access: rwObject name TPDO1 mapping entry 2Bus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark: Structure: index (2 Byte), subindex (1 Byte), object length in bytes (1 Byte)



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Byte)

CANopen com. object: TPDO2 mapping entry 5CANopen Index 0x1A01.5 Access: rwObject name TPDO2 mapping entry 5Bus format: Unsigned32 PDO-Mapping NoMinimum value 0x00000000 Maximum value 0xFFFFFFFFRemark:

CANopen

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Byte)


Byte)

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7.2 Acyclic parameter channel

You can read about the following in this chapter:Service Data Objekts (SDO)............................................................................................................... 184Objekt Up-/Download über CANopen ................................................................................................ 185Datenformate der Bus-Objekte........................................................................................................... 186

7.2.1. Service Data Objects (SDO)

Asynchronous access to the object directory of Compax3 is implemented with thehelp of the SDOs. The SDOs serve for parameter configuration and statusinterrogation. Access to an individual object takes place via the CANopen indexand subindex of the object directory.

Caution!A SDO is a confirmed service, therefore the SDO reply telegram must always

be awaited before a new telegram may be transmitted.

7.2.1.1 SDO abort code

In the case of an incorrect SDO transmission, the error cause is returned via the"abort code".Abort Code Description0503 0000 Toggle Bit was not alternated0504 0000 SDO Protocol time out0504 0001 Client/server command designator invalid or unknown0504 0002 Unknown block size (block mode only)0504 0003 Unknown block number (block mode only)0504 0004 CRC error (block mode only)0504 0005 Outside of memory0601 0000 Access to this object is not supported0601 0001 Attempted read access to a write only object0601 0002 Attempted write access to a read only object0602 0000 The object does not exist in the object directory0604 0041 Object cannot be mapped in a PDO0604 0042 Size and number of mapped objects exceeds max. PDO length0604 0043 General parameter incompatibility0604 0047 General incompatibility in the device0606 0000 Access infringement due to a hardware error0607 0010 Data type does not fit, length of the service parameter does not fit0607 0012 Data type does not fit, length of the service parameter too large0607 0013 Data type does not fit, length of the service parameter too small0609 0011 Subindex does not exist0609 0030 Outside parameter value range (only for write access operations)0609 0031 Parameter value too large0609 0032 Parameter value too small

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0609 0036 Maximum value smaller than minimum value0800 0000 General error0800 0020 Date cannot be transmitted or saved0800 0021 Date cannot be transmitted or saved due to local device management0800 0022 Date cannot be transmitted or stored due to device status0800 0023 Dynamic generation of the object directors is impossible or no object directory

exists (the object directory is created from a file and an error occurs due to adefective file)

7.2.2. Object up-/download via CANopen

The up-/download takes place via the CANopen objects C3_Request (Index0x2200) and C3_Response (Index 0x2201). These have the data type data typeoctet string with a length of 20 bytes (octets). Write/read of a C3 object is carriedout by writing of C3_Request with the corresponding data. When a C3 object isread, the data appear in the object C3_Response.

Meaning of the data from C3_RequestByte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 ... ... Byte 19 Byte 20Request header C3 object data (write)AK Subindex Index D1 D2 ... ... D15 D16

AK: Job identifier; 3 = read, 4 = writeOD1..OD16: object data; OD1 = High, OD16 = Low

Meaning of the data from C3_Response Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 ... ... Byte 19 Byte 20Reply header C3 object data (read)- - - - OD1 OD2 ... ... OD15 OD16

OD1..OD16: object data; OD1 = High, OD16 = Low

UploadCANopen O 1 O 2 O 3 O 4 O 5 O 6 O 7 O 8 ... O 20Access Object C3 object request/reply C3 object data 1. Write C3 object 20.2 with the value 0Write 0x2200.0 4 2 0 20 0 0 0 x ... x2. read next C3 object index/subindex in C3 object 20.5Write 0x2200.0 3 5 0 20 x x x x ... x Read 0x2201.0 x x x x I_hi I_lo Subi x ... x3. read the C3 object with the in index/subindex read in the C3 object 20.5Write 0x2200.0 3 Subi I_hi I_lo x x x x ... xRead 0x2201.0 x x x x D1 D2 D3 D4 ... D164. Store C3 object index, subindex and data D1...D16 in table5. Repeat steps 2 to 4 until I_hi = I_lo = Subi = 0xFF

Download: Write the entire table of C3 objects.CANopen O 1 O 2 O 3 O 4 O 5 O 6 O 7 O 8 ... O 20Access Object C3 object request/reply C3 object data1. Write C3 object from the tableWrite 0x2200.0 4 Subi I_hi I_lo D1 D2 D3 D4 ... D162. Repeat step 1 until the end of the table

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7.2.3. Data formats of the bus objects

7.2.3.1 Integer formats

Twos complement representation;The highest order bit (MSB) is the bit after the sign bit (VZ) in the first octet.VZ == 0: positive numbers and zero; VZ == 1: negative numbers

Type Bit 8 7 6 5 4 3 2 1

Length: 1 byte Byte

Integer 8 1 VZ 26 25 24 23 22 21 20

Integer 16 1 VZ 214 213 212 211 210 29 28

Length: 1 word 2 27 26 25 24 23 22 21 20

Integer 32 1 VZ 230 229 228 227 226 225 224

Length: 2 words 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

7.2.3.2 Unsigned - Formats

Type Bit 8 7 6 5 4 3 2 1Byte

Unsigned 8Length: 1 byte

1 27 26 25 24 23 22 21 20

Unsigned 16 1 215 214 213 212 211 210 29 28

Length: 1 word 2 27 26 25 24 23 22 21 20

Unsigned 32 1 231 230 229 228 227 226 225 224

Length: 2 words 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

7.2.3.3 Fixed point format E2_6

Linear fixed point value with six binary places after the decimal point. 0corresponds to 0, 256 corresponds to 214 (0x4000).Twos complement representation;MSB is the bit after the sign bitVZ == 0: positive numbers and zero;VZ == 1: negative numbersType Bit 8 7 6 5 4 3 2 1

Byte

E2_6 1 VZ 28 27 26 25 24 23 22

Length: 1 word 2 21 20 2-1 2-2 2-3 2-4 2-5 2-6

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7.2.3.4 Fixed point format C4_3

Linear fixed point value with three decimal places after the decimal point. 0corresponds to 0 and 0.001 corresponds to 20 (0x0000 0001).Structure like data type Integer32, value of the bits reduced by a factor of 1000.Length: 2 words

7.2.3.5 Bus format Y2 and Y4

Layout:

! Y2 like data type Integer16! Y4 like data type Integer32

The values can be adjusted by a scaling factor.The following rules apply:! Scaling factor for Y2: Object 200.1,... 200.5! Scaling factor for Y4: Object 201.1,... 201.5There are different scaling factors for individual values

1. Y2 scaling factors

! Object 200.1: NormFactorY2_Speed: scaling factor for Y2 speeds! Object 200.2: NormFactorY2_Position: scaling factor for Y2 positions! Object 200.3: NormFactorY2_Voltage: scaling factor for Y2 voltages! Object 200.4: NormFactorY2_Faktor4: reserved scaling factor! Object 200.5: NormFactorY2_Array_Col2: scaling factor for Column 2 of the

recipe array


! Object 201.1: NormFactorY4_Speed: scaling factor for Y4 speeds! Object 201.2: NormFactorY4_Position: scaling factor for Y4 positions! Object 201.3: NormFactorY4_Voltage: scaling factor for Y4 voltages! Object 201.4: NormFactorY4_Array_Col1: scaling factor for Column 1 of the

recipe array! Object 201.5: NormFactorY4_Faktor5: reserved scaling factor

! Bit 5: Meaning of the scaling factor:! Bit 5 = "0": decimal factors 1, 1/10, 1/100, ..

Bit 0 ... Bit 4: Scaling factor= 0: Factor 1= 1: Factor 1/10= 2: Factor 1/100....= 9: Factor 1/1 000 000 000smaller factors are not possible

! Bit 5 = "1": binary factors 1, 1/2, 1/4, 1/8, ...Bit 0 ... Bit 4: Scaling factor= 0: Factor 1

Meaning of scalingfactors

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= 1: Factor 1/2= 2: Factor 1/4....= 24: Factor 1/16 777 216 (1/224)smaller factors are not possible

! Bit 6 ... Bit 15: reserved

7.2.3.6 Bit sequence V2

The V2 bus format is a bit sequence with a length of 16 bits.

7.2.3.7 Byte string OS

Byte string OS: String with variable length.

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You can read about the following in this chapter:Typical application with bus and IEC61131 ....................................................................................... 189Cyclic process data channel............................................................................................................... 189Acyclic parameter channel ................................................................................................................. 190

Notes on the configuration of the Profibus master

Before configuring the Profibus master (e.g. S7), you will have to configure theCompax3 axis.

In the the profibus window of the configuration wizard you will receive the statusmessage Profibus Telegram with the information on the telegram which can beset in the master (PPO type).

8.1 Typical application with fieldbus and IEC61131

We recommend the following procedure to control the IEC61131-3 program viaProfibus:! Use the control word (DeviceControl_Controlword_1) to control the PLCopen

function modules (Execute, Enable) to activate the modules via Profibus.! The logical module outputs can be placed on the status word

(DeviceState_Statusword_1).! Place the control word and the status word on the cyclic process data channel.! Connect variable module outputs of your IEC61131-3 program with the recipe

array.! For rapid access, the values fromt he first 5 rows of the recipe array can be

placed in the cyclic channel.! Additional values of the recipe array can be written acyclically.

Now you can use the bus to assign values, to activate function modules with thecontrol word and to read the current status with the control word.

8.2 Cyclic process data channel

The layout of the PZD is specified in the configuration menu: "Profibus Telegram"of the ServoManger.

8. Profibus

I20 Function

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8.2.1. Control and status word

The cyclic process data channel contains a control word and a status word both,freely available and 16 bits in size:Control word: Profibus-Master ⇒ Compax3Status word: Compax3 ⇒ Profibus-Master

8.3 Acyclic parameter channel

You can read about the following in this chapter:Parameter access with DPV0: Required data channel ..................................................................... 190Datenformate der Bus-Objekte........................................................................................................... 195Compax3 supports parameter access with DPV1.

8.3.1. Parameter access with DPV0: Required data channel

You can use the PKW mechanism for acyclic access to parameters in cyclic dataexchange as well. This is made available to make it possible for the master to haveaccess to the important device parameters without DPV1 functionality.The master formulates an order in the PKW mechanism. Compax3 processes theorder and formulates the response.

PKW structure:Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWEPKW: Parameter identification valuePKE: Parameter identification (1. and 2. octet) (see below)IND: Subindex* (3. Octet), 4. byte is reservedPWE: Parameter value (5th to 8th byte resp. 5th to 12th byte with extended PKW)

PKE structure:Byte 1 Byte 215 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0AK SPM PNUAK: Order /response identification (value range 0 ... 15)SPM: ReservedPNU: Parameter number

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*Reference to the subindex

The information for PNU subindex (parameter number) also applies to PROFIdriveprofile Version 3, i.e., that the subindex is counted starting at 0, while forPROFIdrive profile Version 2 the subindex is counted starting at 1:

DPV1-Client (V3)

PKW-Client (V2)

[1..n]

[0..n-1]

Drive(V3)

[0..n- 1]-1

The result of this is as follows:

Profibus master based on PROFIdrive profile Version 3

The subindex of the Profibus No. (PNU) specified in the object list is directly valid.Example: PNU object forward speed control = 400.1 (as specified).

Profibus master based on PROFIdrive profile Version 2

The subindex of the Profibus No. (PNU) specified in the object list must beincremented by 1.Example: PNU object forward speed control = 400.2.

8.3.1.1 Order and response processing

Order/response identifications are defined so that it is apparent from theidentification which fields of the PKW interface (IND, PWE) also need to beevaluated. To this may be added the distinction between parameter value andparameter description.

Orderidentification

Order master →→→→ Compax3 response identificationCompax3 →→→→ Master

0 No order 01 Request parameter value 1,22 Change parameter value (word) 13 Change parameter value (double word) 26 Request parameter value (array) 4,57 Change parameter value (array of word) 48 Change parameter value (array of double

word)5

9 Request number of array elements 614 Change object 1415 Request object 15

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Response identifications 7 and 8 are used for negative acknowledgements forproblems.

Sequence

! The master transfers an order to a Compax3.! The master repeats this order at least until a response is received from Compax3.

This procedure ensures the transfer of orders / responses on the user level.! Only one order is ever being processed at a time.! Compax3 continues to make the response available until the master formulates a

new order.! For responses containing parameter values, Compax3 always responds upon

repetition with the current value (cyclic processing). This applies to all responsesto the orders "Request parameter value", "Request parameter value (Array)'" and"Request object".

! The PWE transfer of word sizes takes place with byte 7 and 8, while the transferof double word sizes takes place with byte 5 through 8.

Explanation of response identificationResponseidentification

Response Compax3 →→→→ Master

0 No response1 Transfer value (word)2 Transfer parameter value (double word)4 Transfer parameter value (array of word)5 Transfer parameter value (array of double word)7 Order cannot be executed (with error No.)8 No user level for PKW interface9 Reserved10 Reserved14 Object value transferred15 Object value transferred

8.3.1.2 Example: changing the stiffness

Task:

Parameter / object change via PKW (DPV0)The object "stiffness" will be set to 200%Object Stiffness: PNU 402.2; valid after VPFormat UNSIGNED 16 == 1 word == order identification = 2 == "Change parametervalue (word)"The master sends to Compax3:PLC -

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU2 0 402 3 0 0 0 2000x21 0x92 0x3 0x0 0x0 0x0 0x0 0xC80 1 2 3 4 5 6 7

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Compax3 responds with the same content, except with response identification = 1:

- PLCByte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU1 0 402 3 0 0 0 2000x11 0x92 0x3 0x0 0x0 0x0 0x0 0xC80 1 2 3 4 5 6 7

If no additional object needs to be changed, the new value can be set to valid withVP:Object: Set objects to valid PNU 338.10 (Because of DPV0 the Subindex must beincremented by 1 (see on page 190))PLC -

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU2 0 338 11 0 0 0 10x21 0x52 0xB 0x0 0x0 0x0 0x0 0x10 1 2 3 4 5 6 7


- PLCByte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU1 0 338 11 0 0 0 10x11 0x52 0xB 0x0 0x0 0x0 0x0 0x10 1 2 3 4 5 6 7

Reading back the object set objects to valid makes it possible to check whether thecommand was performed. Byte 8 will the contain the value 0.

The change can be stored and will not be lost even if with a power failure by usingthe object "Save objects permanently".Object: Save objects permanently PNU 339PLC -

Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU2 0 339 0 0 0 0 10x21 0x53 0x0 0x0 0x0 0x0 0x0 0x10 1 2 3 4 5 6 7


- PLCByte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWE15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 Subindex - 4 3 2 1AK PNU1 0 339 0 0 0 0 10x11 0x53 0x0 0x0 0x0 0x0 0x0 0x10 1 2 3 4 5 6 7

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8.3.1.3 Upload/download objects via the Profibus

All settings of Compax3 can be read using the Profibus and written back toCompax3. This makes it easy to replace a device, for example.To implement this, the PKW mechanism has been changed.

Structure of modified PKW:Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8PKE IND PWEPKW: Parameter identification valuePKE: Parameter identification (1. and 2. octet) (see below)IND: Object index (3. octet high 4. octet low)PWE: Parameter value (5. to 8. octet)

Structure of modified PKE:Byte 1 Byte 215 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0AK=14 or 15 SPM DF DPZ SIAK: Order/response identificationSPM: ReservedDF: Data format (DF=1 constant)DPZ: Data buffer accessSI: Object subindex

Data buffer access:For each object, 16 bytes must be read or written Since the size of the PWEchannel is 4 bytes, each object must be read or written 4 times.

Sequence for reading / writing and object:

DPZ=0:order performed

Object byte 1 ... 4 can be read / is being written

DPZ=1 Object byte 5 ... 8 can be read / is being writtenDPZ=2 Object byte 9 ... 12 can be read / is being writtenDPZ=3 Object byte 13 ... 16 can be read / is being writtenThe data will either be read fro the PWE or written into the PWE.

Access algorithm for reading objects

! Object 20.2 written with value 0 (object 20.2 is a counter that specifies the nextobject to be read; the starting value is 0).

! Read object index and subindex in object 20.5.Format I32 of object 20.5:

Not assigned Index (high byte) Index (low byte) Subindex

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! Read the object with the index and subindex read in object 20.5 and in save it ina table with the following structure: index (2 bytes), subindex (1 byte), content (16bytes).

! Read the next object-Index and subindex in object 20.5.! ....This must be performed until index = 0xFFFF and until subindex = 0xFF.

Writing objects

Write the entire table to Compax3. Each index and subindex is written with thevalue stored in the table.It should be noted in this regard that each time an object is written, the internalbuffer must first be written with DPZ=1, 2, 3 and then the entire order is written withDPZ0.

8.3.2. Data formats of the bus objects

8.3.2.1 Integer formats

Twos complement representation;The highest order bit (MSB) is the bit after the sign bit (VZ) in the first octet.VZ == 0: positive numbers and zero; VZ == 1: negative numbers

Type Bit 8 7 6 5 4 3 2 1

Length: 1 byte Byte

Integer 8 1 VZ 26 25 24 23 22 21 20

Integer 16 1 VZ 214 213 212 211 210 29 28

Length: 1 word 2 27 26 25 24 23 22 21 20

Integer 32 1 VZ 230 229 228 227 226 225 224

Length: 2 words 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

8.3.2.2 Unsigned - Formats

Type Bit 8 7 6 5 4 3 2 1Byte

Unsigned 8Length: 1 byte

1 27 26 25 24 23 22 21 20

Unsigned 16 1 215 214 213 212 211 210 29 28

Length: 1 word 2 27 26 25 24 23 22 21 20

Unsigned 32 1 231 230 229 228 227 226 225 224

Length: 2 words 2 223 222 221 220 219 218 217 216

3 215 214 213 212 211 210 29 28

4 27 26 25 24 23 22 21 20

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8.3.2.3 Fixed point format E2_6

Linear fixed point value with six binary places after the decimal point. 0corresponds to 0, 256 corresponds to 214 (0x4000).Twos complement representation;MSB is the bit after the sign bitVZ == 0: positive numbers and zero;VZ == 1: negative numbersType Bit 8 7 6 5 4 3 2 1

ByteE2_6 1 VZ 28 27 26 25 24 23 22

Length: 1 word 2 21 20 2-1 2-2 2-3 2-4 2-5 2-6

8.3.2.4 Fixed point format C4_3

Linear fixed point value with three decimal places after the decimal point. 0corresponds to 0 and 0.001 corresponds to 20 (0x0000 0001).Structure like data type Integer32, value of the bits reduced by a factor of 1000.Length: 2 words

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8.3.2.5 Bus format Y2 and Y4

Layout:

! Y2 like data type Integer16! Y4 like data type Integer32

The values can be adjusted by a scaling factor.The following rules apply:! Scaling factor for Y2: Object 200.1,... 200.5! Scaling factor for Y4: Object 201.1,... 201.5There are different scaling factors for individual values


! Object 200.1: NormFactorY2_Speed: scaling factor for Y2 speeds! Object 200.2: NormFactorY2_Position: scaling factor for Y2 positions! Object 200.3: NormFactorY2_Voltage: scaling factor for Y2 voltages! Object 200.4: NormFactorY2_Faktor4: reserved scaling factor! Object 200.5: NormFactorY2_Array_Col2: scaling factor for Column 2 of the

recipe array


! Object 201.1: NormFactorY4_Speed: scaling factor for Y4 speeds! Object 201.2: NormFactorY4_Position: scaling factor for Y4 positions! Object 201.3: NormFactorY4_Voltage: scaling factor for Y4 voltages! Object 201.4: NormFactorY4_Array_Col1: scaling factor for Column 1 of the

recipe array! Object 201.5: NormFactorY4_Faktor5: reserved scaling factor

! Bit 5: Meaning of the scaling factor:! Bit 5 = "0": decimal factors 1, 1/10, 1/100, ..

Bit 0 ... Bit 4: Scaling factor= 0: Factor 1= 1: Factor 1/10= 2: Factor 1/100....= 9: Factor 1/1 000 000 000smaller factors are not possible

! Bit 5 = "1": binary factors 1, 1/2, 1/4, 1/8, ...Bit 0 ... Bit 4: Scaling factor= 0: Factor 1= 1: Factor 1/2= 2: Factor 1/4....= 24: Factor 1/16 777 216 (1/224)smaller factors are not possible

! Bit 6 ... Bit 15: reserved

Meaning of scalingfactors

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8.3.2.6 Bit sequence V2

The V2 bus format is a bit sequence with a length of 16 bits.

8.3.2.7 Byte string OS

Byte string OS: String with variable length.

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You can read about the following in this chapter:Objektübersicht ................................................................................................................................... 199Objektliste sortiert nach Objektname ................................................................................................. 202

Compax3 objects are encapsulated in the "C3, C3Array, ..." modules in theIEC61131-3 programming environment.

Enter the object names before the "." and the corresponding list of objectswill appear.

Objects that are not described here are reserved objects!

Please note that certain objects are not valid (read by Compax3) immediately aftera change. This is described in the heading "Valid after".These objects are converted to internal variables by Compax3 with the command"Set objects to valid".

It should also be noted that modified objects are not permanently stored, i.e. thechanges are lost after the power (24 VDC) is turned off.With the object "Store objects permanently" the objects are stored power supplyfail-safe in flash memory.

9.1 Object overview

I11 I20 I21 I11 I20 I21Object-No. Object name Object Access Valid fromT30 T40

634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 r/w immediately x x x x x x635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 r/w immediately x x x x x x2100.8 C3.ControllerTuning_CurrentBandwidth Bandwidth of the current controller r/w VP x x x x x x2100.9 C3.ControllerTuning_CurrentDamping Damping factor of the current controller r/w VP x x x x x x2100.3 C3.ControllerTuning_Damping Damping (rotation speed controller) r/w VP x x x x x x2100.6 C3.ControllerTuning_FilterAccel Actual acceleration value filter r/w VP x x x x x x2100.11 C3.ControllerTuning_FilterAccel2 Actual acceleration value filter 2 r/w VP x x x x x x2100.5 C3.ControllerTuning_FilterSpeed Filter for speed value r/w VP x x x x x x2100.10 C3.ControllerTuning_FilterSpeed2 Actual speed value filter 2 r/w VP x x x x x x2100.4 C3.ControllerTuning_Inertia Moment of Inertia r/w VP x x x x x x2100.7 C3.ControllerTuning_SpeedDFactor D-component of the rotation speed controller r/w VP x x x x x x2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) r/w VP x x x x x x1.15 C3.Device_ProfileID Profibus profile number ro - - x - - x -120.2 C3.DigitalInput_Value Status of digital inputs ro - x x x x x x121.2 C3.DigitalInputAddition_Value Input word of I/O option ro - x x x x x x133.4 C3.DigitalOutputAddition_Enable Activate input/output option M10/M12 r/w immediately x x x x x x133.2 C3.DigitalOutputAddition_Error Error in I/O option ro - x x x x x x133.3 C3.DigitalOutputAddition_Value Output word for I/O option r/w immediately x x x x x x550.2 C3.ErrorHistory_1 Error (n-1) in the error history ro - - x x - x x2020.1 C3.ExternalSignal_Position Position from external signal source ro - - - - x x x2020.2 C3.ExternalSignal_Speed Speed from external signal source ro - - - - x x x950.1 C3.FBI_RxPD_Mapping_Object_1 1. Object of the setpoitn PZD (Profibus) r/w immediately - x - - - x950.2 C3.FBI_RxPD_Mapping_Object_2 2. object of the target value PZD r/w immediately - x - - - x950.3 C3.FBI_RxPD_Mapping_Object_3 3. object of the target value PZD r/w immediately - x - - - x950.4 C3.FBI_RxPD_Mapping_Object_4 4. object of the target value PZD r/w immediately - x - - - x950.5 C3.FBI_RxPD_Mapping_Object_5 5. object of the target value PZD r/w immediately - x - - - x950.6 C3.FBI_RxPD_Mapping_Object_6 6. object of the target value PZD r/w immediately - x - - - x950.7 C3.FBI_RxPD_Mapping_Object_7 7. object of the target value PZD r/w immediately - x - - - x950.8 C3.FBI_RxPD_Mapping_Object_8 8. object of the target value PZD r/w immediately - x - - - x951.1 C3.FBI_TxPD_Mapping_Object_1 1. object of actual value PZD r/w immediately - x - - - x951.2 C3.FBI_TxPD_Mapping_Object_2 2. object of actual value PZD r/w immediately - x - - - x951.3 C3.FBI_TxPD_Mapping_Object_3 3. object of actual value PZD r/w immediately - x - - - x

9. Compax3 - Objects

Set objects to valid

Save objectspermanently

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951.4 C3.FBI_TxPD_Mapping_Object_4 4. object of actual value PZD r/w immediately - x - - - x951.5 C3.FBI_TxPD_Mapping_Object_5 5. object of actual value PZD r/w immediately - x - - - x951.6 C3.FBI_TxPD_Mapping_Object_6 6. object of actual value PZD r/w immediately - x - - - x951.7 C3.FBI_TxPD_Mapping_Object_7 7. object of actual value PZD r/w immediately - x - - - x951.8 C3.FBI_TxPD_Mapping_Object_8 8. object of actual value PZD r/w immediately - x - - - x2010.2 C3.FeedForward_Accel Acceleration forward control r/w VP x x x x x x2010.4 C3.FeedForward_Current Current forward control r/w VP x x x x x x2010.5 C3.FeedForward_Jerk Jerk forward control r/w VP x x x x x x2010.1 C3.FeedForward_Speed Rotation speed forward control r/w VP x x x x x x2010.18 C3.FeedForward_Voltage Voltage feed forward r/w VP x x x x x x402.4 C3.Limit_CurrentNegative Maximum permissible negative current r/w VP x x x x x x402.3 C3.Limit_CurrentPositive Maximum permissible positive current r/w VP x x x x x x402.2 C3.Limit_SpeedNegative Maximum permissible negative speed r/w VP x x x x x x402.1 C3.Limit_SpeedPositive Maximum permissible positive speed r/w VP x x x x x x410.3 C3.LimitPosition_Negative Negative end limit r/w immediately x x x x x x410.2 C3.LimitPosition_Positive Positive end limit r/w immediately x x x x x x3310.1 C3.Multiturnemulation_Status Status of the Multiturn emulation ro - x x x x x x200.5 C3.NormFactorY2_Array_Col2 Scaling factor for Column 2 of the recipe array r/w immediately - x x - x x200.2 C3.NormFactorY2_Position Scaling factor for Y2 positions r/w immediately - x x - x x200.1 C3.NormFactorY2_Speed Scaling factor for Y2 speeds r/w immediately - x x - x x200.3 C3.NormFactorY2_Voltage Scaling factor for Y2 voltages r/w immediately - x x - x x201.4 C3.NormFactorY4_Array_Col1 Scaling factor for Column 1 of the recipe array r/w immediately - x x - x x201.2 C3.NormFactorY4_Position Scaling factor for Y4 positions r/w immediately - x x - x x201.1 C3.NormFactorY4_Speed Scaling factor for Y4 speeds r/w immediately - x x - x x201.3 C3.NormFactorY4_Voltage Scaling factor for Y4 voltages r/w immediately - x x - x x20.1 C3.ObjectDir_Objekts-->FLASH Store objects permanently (bus) r/w immediately - x x - x x20.10 C3.ObjectDir_ReadObjects Read objects from Flash r/w immediately x x x x x x20.11 C3.ObjectDir_WriteObjects Save objects permanently r/w immediately x x x x x x420.3 C3.PositioningAccuracy_FollowingErrorTimeout Tracking error time r/w immediately x x x x x x420.2 C3.PositioningAccuracy_FollowingErrorWindow Tracking error limit r/w VP x x x x x x420.6 C3.PositioningAccuracy_PositionReached Position reached ro - x x x x x x420.1 C3.PositioningAccuracy_Window Positioning window for position reached r/w VP x x x x x x420.7 C3.PositioningAccuracy_WindowTime Position window time r/w immediately x x x x x x2120.7 C3.SpeedObserver_DisturbanceAdditionEnable Switch for disturbance feedforward r/w VP x x x x x x2120.5 C3.SpeedObserver_DisturbanceFilter Time constant disturbance filter r/w VP x x x x x x2120.1 C3.SpeedObserver_TimeConstant Rapidity of the speed monitor r/w VP x x x x x x682.5 C3.StatusAccel_Actual Status of actual acceleration unfiltered ro - x x x x x x682.6 C3.StatusAccel_ActualFilter Status of filtered actual acceleration ro - x x x x x x682.4 C3.StatusAccel_DemandValue Status target acceleration ro - x x x x x x688.2 C3.StatusCurrent_Actual Status of effective actual current (torque

forming)ro - x x x x x x

688.8 C3.StatusCurrent_ControlDeviationIq Status of control deviation of effective current ro - x x x x x x688.14 C3.StatusCurrent_FeedForwordCurrentJerk Status of effective current and jerk forward feed ro - x x x x x x688.9 C3.StatusCurrent_PhaseU Status of current phase U ro - x x x x x x688.10 C3.StatusCurrent_PhaseV Status of current phase V ro - x x x x x x688.1 C3.StatusCurrent_Reference Status of effective target current (torque

forming)ro - x x x x x x

688.13 C3.StatusCurrent_ReferenceJerk Status of target jerk setpoint encoder ro - x x x x x x688.11 C3.StatusCurrent_ReferenceVoltageUq Status of voltage control signal ro - x x x x x x683.1 C3.StatusDevice_ActualCurrent Status of actual current value ro - x x x x x x683.2 C3.StatusDevice_ActualDeviceLoad Status of device utilization ro - x x x x x x683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor utilization ro - x x x x x x683.4 C3.StatusDevice_DynamicMotorLoad Status of short-term motor utilization ro - x x x x x x683.5 C3.StatusDevice_ObservedDisturbance Status of external influences monitored ro - x x x x x x692.4 C3.StatusFeedback_EncoderCosine Status of analog input cosine ro - x x x x x x692.3 C3.StatusFeedback_EncoderSine Status of analog input sine ro - x x x x x x692.2 C3.StatusFeedback_FeedbackCosineDSP Status of cosine in signal processing ro - x x x x x x692.1 C3.StatusFeedback_FeedbackSineDSP Status of sine in signal processing ro - x x x x x x692.5 C3.StatusFeedback_FeedbackVoltage[Vpp] Status of feedback level ro - x x x x x x680.5 C3.StatusPosition_Actual Status actual position ro - x x x x x x680.8 C3.StatusPosition_Actual_Y4 Status positon actual value in the bus format Y4 ro - - x x - x x680.13 C3.StatusPosition_ActualValueController Status actual position without absolute

referencero - x x x x x x

680.4 C3.StatusPosition_DemandValue Status target position ro - x x x x x x680.2 C3.StatusPosition_DemandValue2 Status target position virtual master ro - - - - x x x680.12 C3.StatusPosition_DemandValueController Status target position without absolute reference ro - x x x x x x680.11 C3.StatusPosition_EncoderInput24V Status of encoder input 0 (24V) ro - x x x x x x680.10 C3.StatusPosition_EncoderInput5V Status of encoder input 0 (5V) ro - x x x x x x680.6 C3.StatusPosition_FollowingError Status of tracking error ro - x x x x x x681.5 C3.StatusSpeed_Actual Status actual speed unfiltered ro - x x x x x x681.7 C3.StatusSpeed_Actual_Y2 Status of the actual speed in the Y2 format ro - - x x - x x681.8 C3.StatusSpeed_Actual_Y4 Status of the actual speed in the Y4 format ro - - x x - x x681.9 C3.StatusSpeed_ActualFilter Status actual speed filtered ro - x x x x x x681.10 C3.StatusSpeed_DemandSpeedController Status target speed controller input ro - x x x x x x681.4 C3.StatusSpeed_DemandValue Status target speed of setpoint encoder ro - x x x x x x681.2 C3.StatusSpeed_DemandValue2 Status target speed virtual master ro - - - - x x x681.6 C3.StatusSpeed_Error Status control deviation of speed ro - x x x x x x681.11 C3.StatusSpeed_FeedForwardSpeedAccel Status of speed and acceleration feed forward ro - x x x x x x684.2 C3.StatusTemperature_Motor Status of motor temperature ro - x x x x x x684.1 C3.StatusTemperature_PowerStage Status of power output stage temperature ro - x x x x x x685.3 C3.StatusVoltage_AnalogInput0 Status of analog input 0 ro - x x x x x x685.4 C3.StatusVoltage_AnalogInput1 Status of analog input 1 ro - x x x x x x685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage ro - x x x x x x685.2 C3.StatusVoltage_BusVoltage Status DC bus voltage ro - x x x x x x210.10 C3.ValidParameter_Global Set objects to valid r/w immediately x x x x x x1901.1 C3Array.Col01_Row01 Variable Column 1 Row 1 r/w immediately x x x x x x1901.2 C3Array.Col01_Row02 Variable Column 1 Row 2 r/w immediately x x x x x x1901.3 C3Array.Col01_Row03 Variable Column 1 Row 3 r/w immediately x x x x x x1901.4 C3Array.Col01_Row04 Variable Column 1 Row 4 r/w immediately x x x x x x1901.5 C3Array.Col01_Row05 Variable Column 1 Row 5 r/w immediately x x x x x x1902.1 C3Array.Col02_Row01 Variable Column 2 Row 1 r/w immediately x x x x x x1902.2 C3Array.Col02_Row02 Variable Column 2 Row 2 r/w immediately x x x x x x1902.3 C3Array.Col02_Row03 Variable Column 2 Row 3 r/w immediately x x x x x x1902.4 C3Array.Col02_Row04 Variable Column 2 Row 4 r/w immediately x x x x x x1902.5 C3Array.Col02_Row05 Variable Column 2 Row 5 r/w immediately x x x x x x


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1903.1 C3Array.Col03_Row01 Variable Column 3 Row 1 r/w immediately x x x x x x1903.2 C3Array.Col03_Row02 Variable Column 3 Row 2 r/w immediately x x x x x x1903.3 C3Array.Col03_Row03 Variable Column 3 Row 3 r/w immediately x x x x x x1903.4 C3Array.Col03_Row04 Variable Column 3 Row 4 r/w immediately x x x x x x1903.5 C3Array.Col03_Row05 Variable Column 3 Row 5 r/w immediately x x x x x x1904.1 C3Array.Col04_Row01 Variable Column 4 Row 1 r/w immediately x x x x x x1904.2 C3Array.Col04_Row02 Variable Column 4 Row 2 r/w immediately x x x x x x1904.3 C3Array.Col04_Row03 Variable Column 4 Row 3 r/w immediately x x x x x x1904.4 C3Array.Col04_Row04 Variable Column 4 Row 4 r/w immediately x x x x x x1904.5 C3Array.Col04_Row05 Variable Column 4 Row 5 r/w immediately x x x x x x1905.1 C3Array.Col05_Row01 Variable Column 5 Row 1 r/w immediately x x x x x x1905.2 C3Array.Col05_Row02 Variable Column 5 Row 2 r/w immediately x x x x x x1905.3 C3Array.Col05_Row03 Variable Column 5 Row 3 r/w immediately x x x x x x1905.4 C3Array.Col05_Row04 Variable Column 5 Row 4 r/w immediately x x x x x x1905.5 C3Array.Col05_Row05 Variable Column 5 Row 5 r/w immediately x x x x x x1906.1 C3Array.Col06_Row01 Variable Column 6 Row 1 r/w immediately x x x x x x1906.2 C3Array.Col06_Row02 Variable Column 6 Row 2 r/w immediately x x x x x x1906.3 C3Array.Col06_Row03 Variable Column 6 Row 3 r/w immediately x x x x x x1906.4 C3Array.Col06_Row04 Variable Column 6 Row 4 r/w immediately x x x x x x1906.5 C3Array.Col06_Row05 Variable Column 6 Row 5 r/w immediately x x x x x x1907.1 C3Array.Col07_Row01 Variable Column 7 Row 1 r/w immediately x x x x x x1907.2 C3Array.Col07_Row02 Variable Column 7 Row 2 r/w immediately x x x x x x1907.3 C3Array.Col07_Row03 Variable Column 7 Row 3 r/w immediately x x x x x x1907.4 C3Array.Col07_Row04 Variable Column 7 Row 4 r/w immediately x x x x x x1907.5 C3Array.Col07_Row05 Variable Column 7 Row 5 r/w immediately x x x x x x1908.1 C3Array.Col08_Row01 Variable Column 8 Row 1 r/w immediately x x x x x x1908.2 C3Array.Col08_Row02 Variable Column 8 Row 2 r/w immediately x x x x x x1908.3 C3Array.Col08_Row03 Variable Column 8 Row 3 r/w immediately x x x x x x1908.4 C3Array.Col08_Row04 Variable Column 8 Row 4 r/w immediately x x x x x x1908.5 C3Array.Col08_Row05 Variable Column 8 Row 5 r/w immediately x x x x x x1909.1 C3Array.Col09_Row01 Variable Column 9 Row 1 r/w immediately x x x x x x1909.2 C3Array.Col09_Row02 Variable Column 9 Row 2 r/w immediately x x x x x x1909.3 C3Array.Col09_Row03 Variable Column 9 Row 3 r/w immediately x x x x x x1909.4 C3Array.Col09_Row04 Variable Column 9 Row 4 r/w immediately x x x x x x1909.5 C3Array.Col09_Row05 Variable Column 9 Row 5 r/w immediately x x x x x x1910.1 C3Array.Indirect_Col01 Indirect table access Column 1 r/w immediately x x x x x x1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 r/w immediately x x x x x x1910.3 C3Array.Indirect_Col03 Indirect table access Column 3 r/w immediately x x x x x x1910.4 C3Array.Indirect_Col04 Indirect table access Column 4 r/w immediately x x x x x x1910.5 C3Array.Indirect_Col05 Indirect table access Column 5 r/w immediately x x x x x x1910.6 C3Array.Indirect_Col06 Indirect table access Column 6 r/w immediately x x x x x x1910.7 C3Array.Indirect_Col07 Indirect table access Column 7 r/w immediately x x x x x x1910.8 C3Array.Indirect_Col08 Indirect table access Column 8 r/w immediately x x x x x x1910.9 C3Array.Indirect_Col09 Indirect table access Column 9 r/w immediately x x x x x x1900.1 C3Array.Pointer_Row Pointer to table row r/w immediately x x x x x x3730.3 C3Cam.ControlledSwitch00_PositionOff switch-off position of cam r/w VP - - - x x x3730.2 C3Cam.ControlledSwitch00_PositionOn switch-on position of cam r/w VP - - - x x x3730.1 C3Cam.ControlledSwitch00_Source source of cam r/w VP - - - x x x3730.5 C3Cam.ControlledSwitch00_TimeOff switch-off anticipation of cam r/w immediately - - - x x x3730.4 C3Cam.ControlledSwitch00_TimeOn switch-on anticipation of cam r/w immediately - - - x x x3701.2 C3Cam.ControlledSwitches_Enable0 enable of cam group 0 r/w immediately - - - x x x3701.4 C3Cam.ControlledSwitches_Enable1 enable of cam group 1 r/w immediately - - - x x x3701.1 C3Cam.ControlledSwitches_NumberActive number of cams r/w immediately - - - x x x3701.3 C3Cam.ControlledSwitches_Output0 output of cam group 0 r/w immediately - - - x x x3701.5 C3Cam.ControlledSwitches_Output1 output of cam group 1 r/w immediately - - - x x x3700.2 C3Cam.ControlledSwitchesFast_Enable enable fast cams r/w immediately - - - x x x3700.3 C3Cam.ControlledSwitchesFast_Output output for fast cams r/w immediately - - - x x x3705.1 C3Cam.ControlledSwitchesHysteresis_ActualPositio

nhysteresis for cam switching mechanism r/w VP - - - x x x

3710.3 C3Cam.ControlledSwitchFast0_PositionOff switch-off position for fast cam r/w VP - - - x x x3710.2 C3Cam.ControlledSwitchFast0_PositionOn switch-on position for fast cam r/w VP - - - x x x3710.1 C3Cam.ControlledSwitchFast0_Source source of fast cam r/w VP - - - x x x3710.5 C3Cam.ControlledSwitchFast0_TimeOff switch-off anticipation of fast cam r/w immediately - - - x x x3710.4 C3Cam.ControlledSwitchFast0_TimeOn switch-on anticipation of fast cam r/w immediately - - - x x x3021.2 C3Cam.SignalSource_Position Status of signal source of master position

monitoringro - - - - x x x

3030.1 C3Cam.StatusMaster_Position Status of master position ro - - - - x x x3032.1 C3Cam.StatusOutput_Position Status of slave position ro - - - - x x x2190.2 C3Plus.AutoCommutationControl_InitialCurrent Start current of automatic commutation r/w VP x x x x x x1100.3 C3Plus.DeviceControl_Controlword_1 CW control word r/w immediately - x x - x x1100.4 C3Plus.DeviceControl_Controlword_2 Control word 2 r/w immediately - x x - x x1100.5 C3Plus.DeviceControl_OperationMode Operating mode r/w immediately - x x - x x1000.5 C3Plus.DeviceState_ActualOperationMode Operating mode display r/w immediately - x x - x x1000.3 C3Plus.DeviceState_Statusword_1 Status word SW r/w immediately - x x - x x1000.4 C3Plus.DeviceState_Statusword_2 Status word 2 r/w immediately - x x - x x550.1 C3Plus.ErrorHistory_LastError Current error (n) ro - x x x x x x1130.1 C3Plus.HOMING_accel Acceleration and delay for machine reference

runr/w immediately x x x x x x

1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment r/w immediately x x x x x x1130.2 C3Plus.HOMING_jerk Jerk for machine reference run r/w immediately x x x x x x1130.4 C3Plus.HOMING_mode Adjusting the machine reference mode r/w immediately x x x x x x1130.3 C3Plus.HOMING_speed Speed for machine reference run r/w immediately x x x x x x50.3 C3Plus.PLC_ActualCycleTime Status of cycle time of the control program ro - - x x x x x50.4 C3Plus.PLC_ActualCycleTimeMax Status of maximum cycle time r/w immediately - x x x x x50.1 C3Plus.PLC_DemandCycleTime Cycle time specification r/w immediately - x x x x x830.2 C3Plus.Profibus_Baudrate Baud rate ro - - x - - x -830.3 C3Plus.Profibus_NodeAddress Station address ro - - x - - x -830.1 C3Plus.Profibus_Protocol PPO-type selection switch r/w immediately - x - - x -830.6 C3Plus.Profibus_StandardSignalTable List of Profidrive standard signals ro - - x - - x -830.4 C3Plus.Profibus_TelegramSelect Telegram selection switch r/w immediately - x - - x -

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9.2 Object list sorted by object name

You can read about the following in this chapter:Object: Setpoint analog output 0........................................................................................................ 204Object: Setpoint analog output 1........................................................................................................ 204Object: Bandwidth of current controller.............................................................................................. 205Object: Damping of current controller ................................................................................................ 205Object: Damping (speed controller) ................................................................................................... 205Object: Filter actual acceleration value .............................................................................................. 206Object: Filter actual accelerationvalue 2............................................................................................ 206Object: Filter actual speed value........................................................................................................ 206Object: Filter actual speed value 2..................................................................................................... 207Object: Moment of inertia.................................................................................................................... 207Object: D-component of speed controller .......................................................................................... 207Object: Stiffness (speed controller) .................................................................................................... 208Object: Profibus profile number.......................................................................................................... 208Object: Status of digital inputs............................................................................................................ 208Object: Input word of te I/O option...................................................................................................... 209Object: activating the input/output option M10/M12 .......................................................................... 209Object: Error of the I/O option............................................................................................................. 209Object: Output word of the I/O option................................................................................................. 210Object: Error (n-1) in the error history ................................................................................................ 210Object: Position from external signal source ..................................................................................... 211Object: Speed from external signal source........................................................................................ 211Object: 1. object of the setpoint PZD (Profibus) ................................................................................ 212Object: 1. object of the actual value PZD........................................................................................... 212Object: acceleration feedforward........................................................................................................ 213Object: current feedforward................................................................................................................ 213Object: jerk feedforward...................................................................................................................... 213Object: speed feedforward ................................................................................................................. 214Object: voltage feedforward................................................................................................................ 214Object: maximum permissible negative current................................................................................. 214Object: maximum permissible positive current .................................................................................. 215Object: maximum permissible negative speed .................................................................................. 215Object: maximum permissible positive speed.................................................................................... 215Object: negative end limit ................................................................................................................... 216Object: positive end limit..................................................................................................................... 216Object: status of the Multiturn emulation............................................................................................ 216Object: scaling factor of the 2. column of the recipe array ................................................................ 217Object: scaling factor for Y2 positions................................................................................................ 217Object: scaling factor for Y2 speeds .................................................................................................. 217Object: scaling factor for Y2 voltages................................................................................................. 218Object: scaling factor for the 1. column of the recipe array............................................................... 218Object: scaling factor for Y4 positions................................................................................................ 218Object: scaling factor for Y4 speeds .................................................................................................. 219Object: scaling factor for Y4 voltages................................................................................................. 219Object: save objects permanently (Bus) ............................................................................................ 219Object: read objects from Flash ......................................................................................................... 220Object: save objects permanently ...................................................................................................... 220Object: tracking error time .................................................................................................................. 220Object: tracking error time .................................................................................................................. 221Object: position reached..................................................................................................................... 221Object: positioning window for position reached ............................................................................... 221Object: positioning window time......................................................................................................... 222Object: switch for disturbance feedforward........................................................................................ 222Object: time constant disturbance filter.............................................................................................. 222Object: rapidity of the speed monitor ................................................................................................. 223Object: status of actual acceleration unfiltered.................................................................................. 223Object: status of acutal acceleration unfiltered.................................................................................. 223Ojbect: status of target acceleration................................................................................................... 224Object: status of actual current effective (torque-forming) ................................................................ 224Object: status control deviation of current effective........................................................................... 224Object: status current & jerk feedforward effective............................................................................ 225Object: status of current phase U....................................................................................................... 225Object: status of current phase V....................................................................................................... 225Object: status target current effective (torque-forming)..................................................................... 226Object: status target jerk of setpoint encoder .................................................................................... 226Object: status of voltage control signal .............................................................................................. 226Object: status of current actual value................................................................................................. 227Object: status of device utilization...................................................................................................... 227


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Object: status of long-term motor utilization....................................................................................... 228Object: status of short-term motor utilization ..................................................................................... 228Object: status of external influence monitored................................................................................... 229Object: status analog input cosine ..................................................................................................... 229Object: status analog input sine ......................................................................................................... 229Object: status cosine in signal processing......................................................................................... 230Object: status in sine in signal processing......................................................................................... 230Object: status encoder level ............................................................................................................... 230Object: status of actual position ......................................................................................................... 231Object: status actual position value in the Y4 bus format ................................................................. 231Object: status actual position without absolute reference................................................................. 231Object: status target position.............................................................................................................. 232Object: status target position of virtual master................................................................................... 232Object: status of target position without absolute reference ............................................................. 232Object: status of encoder input 0 (24V) ............................................................................................. 233Object: status of encoder input 0 (5V)................................................................................................ 233Object: status of tracking error ........................................................................................................... 233Object: status of actual position unfiltered ......................................................................................... 234Object: status of actual position in the Y2 format .............................................................................. 234Object: status of actual speed in the Y4 format................................................................................. 234Object: status of actual speed filtered................................................................................................ 235Object: status of target speed controller input ................................................................................... 235Object: status target speed setpoint enocder .................................................................................... 235Object: status of target speed virtual master ..................................................................................... 236Object: status control deviation speed ............................................................................................... 236Object: status speed & jerk feedforward............................................................................................ 236Object: status of motor temperature................................................................................................... 237Object: status of power output stage temperature............................................................................. 237Object: status analog input 0.............................................................................................................. 237Object: status analog input 1.............................................................................................................. 238Object: status of auxiliary voltage....................................................................................................... 238Object: status of DC bus voltage........................................................................................................ 238Object: set objects to valid.................................................................................................................. 239Object: variable column 1 row 1......................................................................................................... 240Object: variable column 2 row 1......................................................................................................... 241Object: variable column 3 row 1......................................................................................................... 241Object: variable column 4 row 1......................................................................................................... 241Object: variable column 5 row 1......................................................................................................... 242Object: variable column 6 row 1......................................................................................................... 242Object: variable column 7 row 1......................................................................................................... 242Object: variable column 8 row 1......................................................................................................... 243Object: variable column 9 row 1......................................................................................................... 243Object: indirect table access column 1............................................................................................... 243Object: indirect table access column 2............................................................................................... 244Object: indirect table access column 3............................................................................................... 244Object: indirect table access column 4............................................................................................... 244Object: indirect table access column 5............................................................................................... 245Object: indirect table access column 6............................................................................................... 245Object: indirect table access column 7............................................................................................... 245Object: indirect table access column 8............................................................................................... 246Object: indirect table access column 9............................................................................................... 246Object: pointer to table row................................................................................................................. 246Cam switching mechanism................................................................................................................. 247Object: switch-off position of cam....................................................................................................... 248Object: switch-on position of cam....................................................................................................... 248Object: source of cam......................................................................................................................... 249Object: switch-off anticipation of cam................................................................................................. 249Object: switch-on anticipation of cam................................................................................................. 250Object: enable cams group 0.............................................................................................................. 250Object: enable cams group 1.............................................................................................................. 250Object: number of cams...................................................................................................................... 251Object: output cams group 0 .............................................................................................................. 251Object: output cams group 1 .............................................................................................................. 252Object: enable of fast cams ................................................................................................................ 252Object: output fast cams..................................................................................................................... 252Object: hysteresis for cam switching mechanism.............................................................................. 253Object: switch-off position of fast cam................................................................................................ 253Object: switch-on position of fast cam................................................................................................ 254Object: source of fast cam.................................................................................................................. 254Object: switch-off anticipation of fast cam.......................................................................................... 255Object: switch-on anticipation of fast cam.......................................................................................... 255Object: status of signal source of master position recording............................................................. 255Object: status of master position........................................................................................................ 256Object: status of slave position........................................................................................................... 256Object: starting current automatic commutation ................................................................................ 256Object: control word CW..................................................................................................................... 257Object: control word 2......................................................................................................................... 257Object: operating mode ...................................................................................................................... 258

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204 192-120111 N1 C3 T30 T40 - March 2004

Object: operating mode display.......................................................................................................... 258Object: status word SW ...................................................................................................................... 258Object. status word 2 .......................................................................................................................... 259Object: current error (n) ...................................................................................................................... 259Object: acceleration and deceleration for the machine reference run ............................................. 260Object: initiator adjustment ................................................................................................................. 260Object: jerk for the machine reference run......................................................................................... 260Object: setting the machine zero mode.............................................................................................. 261Object: speed for the machine reference run .................................................................................... 261Object: status control program cycle time.......................................................................................... 261Object: status of maximum cycle time................................................................................................ 262Object: cycle time specification .......................................................................................................... 262Object: baud rate................................................................................................................................. 262Object: station address ....................................................................................................................... 263Object: PPO type selection switch ..................................................................................................... 263Object: list of the Profidrive standard signals..................................................................................... 263Object: telegram selection switch....................................................................................................... 264

9.2.1. Object: Setpoint for analog output 0

Object nameC3.AnalogOutput0_DemandValue

Object No. 634.4 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Setpoint for analog output 0 (DA0 - X11/4); can be used as a DA

monitor.This output must be previously activated to be able to access it. 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.

CAN No. 0x2019 PD object: yesProfibus-No. (PNU) 24 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.2. Object: Setpoint for analog output 1

Object nameC3.AnalogOutput1_DemandValue

Object No. 635.4 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: 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.

CAN No. 0x2020 PD object: yesProfibus-No. (PNU) 103 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


192-120111 N1 C3 T30 T40 - March 2004 205

9.2.3. Object: current controller bandwidth

Object nameC3.ControllerTuning_CurrentBandwidth

Object No. 2100.8 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 10 % Maximum value 200 %Remark:

CAN No. 0x2100.8 PD object: noProfibus-No. (PNU) 402.8 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.4. Object:Damping of the current controller

Object nameC3.ControllerTuning_CurrentDamping



9.2.5. Object: damping (speed controller)

Object nameC3.ControllerTuning_Damping



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9.2.6. Object: actual acceleration value filter

Object nameC3.ControllerTuning_FilterAccel



9.2.7. Object: actual acceleration value filter 2

Object nameC3.ControllerTuning_FilterAccel2

Object No. 2100.11 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit usMinimum value 63 us Maximum value 8300000 usRemark: Works in line with actual acceleration value filter

Default value 0usThe filter is deactivated for values from 0 to 62us.

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.8. Object: actual speed value filter

Object nameC3.ControllerTuning_FilterSpeed




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9.2.9. Object: Actual speed value filter 2

Object nameC3.ControllerTuning_FilterSpeed2

Object No. 2100.10 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit usMinimum value 63 us Maximum value 8300000 usRemark: Works in line with actual speed value filter

Default value 0usThe filter is deactivated for values from 0 to 62us.


9.2.10. Object: moment of inertia

Object nameC3.ControllerTuning_Inertia



9.2.11. Object: D component speed controller

Object nameC3.ControllerTuning_SpeedDFactor

Object No. 2100.7 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 % Maximum value 2000000 %Remark: D-component of the rotation speed controllerCAN No. 0x2100.7 PD object: noProfibus-No. (PNU) 402.7 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

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9.2.12. Object: stiffness (speed controller)

Object nameC3.ControllerTuning_Stiffness



9.2.13. Object: Profibus profile number

Object nameC3.Device_ProfileID

Object No. 1.15 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Profibus profile numberCAN No. - PD object: noProfibus-No. (PNU) - Bus format: OSDevice assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -

9.2.14. Object: Status of the digital inputs

Object nameC3.DigitalInput_Value

Object No. 120.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark:

CAN No. 0x6100.1 PD object: yesProfibus-No. (PNU) 21 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.15. Object: Input word of the I/O option

Object nameC3.DigitalInputAddition_Value

Object No. 121.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Input word for I/O option M10 or M12CAN No. 0x6100.2 PD object: yesProfibus-No. (PNU) 175 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.16. Object: Activating the input/output option M10/M12

Object nameC3.DigitalOutputAddition_Enable

Object No. 133.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Activation of output groups M10 and M12

Bit0=0 lower 4 bits inputs (plug X22/2 - /5)Bit0=1 lower 4 bits outputs (plug X22/2 - /5)Bit1=0 middle 4 bits inputs (plug X22/6 - /9)Bit1=1 middle 4 bits outputs (plug X22/6 - /9)Bit2=0 upper 4 bits inputs (plug X22/10, /12, /13, /14)Bit2=1 upper 4 bits outputs (plug X22/10, /12, /13, /14)

CAN No. 0x6300.3 PD object: noProfibus-No. (PNU) 350 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.17. Object: Error of the I/O option

Object nameC3.DigitalOutputAddition_Error

Object No. 133.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Error of I/O option M10 or M12:

Bit0=1 lower 4 bits error (plug X22/2 - /5)Bit1=1 middle 4 bits error (plug X22/6 - /9)Bit2=1 upper 4 bits error (plug X22/10, /12, /13, /14)Error means output overloadedBit3=1 24-V under-voltage

Compax3 - Objects

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CAN No. 0x6300.4 PD object: noProfibus-No. (PNU) 351 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.18. Object: Output word for the I/O option

Object nameC3.DigitalOutputAddition_Value

Object No. 133.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Output word for I/O option M10 or M12CAN No. 0x6300.2 PD object: yesProfibus-No. (PNU) 176 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.19. Object: Error (n-1) in the error history

Object nameC3.ErrorHistory_1

Object No. 550.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Additional assignment:

Object 550.2: error (n-1) next to last error in the error history......Object 550.32: Error (n-31) in the error history.

CAN No. 0x201D.2 PD object: noProfibus-No. (PNU) 947.1 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X


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9.2.20. Object: Position from external signal source

Object nameC3.ExternalSignal_Position

Object No. 2020.1 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit RevolutionsMinimum value 0 n/a Maximum value -- n/aRemark: Position value of the external signal source

The following inputs can be used as external signal source (dependingon the configuration of the device):- +-10V- RS422 Step/direction- RS422 A/B Encoder

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.21. Object: Speed from external signal source

Object nameC3.ExternalSignal_Speed

Object No. 2020.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: Speed value of the external signal source

The following inputs can be used as external signal source (dependingon the configuration of the device):- +-10V- RS422 Step/direction- RS422 A/B Encoder


Compax3 - Objects

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9.2.22. Object: 1. object of the setpoint PZD (Profibus)

Object nameC3.FBI_RxPD_Mapping_Object_1

Object No. 950.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 1 n/a Maximum value 65535 n/aRemark: Index, Subindex of the 1st object in the target value telegram

Additional assignment:PNU = 915.1: (Object 950.2) Index, Subindex of the 2nd. object in thetarget value telegram......PNU = 915.7: (Object 950.8) Index, Subindex of the 8th object in thetarget value telegram.

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -

9.2.23. Object: 1st object of actual value PZD

Object nameC3.FBI_TxPD_Mapping_Object_1

Object No. 951.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 1 n/a Maximum value 65535 n/aRemark: Index, Subindex of the 1st object in the actual value telegram

Additional assignment:PNU = 916.1: (object 951.2) Index, Subindex of the 2nd object in theactual value telegram......PNU = 916.7: (Object 951.8) Index, Subindex of the 8th object in theactual value telegram.



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9.2.24. Object: forward acceleration control

Object nameC3.FeedForward_Accel

Object No. 2010.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 % Maximum value 500 %Remark: Default 100%CAN No. 0x2101.2 PD object: noProfibus-No. (PNU) 400.2 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.25. Object: forward current control

Object nameC3.FeedForward_Current


9.2.26. Object: forward jerk control

Object nameC3.FeedForward_Jerk


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9.2.27. Object: forward speed controller

Object nameC3.FeedForward_Speed


9.2.28. Object: Voltage feedforward

Object nameC3.FeedForward_Voltage



9.2.29. Object: maximum permissible negative current

Object nameC3.Limit_CurrentNegative

Object No. 402.4 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 A Maximum value -500 ARemark: Negative current limit

100% correspond to the rated motor currentCAN No. 0x200C PD object: noProfibus-No. (PNU) 320 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.30. Object: maximum permissible positive current

Object nameC3.Limit_CurrentPositive

Object No. 402.3 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 A Maximum value 500 ARemark: Positive current limit

100% correspond to the rated motor currentCAN No. 0x200B PD object: noProfibus-No. (PNU) 319 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.31. Object: maximum permissible negative speed

Object nameC3.Limit_SpeedNegative

Object No. 402.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 rev/s Maximum value -1000 rev/sRemark: Negative speed limit

100% correspond to the motor reference speedCAN No. 0x200A PD object: noProfibus-No. (PNU) 318 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.32. Object: maximum permissible positive speed

Object nameC3.Limit_SpeedPositive

Object No. 402.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 0 rev/s Maximum value 2000 rev/sRemark: Positive speed limit

100% correspond to the motor reference speedCAN No. 0x2009 PD object: noProfibus-No. (PNU) 317 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

216 192-120111 N1 C3 T30 T40 - March 2004

9.2.33. Object: negative end limit

Object nameC3.LimitPosition_Negative

Object No. 410.3 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit UnitMinimum value -4000000 rev Maximum value 4000000 revRemark:

CAN No. 0x607D.2 PD object: noProfibus-No. (PNU) 322 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.34. Object: positive end limit

Object nameC3.LimitPosition_Positive

Object No. 410.2 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit UnitMinimum value -4000000 rev Maximum value 4000000 revRemark:

CAN No. 0x607D.1 PD object: noProfibus-No. (PNU) 321 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.35. Object: Status of the Multiturn emulation

Object nameC3.Multiturnemulation_Status

Object No. 3310.1 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: BOOLUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: 0: Angle was within the window;

-1: Angle was outside the window.The position will be restored at any rate, even if the angle was not withinthe window!If the window size is zero, there is no reconstruction of the absoluteposition, i.e. the status is not processed (value 0) the Multiturnemulation is switched off.

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


192-120111 N1 C3 T30 T40 - March 2004 217

9.2.36. Object: Scaling factor for column 2 of the recipe array

Object nameC3.NormFactorY2_Array_Col2

Object No. 200.5 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark:

CAN No. 0x2020.5 PD object: noProfibus-No. (PNU) 355.5 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.37. Object: Scaling factor for Y2 positions

Object nameC3.NormFactorY2_Position



9.2.38. Object: Scaling factor forY2 speeds

Object nameC3.NormFactorY2_Speed



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9.2.39. Object: Scaling factor for Y2 voltages

Object nameC3.NormFactorY2_Voltage



9.2.40. Object: Scaling factor for column 1 of the recipe array

Object nameC3.NormFactorY4_Array_Col1



9.2.41. Object: Scaling factor for Y4 positions

Object nameC3.NormFactorY4_Position




192-120111 N1 C3 T30 T40 - March 2004 219

9.2.42. Object: Scaling factor for Y4 speeds

Object nameC3.NormFactorY4_Speed



9.2.43. Object: Scaling factor for Y4 voltages

Object nameC3.NormFactorY4_Voltage



9.2.44. Object: Save objects permanently (Bus)

Object nameC3.ObjectDir_Objekts-->FLASH

Object No. 20.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Saving objects in Flash memory with a positive edge so they are safe

from power failure (write object with 0 and then with 1)The function does not work in curve mode.

CAN No. 0x2017 PD object: noProfibus-No. (PNU) 339 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

Compax3 - Objects

220 192-120111 N1 C3 T30 T40 - March 2004

9.2.45. Object: Read objects from Flash

Object nameC3.ObjectDir_ReadObjects

Object No. 20.10 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: BOOLUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Read objects from Flash by writing a value <> 0 to this object

The function does not work in curve mode.CAN No. - PD object: noProfibus-No. (PNU) - Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.46. Object: save objects permanently

Object nameC3.ObjectDir_WriteObjects

Object No. 20.11 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: BOOLUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Save objects permanently by writing a value <> 0 for this object.

Please note the following:- This command lasts about ca. 1.5s, which increases the cycle time ofthe control system briefly.- Perform this command only when needed. The write cycles of thememory module are limited (up to 100,000).The function does not work in curve mode.


9.2.47. Object: tracking error time

Object nameC3.PositioningAccuracy_FollowingErrorTimeout

Object No. 420.3 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit msMinimum value 0 n/a Maximum value -- n/aRemark: If the tracking error limit for this time is exceeded, this will lead to the

tracking error event.CAN No. 0x6066 PD object: noProfibus-No. (PNU) 331 Bus format: U16


192-120111 N1 C3 T30 T40 - March 2004 221

Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.48. Object: tracking error limit

Object nameC3.PositioningAccuracy_FollowingErrorWindow

Object No. 420.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 n/a Maximum value 4000000 n/aRemark:

CAN No. 0x6065 PD object: noProfibus-No. (PNU) 330 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.49. Object: Position reached

Object nameC3.PositioningAccuracy_PositionReached

Object No. 420.6 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: BOOLUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Position reached

"1" = Position has been within the Window positioning window at leastsince the time "Position window time"


9.2.50. Object: positioning window for position reached

Object nameC3.PositioningAccuracy_Window

Object No. 420.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 rev Maximum value 4000000 revRemark:

CAN No. 0x6067 PD object: noProfibus-No. (PNU) 328 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

222 192-120111 N1 C3 T30 T40 - March 2004

9.2.51. Object: position window time

Object nameC3.PositioningAccuracy_WindowTime

Object No. 420.7 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Time for position reached in 500µs;

1 = 500µsCAN No. 0x6068 PD object: noProfibus-No. (PNU) 329 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.52. Object: Switch for disturbance feedforward

Object nameC3.SpeedObserver_DisturbanceAdditionEnable

Object No. 2120.7 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: no CodeSys format: BOOLUnit n/aMinimum value -1 n/a Maximum value -- n/aRemark: Switch for disturbance feedforward

Default is deactivatedWorks only with active monitorFor values unequal zero the the monitored disturbance is fed in after thespeed controller and the velocity loop I term is deactivated.

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: BOOLDevice assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.53. Object: Time constant disturbance filter

Object nameC3.SpeedObserver_DisturbanceFilter

Object No. 2120.5 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: no CodeSys format: DINTUnit usMinimum value 63 us Maximum value 8300000 usRemark: Time constant of the monitored disturbance filter

The filter is deactivated for values from 0 to 62us.Default value 1000us

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: U32


192-120111 N1 C3 T30 T40 - March 2004 223


9.2.54. Object: Rapidity of the speed monitor

Object nameC3.SpeedObserver_TimeConstant

Object No. 2120.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: no CodeSys format: DINTUnit usMinimum value 125 us Maximum value 1000000 usRemark: Default value 1000us

for values of 0 to 124 us the monitor is deactivated.Activated from 125us on


9.2.55. Object: Status actual acceleration unfiltered

Object nameC3.StatusAccel_Actual

Object No. 682.5 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: DINTUnit Unit/s²Minimum value -1000000 unit/s² Maximum value 1000000 unit/s²Remark: Please note that this signal is often rather noisy.CAN No. - PD object: noProfibus-No. (PNU) - Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.56. Object: Status actual acceleration filtered

Object nameC3.StatusAccel_ActualFilter

Object No. 682.6 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: DINTUnit Unit/s²Minimum value -1000000 unit/s² Maximum value 1000000 unit/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

Compax3 - Objects

224 192-120111 N1 C3 T30 T40 - March 2004


9.2.57. Object: Status target acceleration

Object nameC3.StatusAccel_DemandValue

Object No. 682.4 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: DINTUnit Unit/s²Minimum value -1000000 unit/s² Maximum value 1000000 unit/s²Remark: Target acceleration of setpoint encoder

Stated in user unitsOutput value of the fine interpolator

CAN No. 0x200E PD object: noProfibus-No. (PNU) 325 Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.58. Object: Status actual current effective (torque forming)

Object nameC3.StatusCurrent_Actual

Object No. 688.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit mAMinimum value -353553 mA Maximum value 353553 mARemark: Effective actual current (torque forming), actual value after filterCAN No. - PD object: noProfibus-No. (PNU) - Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.59. Object: Status control deviation current effective

Object nameC3.StatusCurrent_ControlDeviationIq

Object No. 688.8 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit mAMinimum value -353553 mA Maximum value 353553 mARemark: Control deviation of effective current (torque forming)CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3


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9.2.60. Object: Status current and jerk feedforward effective

Object nameC3.StatusCurrent_FeedForwordCurrentJerk

Object No. 688.14 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit mAMinimum value -353553 mA Maximum value 353553 mARemark: Forward feed of effective current and jerk

Stated in amperes RMSafter filter

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.61. Object: Status current phase U

Object nameC3.StatusCurrent_PhaseU

Object No. 688.9 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit mAMinimum value -500000 mA Maximum value 500000 mARemark: Phase current U, Output as peak value

Actual value after oversamplingCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.62. Object: Status current phase V

Object nameC3.StatusCurrent_PhaseV

Object No. 688.10 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit mAMinimum value -500000 mA Maximum value 500000 mARemark: Phase current V, Output as peak value

Actual value after oversamplingCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3

Compax3 - Objects

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9.2.63. Object: Status target current effective (torque forming)

Object nameC3.StatusCurrent_Reference

Object No. 688.1 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit mAMinimum value -353553 mA Maximum value 353553 mARemark: Effective target current (torque forming)

Cross-flow target value including current and jerk feed forwardCAN No. - PD object: noProfibus-No. (PNU) - Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.64. Object: Status target jerk of setpoint encoder

Object nameC3.StatusCurrent_ReferenceJerk

Object No. 688.13 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/s³Minimum value 0 unit/s³ Maximum value -- unit/s³Remark: Target jerk of setpoint encoder

Stated in user unitsOutput value of the fine interpolator


9.2.65. Object: Status of voltage control signal

Object nameC3.StatusCurrent_ReferenceVoltageUq

Object No. 688.11 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit n/aMinimum value 0 n/a Maximum value 0.577 n/aRemark: Control signal of current controller (torque forming)

0.577 correspond to full range (Terminal voltage=DC bus voltage)CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3


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9.2.66. Object: status of actual current value

Object nameC3.StatusDevice_ActualCurrent

Object No. 683.1 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit %Minimum value 0 n/a Maximum value -- n/aRemark: Actual current value (actual torque value)

The reference is the rated motor currentCAN No. 0x6077 PD object: yesProfibus-No. (PNU) 112 Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.67. Object: status of device utilisation

Object nameC3.StatusDevice_ActualDeviceLoad

Object No. 683.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit %Minimum value 0 % Maximum value -- %Remark: Device utilization

Stated in % of the nominal device currentCAN No. 0x2011 PD object: noProfibus-No. (PNU) 334 Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

228 192-120111 N1 C3 T30 T40 - March 2004

9.2.68. Object: Status long-term motor utilization

Object nameC3.StatusDevice_ActualMotorLoad

Object No. 683.3 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit %Minimum value 0 % Maximum value 105 %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

CAN No. 0x2012 PD object: noProfibus-No. (PNU) 335 Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.69. Objekt: Status short-term motor utilization

Object nameC3.StatusDevice_DynamicMotorLoad

Object No. 683.4 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit %Minimum value 0 % Maximum value 115 %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

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.70. Object: Status disturbance monitored

Object nameC3.StatusDevice_ObservedDisturbance

Object No. 683.5 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit %Minimum value -2000 % Maximum value 2000 %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)


9.2.71. Object: Status analog input cosine

Object nameC3.StatusFeedback_EncoderCosine

Object No. 692.4 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value 1 n/aRemark: Cosine trace of encoder, für F11 and F12 devicesCAN No. - PD object: noProfibus-No. (PNU) - Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.72. Object: Status analog input sine

Object nameC3.StatusFeedback_EncoderSine

Object No. 692.3 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value 1 n/aRemark: Sine trace of encoder, für F11 and F12 devices (0.5 = 2.5V)CAN No. - PD object: noProfibus-No. (PNU) - Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

230 192-120111 N1 C3 T30 T40 - March 2004

9.2.73. Object: Status cosine in signal processing

Object nameC3.StatusFeedback_FeedbackCosineDSP

Object No. 692.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value 1 n/aRemark: Cosine trace of resolver, for F10 devices

The value 1 corresponds to 2.5 VoltsThe amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.


9.2.74. Object: Status sine in signal processing

Object nameC3.StatusFeedback_FeedbackSineDSP

Object No. 692.1 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value 1 n/aRemark: Sinus trace resolver, für F10 devices

The value 1 corresponds to 2.5 VoltsThe amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.


9.2.75. Object: Status encoder level

Object nameC3.StatusFeedback_FeedbackVoltage[Vpp]

Object No. 692.5 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit VMinimum value 0 V Maximum value -- VRemark: Feedback level, for F11 and F12 devices, display in Vpp

(=sqrt(sin²+cos²))CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.76. Object: Status actual position

Object nameC3.StatusPosition_Actual

Object No. 680.5 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 n/a Maximum value -- n/aRemark: Stated in user units, reset positionCAN No. 0x6064 PD object: yesProfibus-No. (PNU) 28 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.77. Object: Status position acutal value in the Y4 bus format

Object nameC3.StatusPosition_Actual_Y4

Object No. 680.8 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark:

CAN No. 0x2022 PD object: yesProfibus-No. (PNU) 119 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.78. Object: Status actual position without absolute reference

Object nameC3.StatusPosition_ActualValueController

Object No. 680.13 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Stated in user units, continuous positionCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

232 192-120111 N1 C3 T30 T40 - March 2004

9.2.79. Object: Status target position

Object nameC3.StatusPosition_DemandValue

Object No. 680.4 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 n/a Maximum value -- n/aRemark: Stated in user units, reset positionCAN No. 0x60FC PD object: noProfibus-No. (PNU) 323 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.80. Object: Status target position of virtual master

Object nameC3.StatusPosition_DemandValue2

Object No. 680.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 n/a Maximum value -- n/aRemark: The position target value of the virtual axis (virtual Master / profile

transmitter 2)CAN No. 0x2042 PD object: yesProfibus-No. (PNU) 202 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.81. Object: Status target position without absolute reference

Object nameC3.StatusPosition_DemandValueController

Object No. 680.12 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Stated in user units, continuous positionCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.82. Object: Status encoder input 0 (24V)

Object nameC3.StatusPosition_EncoderInput24V

Object No. 680.11 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit RevolutionsMinimum value 0 rev Maximum value -- RevRemark: Encoder input 1 (24V), counter state in turns of the encoderCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.83. Object: Status encoder input 0 (5V)

Object nameC3.StatusPosition_EncoderInput5V

Object No. 680.10 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit RevolutionsMinimum value 0 rev Maximum value -- RevRemark: Encoder input 0 (5V), counter state in turns of the encoderCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.84. Object: status of tracking error

Object nameC3.StatusPosition_FollowingError

Object No. 680.6 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 n/a Maximum value -- n/aRemark: Stated in user units, difference between target and actual value of

positionCAN No. 0x60F4 PD object: yesProfibus-No. (PNU) 100 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

234 192-120111 N1 C3 T30 T40 - March 2004

9.2.85. Object: Status actual speed unfiltered

Object nameC3.StatusSpeed_Actual

Object No. 681.5 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value -8388608 unit/s Maximum value 8388607.999999 unit/sRemark:

CAN No. 0x606C PD object: yesProfibus-No. (PNU) 8 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.86. Object: Status actual speed in the Y2 format

Object nameC3.StatusSpeed_Actual_Y2

Object No. 681.7 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: Actual speed value with bus format Y2CAN No. 0x2023 PD object: yesProfibus-No. (PNU) 6 Bus format: Y2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.87. Object: Status actual speed in the Y4 format

Object nameC3.StatusSpeed_Actual_Y4

Object No. 681.8 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: Actual speed value with bus format Y4CAN No. 0x2024 PD object: yesProfibus-No. (PNU) 117 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X


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9.2.88. Object: Status actual speed filtered

Object nameC3.StatusSpeed_ActualFilter

Object No. 681.9 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value -8388608 unit/s Maximum value 8388607.999999 unit/sRemark: Actual speed filteredCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.89. Object: Status target speed controller input

Object nameC3.StatusSpeed_DemandSpeedController

Object No. 681.10 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit Unit/sMinimum value 0 unit/s Maximum value -- unit/sRemark: Nominal speed

Target speed value on the controller input including feed forwardCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.90. Object: Status target speed of setpoint encoder

Object nameC3.StatusSpeed_DemandValue

Object No. 681.4 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: Target value according to the fine interpolatorCAN No. 0x606B PD object: noProfibus-No. (PNU) 324 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

236 192-120111 N1 C3 T30 T40 - March 2004

9.2.91. Object: Status target speed virtual master

Object nameC3.StatusSpeed_DemandValue2

Object No. 681.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: The target speed value of the virtual axis (virtual Master / profile

transmitter 2)CAN No. 0x2043 PD object: yesProfibus-No. (PNU) 203 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.92. Object: Status Control deviation of speed

Object nameC3.StatusSpeed_Error

Object No. 681.6 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value 0 n/a Maximum value -- n/aRemark: Difference between speed target value and filtered actual valueCAN No. 0x2027 PD object: yesProfibus-No. (PNU) 101 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.93. Object: Status speed and acceleration feedforward

Object nameC3.StatusSpeed_FeedForwardSpeedAccel

Object No. 681.11 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format: REALUnit Unit/sMinimum value 0 unit/s Maximum value -- unit/sRemark: Speed and acceleration feed forwardCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.94. Object: status of motor temperature

Object nameC3.StatusTemperature_Motor

Object No. 684.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: INTUnit CMinimum value 0 C Maximum value -- CRemark: Motor temperature

measured via the sensor in the motor, correct display only with KTY84CAN No. 0x2013 PD object: noProfibus-No. (PNU) 336 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.95. Object: status of power stage temperature

Object nameC3.StatusTemperature_PowerStage

Object No. 684.1 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: INTUnit CMinimum value 0 C Maximum value -- CRemark: Power output stage temperatureCAN No. 0x2014 PD object: noProfibus-No. (PNU) 337 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.96. Object: Status analog input 0

Object nameC3.StatusVoltage_AnalogInput0

Object No. 685.3 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit VMinimum value -10 V Maximum value 10 VRemark: Analog input 0

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

CAN No. 0x2025 PD object: yesProfibus-No. (PNU) 23 Bus format: Y2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

238 192-120111 N1 C3 T30 T40 - March 2004

9.2.97. Object: Status analog input 1

Object nameC3.StatusVoltage_AnalogInput1

Object No. 685.4 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit VMinimum value -10 V Maximum value 10 VRemark: Analog input 1

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

CAN No. 0x2026 PD object: yesProfibus-No. (PNU) 102 Bus format: Y2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.98. Object: status of auxiliary voltage

Object nameC3.StatusVoltage_AuxiliaryVoltage

Object No. 685.1 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit VMinimum value 0 V Maximum value -- VRemark: Control voltageCAN No. 0x200F PD object: noProfibus-No. (PNU) 326 Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.99. Object: Status DC bus voltage

Object nameC3.StatusVoltage_BusVoltage

Object No. 685.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit VMinimum value 0 V Maximum value -- VRemark: unfiltered signalCAN No. 0x6079 PD object: noProfibus-No. (PNU) 327 Bus format: E2_6Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.100. Object: set objects to valid

Object nameC3.ValidParameter_Global

Object No. 210.10 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: BOOLUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Set all objects or parameters to valid

This is automatically performed after the power is turned on."VP" command is activated by writing a value <> 0;Command is performed if 0 is read.


Compax3 - Objects

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9.2.101. Object: Variable column 1 row 1

Object nameC3Array.Col01_Row01

Object No. 1901.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: The column consists of 32 variables that are freely available.

In addition to access via IEC61131-3, the array can also be written withthe aid of the ServoManager.For variable access applies: Variable of column y and of line x =O190y.x; y = 1 ... 9; x = 1 ... 32

Access via Profibus:The first 5 rows of the recipe table have 2 PNU numbers and can beplaced in the process data channel.PNU numbers column y1. Row = 130 and 34y.12. Row = 131 and 34y.23. Row = 132 and 34y.34. Row = 133 and 34y.45. Row = 134 and 34y.56. Row = 34y.6...32. Line = 34y.32

The second PNU number develops as follows:1. Column: 130 ... 1342. Column: 135 ... 1393. Column: 140 ... 1444. Column: 145 ... 1495. Column: 150 ... 1546. Column: 155 ... 1597. Column: 160 ... 1648. Column: 165 ... 1699. Column: 170 ... 174

Access via CANopen:The first 5 rows of the recipe table can be placed in a PDO.CAN numbber column y1. Row = 0x230y.12. Row = 0x230y.23. Row = 0x230y.34. Row = 0x230y.45. Row = 0x230y.56. Row = 0x230y.6...32. Line = 0x230y.32Scalable via object 201.1: NormFactorY4_Array_Col1 (for busapplications)

CAN No. 0x2301.1 PD object: yesProfibus-No. (PNU) 130/341.1 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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Object No. 1902.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: See object O1901.1

Scalable with object 200.5: NormFactorY2_Array_Col2CAN No. 0x2302.1 PD object: yesProfibus-No. (PNU) 135/342.1 Bus format: Y2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X



Object No. 1903.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: See object O1901.1CAN No. 0x2303.1 PD object: yesProfibus-No. (PNU) 140/343.1 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X




Compax3 - Objects

242 192-120111 N1 C3 T30 T40 - March 2004






Object No. 1906.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: DINTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: See object O1901.1CAN No. 0x2306.1 PD object: yesProfibus-No. (PNU) 155/346.1 Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X





192-120111 N1 C3 T30 T40 - March 2004 243







9.2.110. Object: Indirect table access column 1

Object nameC3Array.Indirect_Col01

Object No. 1910.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Access to Column 1; row defined by C3_object "pointer to table row"CAN No. 0x2311 PD object: yesProfibus-No. (PNU) 181 Bus format: Y4Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

244 192-120111 N1 C3 T30 T40 - March 2004



Object No. 1910.2 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Access to Column 2; row defined by C3_object "pointer to table row"CAN No. 0x2312 PD object: yesProfibus-No. (PNU) 182 Bus format: Y2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X



Object No. 1910.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Access to Column 3; row defined by C3_object "pointer to table row"CAN No. 0x2313 PD object: yesProfibus-No. (PNU) 183 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X





192-120111 N1 C3 T30 T40 - March 2004 245






Object No. 1910.6 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: DINTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Access to Column 6; row defined by C3_object "pointer to table row"CAN No. 0x2316 PD object: yesProfibus-No. (PNU) 186 Bus format: I32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X




Compax3 - Objects

246 192-120111 N1 C3 T30 T40 - March 2004







9.2.119. Object: Pointer to table row

Object nameC3Array.Pointer_Row

Object No. 1900.1 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark:

CAN No. 0x2300 PD object: yesProfibus-No. (PNU) 180 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.120. Cam switching mechanism

Up to 36 cams can be programmed. They are divided into 2 cam groups:! 32 standard cams (Cam 0 ... 31) of which a cam is brought up once every 0.5 ms.

The cycle time of the cams is: number of standard cams * 0.5ms.The number of cams is adjustable (Object 3701.1"C3Cam.ControlledSwitches_NumberActive")

! 4 fast cams, each with a cycle time of 0.5 ms

Cam functions

Switching-on and switching-off position of each cam individually.Cams with compensation for dead time, with switching-on and switching-offanticipation for each cam.Individually adjustable cam source.Enable for each individual cam.Adjustable switching hysteresis for actual position value as a cam source.

Example of cam function (without switching-on and switching-offanticipation)

SwitchFast1_PositionOff

SwitchFast1_PositionOn

SwitchFast0_PositionOff

SwitchFast0_PositionOn

0

0

1

t

t

t

Slav

ePos

ition

SwitchFast1

SwitchFast0

1

The cam outputs are positioned on objects and can be used for other purposes inthe IEC program.

Compax3 - Objects

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9.2.121. Object: Switch-off position of cam

Object nameC3Cam.ControlledSwitch00_PositionOff

Object No. 3730.3 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Switch-off position of Cam 0

Switch-off position of additional cams:3730...3761 up to 32 cams (cam 0...31)Profibus: 509.1...509.32CANopen: 0x2409.1...0x2409.32

CAN No. 0x2409.1 PD object: noProfibus-No. (PNU) 509.1 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.122. Object: Switch-on position of cam

Object nameC3Cam.ControlledSwitch00_PositionOn

Object No. 3730.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Switch-on position of Cam 0

Switch-on position of additional cams:3730...3761 up to 32 cams (cam 0...31)Profibus: 508.1..0.508.32CANopen: 0x2408.1...0x2408.32



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9.2.123. Object: Source of cam

Object nameC3Cam.ControlledSwitch00_Source

Object No. 3730.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Source of cam 0

Source of additional cams:3730...3761 up to 32 cams (cam 0...31)Profibus: 507.1..0.507.32CANopen: 0x2407.1...0x2407.32Sources:1: Actual position value2: Target position value3: virtual axis (virtua master)other values are not permitted

CAN No. 0x2407.1 PD object: noProfibus-No. (PNU) 507.1 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.124. Object: Switch-off anticipation of cam

Object nameC3Cam.ControlledSwitch00_TimeOff

Object No. 3730.5 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit 500usMinimum value 0 500us Maximum value 500usRemark: Switch-off anticipation of Cam 0

Switch-off anticipation of additional cams:3730...3761 up to 32 cams (cam 0...31)Profibus: 511.1..0.511.32CANopen: 0x240B.1...0x240B.32

CAN No. 0x240B.1 PD object: noProfibus-No. (PNU) 511.1 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

250 192-120111 N1 C3 T30 T40 - March 2004

9.2.125. Object: Switch-on anticipation of cam

Object nameC3Cam.ControlledSwitch00_TimeOn

Object No. 3730.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit 500usMinimum value 0 500us Maximum value 500usRemark: Switch-on anticipation of Cam 0

Switch-on anticipation of additional cams:3730...3761 up to 32 cams (cam 0...31)Profibus: 510.1..0.510.32CANopen: 0x240A.1...0x240A.32

CAN No. 0x240A.1 PD object: noProfibus-No. (PNU) 510.1 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.126. Object: Enable cams group 0

Object nameC3Cam.ControlledSwitches_Enable0

Object No. 3701.2 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Enable word for cam 0...15

Bit 0: cam 0Bit 1: cam 1...

CAN No. 0x2401.2 PD object: noProfibus-No. (PNU) 501.2 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.127. Object: Enable cams group 1

Object nameC3Cam.ControlledSwitches_Enable1

Object No. 3701.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Enable word for cam 1631



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9.2.128. Object: Number of cams

Object nameC3Cam.ControlledSwitches_NumberActive

Object No. 3701.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Number of active cams (0...32)

This value also determines the cycle time of the cams:number * 500µs = cycle time


9.2.129. Object: Output cams group 0

Object nameC3Cam.ControlledSwitches_Output0

Object No. 3701.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Output word for cam 0..0.15


CAN No. 0x2401.3 PD object: yesProfibus-No. (PNU) 205/501.3 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

252 192-120111 N1 C3 T30 T40 - March 2004

9.2.130. Object: Output cams group 1

Object nameC3Cam.ControlledSwitches_Output1

Object No. 3701.5 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Output word for cam 16...31



9.2.131. Object: Enable fast cams

Object nameC3Cam.ControlledSwitchesFast_Enable

Object No. 3700.2 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Enable of fast cams 0...3



9.2.132. Object: Output fast cams

Object nameC3Cam.ControlledSwitchesFast_Output

Object No. 3700.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Output word of fast cam



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9.2.133. Object: Hysteresis for cam switching mechanism

Object nameC3Cam.ControlledSwitchesHysteresis_ActualPosition

Object No. 3705.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value -4000000 unit Maximum value 4000000 unitRemark: The switch-on and switch-off positions of all cams with the actual

position value as a source shift by Hysteresis/2:Switch-on_position_real=switch-on_position_target_soll+/-Hysteresis/2Switchoffposition_actual=Switchoffposition_target-/+Hysteresis/2(pos. movement/ neg. movement)This makes it possible to avoid jittering of the cam caused by movingthe drive around the switching point.

The following types of behavior apply to the entire range:

* If the switching range set by parameters is less than the hysteresis,the cam will always be deactivated (regardless of compensation fordead time).* If the switching range set by parameters is greater than the reset traveldistance, the cam will always be activated (regardless of compensationfor dead time).* If the resulting switching range is less than the hysteresis, the cam willalways be deactivated.* If the resulting switching range is greater than the reset traveldistance, the cam will always be activated.


9.2.134. Object: Switch-off position of fast cam

Object nameC3Cam.ControlledSwitchFast0_PositionOff

Object No. 3710.3 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Switch-off position of fast Cam 0

Switch-off position of additional fast cams3710.3...37130.3 up to 4 fast cams (Cam 0...3)Profibus: 504.1..0.5040.4CANopen: 0x2404.1...0x2404.4

Compax3 - Objects

254 192-120111 N1 C3 T30 T40 - March 2004


9.2.135. Object: Switch-on position of fast cam

Object nameC3Cam.ControlledSwitchFast0_PositionOn

Object No. 3710.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: Switch-on position for fast Cam 0

Switch-on position of additional fast cams3710.2...37130.2 up to 4 fast cams (Cam 0...3)Profibus: 503.1..0.5030.4CANopen: 0x2403.1...0x2403.4


9.2.136. Object: Source of fast cam

Object nameC3Cam.ControlledSwitchFast0_Source

Object No. 3710.1 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Source of fast Cam 0

Source of additional fast cams3710.1...3713.1 up to 4 fast cams (fast Cam 0...3)Profibus: 502.1..0.5020.4CANopen: 0x2402.1...0x2402.4Source of the cam1: Actual position value2: Target position value3: virtual axis (virtua master)other values are not permitted



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9.2.137. Object: Switch-off anticipation of fast cam

Object nameC3Cam.ControlledSwitchFast0_TimeOff

Object No. 3710.5 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit 500usMinimum value 0 500us Maximum value 500usRemark: Switch-off anticipation of fast Cam 0

Switch-off position of additional fast cams3710.5...37130.5 up to 4 fast cams (Cam 0...3)Profibus: 506.1..0.5060.4CANopen: 0x2406.1...0x2406.4


9.2.138. Object: Switch-on anticipation of fast cam

Object nameC3Cam.ControlledSwitchFast0_TimeOn

Object No. 3710.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: TIMEUnit 500usMinimum value 0 500us Maximum value 500usRemark: Switch-on anticipation of fast Cam 0

Switch-on anticipation of additional fast cams3710.4...3713.4 up to 4 fast cams (Cam 0...3)Profibus: 505.1..0.5050.4CANopen: 0x2405.1...0x2405.4


9.2.139. Object: Status signal source of master position monitoring

Object nameC3Cam.SignalSource_Position

Object No. 3021.2 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit RevolutionsMinimum value 0 unit Maximum value -- unitRemark:

CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3

Compax3 - Objects

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Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.140. Object: Status master position

Object nameC3Cam.StatusMaster_Position

Object No. 3030.1 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit MunitMinimum value 0 unit Maximum value -- unitRemark: resetCAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.141. Object: Status slave position

Object nameC3Cam.StatusOutput_Position

Object No. 3032.1 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: REALUnit UnitMinimum value 0 unit Maximum value -- unitRemark: reset position after cam table [Units]CAN No. - PD object: noProfibus-No. (PNU) - Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 - I21 T30 - I11 T40 X I20 T40 X I21 T40 X

9.2.142. Object: Automatic commutation starting current

Object nameC3Plus.AutoCommutationControl_InitialCurrent

Object No. 2190.2 HEDA-channel noAccess: Read/write Valid after: VPCodeSys object: yes CodeSys format: INTUnit %Minimum value 1 /oo Maximum value 500 /ooRemark: Starting current automatic commutation [ /oo IN]

This value must be set so that the commutation research needs approx.3-5 s.If it takes longer or Error 73AB (Automatic commutation: timeout) thevalue must be decreased, if it takes shorter or Error 73A6 (Automaticcommutation: mor than 60 degrees of electrical movement) the valuemust be increased.


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9.2.143. Object: control word CW

Object nameC3Plus.DeviceControl_Controlword_1

Object No. 1100.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Control word 1

I20 T11: profile-dependentI20 T30 / T40: freely programmable

CAN No. 0x6040 PD object: yesProfibus-No. (PNU) 1 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.144. Object: control word 2

Object nameC3Plus.DeviceControl_Controlword_2

Object No. 1100.4 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Control word 2


CAN No. 0x201B PD object: yesProfibus-No. (PNU) 3 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

Compax3 - Objects

258 192-120111 N1 C3 T30 T40 - March 2004

9.2.145. Object: operating mode

Object nameC3Plus.DeviceControl_OperationMode

Object No. 1100.5 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Operating mode

I20 T11: profile-dependentI20 T30 / T40: freely programmableI21 T11:= "1": Profile Position Mode= "3": Profile Velocity Mode= "6": Homing Mode= "-1": Jogging Mode

CAN No. 0x6060 PD object: yesProfibus-No. (PNU) 127/930 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.146. Object: Operating mode display

Object nameC3Plus.DeviceState_ActualOperationMode

Object No. 1000.5 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: I20 T11: profile-dependent

I20 T30 / T40: freely programmableCAN No. 0x6061 PD object: yesProfibus-No. (PNU) 128 Bus format: I16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.147. Object: status word SW

Object nameC3Plus.DeviceState_Statusword_1

Object No. 1000.3 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Status word



192-120111 N1 C3 T30 T40 - March 2004 259

CAN No. 0x6041 PD object: yesProfibus-No. (PNU) 2 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.148. Object: Status word 2

Object nameC3Plus.DeviceState_Statusword_2

Object No. 1000.4 HEDA-channel yesAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: WORDUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: I20 T11: profile-dependent

I20 T30 / T40: freely programmableCAN No. 0x201C PD object: yesProfibus-No. (PNU) 4 Bus format: V2Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 - I20 T40 X I21 T40 X

9.2.149. Object: current error (n)

Object nameC3Plus.ErrorHistory_LastError

Object No. 550.1 HEDA-channel yesAccess: Read only Valid after: -CodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Last entry in the error history

Entry of errors that occurred with the corresponding error number foreach oneAcknowledgement by Ackn or Power on will be written with a 1.

CAN No. 0x603F/ 0x201D.1 PD object: yesProfibus-No. (PNU) 115/947.0 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

260 192-120111 N1 C3 T30 T40 - March 2004

9.2.150. Object: acceleration and delay for the machine reference run

Object nameC3Plus.HOMING_accel

Object No. 1130.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: DINTUnit Unit/s²Minimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.CAN No. 0x609A PD object: noProfibus-No. (PNU) 300 Bus format: U32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.151. Object: initiator adjustment

Object nameC3Plus.HOMING_edge_sensor_distance

Object No. 1130.7 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit DegreesMinimum value -1000000 degrees Maximum value 1000000 degreesRemark: Virtual displacement of the initiatorCAN No. 0x2000 PD object: noProfibus-No. (PNU) 304 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.152. Object: Jerk for the machine reference run

Object nameC3Plus.HOMING_jerk

Object No. 1130.2 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: DINTUnit Unit/s³Minimum value 0 n/a Maximum value -- n/aRemark: If 0 is specified, the minimum value is used automatically.CAN No. 0x201E PD object: noProfibus-No. (PNU) 357 Bus format: U32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X


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9.2.153. Object: setting the machine reference modes

Object nameC3Plus.HOMING_mode

Object No. 1130.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value -127 n/a Maximum value 128 n/aRemark: Mode according to CANopen definition. 1...35

If 130 is entered, the homing run will be determined by the control word.Zero means no homing selected.New (manufacturer-specific) modes beginning with V01.09.00:128: move to block in positive direction, after that approach position129: move to block in negative direction, after that move to position

CAN No. 0x6098 PD object: noProfibus-No. (PNU) 302 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.154. Object: speed for the machine reference run

Object nameC3Plus.HOMING_speed

Object No. 1130.3 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: REALUnit Unit/sMinimum value 0 rev/s Maximum value 2000 rev/sRemark:

CAN No. 0x6099.1 PD object: noProfibus-No. (PNU) 301 Bus format: C4_3Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 X I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.155. Object: Status control program cycle time

Object nameC3Plus.PLC_ActualCycleTime

Object No. 50.3 HEDA-channel noAccess: Read only Valid after: -CodeSys object: yes CodeSys format: INTUnit 500usMinimum value 0 n/a Maximum value -- n/aRemark: Current cycle time [unit: 1=500 µs] of the control programCAN No. 0x201F.2 PD object: noProfibus-No. (PNU) 353 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

Compax3 - Objects

262 192-120111 N1 C3 T30 T40 - March 2004

9.2.156. Object: Status maximum cycle time

Object nameC3Plus.PLC_ActualCycleTimeMax

Object No. 50.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit 500usMinimum value 0 n/a Maximum value -- n/aRemark: 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)

CAN No. 0x201F.3 PD object: noProfibus-No. (PNU) 354 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.157. Object: Cycle time specification

Object nameC3Plus.PLC_DemandCycleTime

Object No. 50.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: yes CodeSys format: INTUnit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Specification of the cycle time [500µs]. If the cycle time cannot be

maintained, an error will be triggered.If 0 is specified, execution of the control program will be terminated.

CAN No. 0x201F.1 PD object: noProfibus-No. (PNU) 352 Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 X I11 T40 X I20 T40 X I21 T40 X

9.2.158. Object: Baudrate

Object nameC3Plus.Profibus_Baudrate

Object No. 830.2 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Baud rateCAN No. - PD object: noProfibus-No. (PNU) - Bus format: U32Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -


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9.2.159. Object: station address

Object nameC3Plus.Profibus_NodeAddress

Object No. 830.3 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Station addressCAN No. - PD object: noProfibus-No. (PNU) - Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -

9.2.160. Object: PPO type selection switch

Object nameC3Plus.Profibus_Protocol

Object No. 830.1 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: PPO-type selection switchCAN No. - PD object: noProfibus-No. (PNU) - Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -

9.2.161. Object: List of the ProfiDrive standard signals

Object nameC3Plus.Profibus_StandardSignalTable

Object No. 830.6 HEDA-channel noAccess: Read only Valid after: -CodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Query whether Profidrive signal number is present

PNU 923.x can be used to read whether signal number x of theProfidrive profile is present.Response 0: Signal number is not presentResponse x: Signal number present


Compax3 - Objects

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9.2.162. Object: telegram selection switch

Object nameC3Plus.Profibus_TelegramSelect

Object No. 830.4 HEDA-channel noAccess: Read/write Valid after: immediatelyCodeSys object: no CodeSys format:Unit n/aMinimum value 0 n/a Maximum value -- n/aRemark: Telegram selection switchCAN No. - PD object: noProfibus-No. (PNU) - Bus format: U16Device assignment: Compax3 ...T30 Device assignment: Compax3 ...T40I11 T30 - I20 T30 X I21 T30 - I11 T40 - I20 T40 X I21 T40 -

Parker EME Status values

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You can read about the following in this chapter:Device.................................................................................................................................................. 266Motor ................................................................................................................................................... 267Positions.............................................................................................................................................. 268Speeds ................................................................................................................................................ 269Currents............................................................................................................................................... 271Inputs................................................................................................................................................... 273CAM..................................................................................................................................................... 274IEC61131-3 ......................................................................................................................................... 275Feedback system................................................................................................................................ 276A 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.

10. Status values

Switching of theuser level

D/A-Monitor

Status values

266 192-120111 N1 C3 T30 T40 - March 2004

10.1 Device

Status of device utilizationObject 683.2

Available in technology function: T10, T11, T30, T40Unit ofmeasurement

% User level standard

D/A monitor output not possible D/A monitor:measurement unit of thereference value

-

Remark: Device utilizationStated in % of the nominal device current

Status of power output stage temperatureObject 684.1


C User level standard


-

Remark: Power output stage temperature

Status of auxiliary voltageObject 685.1


V User level standard


-

Remark: Control voltage

Status DC bus voltageObject 685.2



D/A monitor output possible D/A monitor:measurement unit of thereference value

V

Remark: unfiltered signal


192-120111 N1 C3 T30 T40 - March 2004 267

10.2 Motor

Status of motor temperatureObject 684.2


C User level standard


-

Remark: Motor temperaturemeasured via the sensor in the motor, correct display only with KTY84

Status of short-term motor utilizationObject 683.4




-

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 utilizationObject 683.3




-

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

Status values

268 192-120111 N1 C3 T30 T40 - March 2004

10.3 Positions

Status target positionObject 680.4

Available in technology function: T11, T30, T40Unit ofmeasurement

Unit User level standard


Revolutions

Remark: Stated in user units, reset position

Status actual positionObject 680.5




Revolutions

Remark: Stated in user units, reset position

Status of tracking errorObject 680.6




Revolutions

Remark: Stated in user units, difference between target and actual value ofposition

Status target position without absolute referenceObject 680.12


Unit User level advanced


Revolutions

Remark: Stated in user units, continuous position

Status actual position without absolute referenceObject 680.13


Unit User level advanced


Revolutions

Remark: Stated in user units, continuous position


192-120111 N1 C3 T30 T40 - March 2004 269

10.4 Speeds

Status target speed of setpoint encoderObject 681.4


Unit/s User level standard


Rev/s

Remark: Target value according to the fine interpolator

Status target speed controller inputObject 681.10




Rev/s

Remark: Nominal speedTarget speed value on the controller input including feed forward

Status actual speed filteredObject 681.9




Rev/s

Remark: Actual speed filtered

Status actual speed unfilteredObject 681.5


Unit/s User level advanced


Rev/s

Remark:

Status control deviation of speedObject 681.6




Rev/s

Remark: Difference between speed target value and filtered actual value

Status target accelerationObject 682.4


Unit/s² User level advanced


-

Status values

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

Status of speed and acceleration feed forwardObject 681.11


Unit/s User level advanced


-

Remark: Speed and acceleration feed forward

Status of filtered actual accelerationObject 682.6




Rev/s²

Remark: Signal is smoothed by acceleration filter 1 and 2 resp. by the rotationalspeed monitor and acceleration filter 2.Signal is the source of the D-component in the (rotational) speedcontroller

Status of actual acceleration unfilteredObject 682.5




Rev/s²

Remark: Please note that this signal is often rather noisy.

Status of external influences monitoredObject 683.5


% User level advanced


%

Remark: Load moment resp. load force detected by the (rotational) speedmonitor.Unit is % of Mnominal resp. of Fnominal(100% = Moment resp. force given the configured nominal resp.reference current)


192-120111 N1 C3 T30 T40 - March 2004 271

10.5 Currents

Status of effective target current (torque forming)Object 688.1


mA User level standard


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 688.2


mA User level standard


O

Remark: Effective actual current (torque forming), actual value after filter

Status of control deviation of effective currentObject 688.8


mA User level advanced


O

Remark: Control deviation of effective current (torque forming)

Status of voltage control signalObject 688.11


n/a User level advanced


-

Remark: Control signal of current controller (torque forming)0.577 correspond to full range (Terminal voltage=DC bus voltage)

Status of current phase UObject 688.9




-

Remark: Phase current U, Output as peak valueActual value after oversampling

Status of current phase VObject 688.10



Status values

272 192-120111 N1 C3 T30 T40 - March 2004


-

Remark: Phase current V, Output as peak valueActual value after oversampling

Status of target jerk setpoint encoderObject 688.13


Unit/s³ User level advanced


-

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

Status of effective current and jerk forward feedObject 688.14




-

Remark: Forward feed of effective current and jerkStated in amperes RMSafter filter


192-120111 N1 C3 T30 T40 - March 2004 273

10.6 Inputs

Status of analog input 0Object 685.3




10V

Remark: Analog input 0Analog input on plug X11/9 and X11/11Indication of the voltage measured on the input in volts

Status of analog input 1Object 685.4




10V

Remark: Analog input 1Analog input on plug X11/10 and X11/2Indication of the voltage measured on the input in volts

Status of encoder input 0 (5V)Object 680.10


Revolutions User level standard


-

Remark: Encoder input 0 (5V), counter state in turns of the encoder

Status of encoder input 0 (24V)Object 680.11




-

Remark: Encoder input 1 (24V), counter state in turns of the encoder

Status values

274 192-120111 N1 C3 T30 T40 - March 2004

10.7 CAM

Status of signal source of master position monitoringObject 3021.2

Available in technology function: - T40Unit ofmeasurement



Revolutions

Remark:

Status of master positionObject 3030.1


Munit User level standard


Units

Remark: reset

Status of slave positionObject 3032.1




Units

Remark: reset position after cam table [Units]


192-120111 N1 C3 T30 T40 - March 2004 275

10.8 IEC61131-3

Status of cycle time of the control programObject 50.3


n/a User level standard


-

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

Status of maximum cycle timeObject 50.4


n/a User level standard


-

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)

Setpoint for analog output 0Object 634.4




-

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 1Object 635.4




-

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.

Status values

276 192-120111 N1 C3 T30 T40 - March 2004

10.9 Transmitter

Status of sine in signal processingObject 692.1




-

Remark: Sinus trace resolver, für F10 devicesThe value 1 corresponds to 2.5 VoltsThe amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.

Status of cosine in signal processingObject 692.2




-

Remark: Cosine trace of resolver, for F10 devicesThe value 1 corresponds to 2.5 VoltsThe amplitude must be <1 and > 0.1 at the resolver; otherwise a levelerror is reported.

Status of analog input sineObject 692.3




-

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

Status of analog input cosineObject 692.4




-

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

Status of feedback levelObject 692.5


V User level advanced


-

Remark: Feedback level, for F11 and F12 devices, display in Vpp (=sqrt(sin²+cos²))

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 277

All errors lead to error status.Reaction 2: Downramp with de-energize ramp, then apply brake and de-energize.

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).

11.1 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

11. Error

0x2311

0x2312

0x2320

0x3210

Error

278 192-120111 N1 C3 T30 T40 - March 2004

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:Note: Diagnostic lines from power stage interface

0x3222

0x4210

0x4310

0x5111

0x5112

0x5116

0x5117

0x5380

0x5420

0x5421

0x5480

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 279

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


0x5481

0x5491

0x54A0

0x54A1

0x6011

0x6012

0x6280

0x6281

0x6282

Error

280 192-120111 N1 C3 T30 T40 - March 2004

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

0x6283

0x6284

0x7121

0x7180

0x7310

0x7320

0x7381

0x7382

0x7391

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 281

Error code (hex): 0x7392Error: Encoder level too lowError 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.

0x7392

0x73A0

0x73A5

0x73A6

0x73A7

0x73A8

0x73A9

0x73AA

Error

282 192-120111 N1 C3 T30 T40 - March 2004

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

0x73AB

0x73AC

0x73B0

0x8120

0x8121

0x8130

0x8181

0x8182

0x8183

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 283

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.

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

0x8612

0xFF03

0xFF04

0xFF05

0xFF06

0xFF07

0xFF08

0xFF10

0xFF11

0xFF12

Error

284 192-120111 N1 C3 T30 T40 - March 2004

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

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

0xFF13

0xFF14

0xFF15

0xFF16

0xFF20

0xFF21

0xFF22

0xFF23

0xFF24

0xFF30

0xFF40

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 285

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 programError 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

0xFF42

0xFF43

0xFF45

0xFF46

0xFF47

0xFF90

0xFF91

0xFF92

0xFFA1

Error

286 192-120111 N1 C3 T30 T40 - March 2004

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.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

0xFFA2

0xFFA3

0xFFA4

0xFFA5

0xFFA6

0xFFA7

0xFFA8

0xFFA9

0xFFAA

0xFFAB

0xFFAC

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 287

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 exceededError 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

0xFFAD

0xFFAE

0xFFAF

0xFFB0

0xFFB1

0xFFB2

0xFFBC

0xFFBD

0xFFBE

0xFFBF

0xFFC0

Error

288 192-120111 N1 C3 T30 T40 - March 2004

Error code (hex): 0xFFC1Error: 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

0xFFC1

0xFFC2

0xFFC3

0xFFD0

0xFFD1

0xFFD2

0xFFD3

0xFFD4

0xFFD5

0xFFD6

Parker EME Error

192-120111 N1 C3 T30 T40 - March 2004 289

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)

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.

0xFFE0

0xFFE1

0xFFE2

0xFFE3

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290 192-120111 N1 C3 T30 T40 - March 2004

You can read about the following in this chapter:Order code Compax3.......................................................................................................................... 290Order code accessories...................................................................................................................... 291Parker servo motors............................................................................................................................ 293Connections to the motor.................................................................................................................... 304EMC measures ................................................................................................................................... 308External ballast resistors..................................................................................................................... 312BDM Operating module ...................................................................................................................... 315EAM06: Terminal block for inputs and outputs.................................................................................. 316ZBH plug set ....................................................................................................................................... 319Interface cable..................................................................................................................................... 320Input/Output option M12 ..................................................................................................................... 325HEDA (Motionbus) - Option M11........................................................................................................ 326HEDA (M11) & I/Os (M12) => Option M10 ........................................................................................ 327Profibus plug BUS08/01 ..................................................................................................................... 328CAN plug BUS10/01 ........................................................................................................................... 329

12.1 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!

12. Compax3 Accessories

Parker EME Compax3 Accessories

192-120111 N1 C3 T30 T40 - March 2004 291

12.2 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 A 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) I O 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

Compax3 Accessories

292 192-120111 N1 C3 T30 T40 - March 2004

(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:


192-120111 N1 C3 T30 T40 - March 2004 293

12.3 Parker servo motors

You can read about the following in this chapter:Direct drives ........................................................................................................................................ 293Rotary servo motors............................................................................................................................ 295

12.3.1. Direct drives

You can read about the following in this chapter:Transmitter systems for direct drives ................................................................................................. 293Linear motors ...................................................................................................................................... 294Torque motors..................................................................................................................................... 294

12.3.1.1 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. 5Vss36; typical1Vss) 90° offset

! U-V Signal (max. 5Vss37; typical 1Vss)120° offset.

Encoder(linear or rotatory)

! Sine-cosine (max. 5Vss38; typical 1Vss)(max. 400kHz) or

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

293) 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;

36 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).37 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).38 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).

Compax3 Accessories

294 192-120111 N1 C3 T30 T40 - March 2004

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.

12.3.1.2 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

12.3.1.3 Torque motors

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


192-120111 N1 C3 T30 T40 - March 2004 295

12.3.2. Rotary servo motors

You can read about the following in this chapter:Motor data table of the standard motors ............................................................................................ 298Holding brake...................................................................................................................................... 299Pulse encoder systems....................................................................................................................... 299Dimensions of the SMH(A) motors..................................................................................................... 300Dimensions of the MH(A) 105 motors................................................................................................ 301Dimensions of the MH(A)145 and MH(A)205 motors........................................................................ 302Order code for SMH/MH motors......................................................................................................... 303Modern 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.

Compax3 Accessories

296 192-120111 N1 C3 T30 T40 - March 2004

SMH60:

SMH82:

SMH100:

MH105:


192-120111 N1 C3 T30 T40 - March 2004 297

MH145:

MH205:

Compax3 Accessories

298 192-120111 N1 C3 T30 T40 - March 2004

12.3.2.1 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!


192-120111 N1 C3 T30 T40 - March 2004 299

12.3.2.2 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.

12.3.2.3 Pulse encoder systems

A resolver is built into the motors in their standard configuration.The motors are optionally available with the following encoders:! SinCos Singleturn encoder or! SinCos Multiturn absolute value encoder

Compax3 Accessories

300 192-120111 N1 C3 T30 T40 - March 2004

12.3.2.4 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

i

64,5

61,5

112

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


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12.3.2.5 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)

Compax3 Accessories

302 192-120111 N1 C3 T30 T40 - March 2004

12.3.2.6 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).


192-120111 N1 C3 T30 T40 - March 2004 303

12.3.2.7 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).

Compax3 Accessories

304 192-120111 N1 C3 T30 T40 - March 2004

12.4 Connections to the motor

You can read about the following in this chapter:Resolver cable .................................................................................................................................... 304SinCos cable....................................................................................................................................... 305Motor cable overview.......................................................................................................................... 305Motor cable with plug.......................................................................................................................... 306Motor cable for terminal box............................................................................................................... 307Under 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:

12.4.1. 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 291)


192-120111 N1 C3 T30 T40 - March 2004 305

12.4.2. 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 291)

12.4.3. 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

Compax3 Accessories

306 192-120111 N1 C3 T30 T40 - March 2004

12.4.4. 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.



192-120111 N1 C3 T30 T40 - March 2004 307

12.4.5. 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

MOK63/.. (max. 13.8 A) cable chain compatibleSame structure as MOK61/.. but with 6 x 1.5 mm2 .

MOK59/.. (max. 18.9A) standard

MOK64/.. (max. 18.9 A) cable chain compatible

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


Compax3 Accessories

308 192-120111 N1 C3 T30 T40 - March 2004

12.5 EMC measures

You can read about the following in this chapter:Mains filter ........................................................................................................................................... 308Motor output filter ................................................................................................................................ 310

12.5.1. Mains filter

For radio disturbance suppression and for complying with the emission limit valuesfor CE compliant operation ((see on page 20 ) 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)

12.5.1.1 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


192-120111 N1 C3 T30 T40 - March 2004 309

12.5.1.2 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

12.5.1.3 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

Compax3 Accessories

310 192-120111 N1 C3 T30 T40 - March 2004

12.5.2. Motor output filter

You can read about the following in this chapter:Motor output filter MDR01/04 ............................................................................................................. 310Motor output fiter MDR01/01 .............................................................................................................. 310Motor ouptut filter MDR01/02 ............................................................................................................. 311Wiring of the motor output filter .......................................................................................................... 311We offer motor output filters for disturbance suppression when the motorconnecting cables are long (>20m):

12.5.2.1 Motor output filter MDR01/04

up to 6.3A rated motor current


1205495

590 40

170

U1 V1 W1 + - U2 V2 W2 + -

12.5.2.2 Motor output choke MDR01/01

Up to 16 A rated motor current


1506795

6113 50

195

U1 V1 W1 + - U2 V2 W2 + -


192-120111 N1 C3 T30 T40 - March 2004 311

12.5.2.3 Motor output choke MDR01/02

up to 30 A rated motor current


18076110

6136 57

195

U1 V1 W1 + - U2 V2 W2 + -

12.5.2.4 Wiring of the motor output filter

M

MotorMDRCompax3PEPEUVWBr+Br-

++- -

U1 U2V2V1

W1 W2

Compax3 Accessories

312 192-120111 N1 C3 T30 T40 - March 2004

12.6 External ballast resistors

You can read about the following in this chapter:Ballast resistor BRM8/01 .................................................................................................................... 313Ballast resistor BRM5/01 .................................................................................................................... 313Ballast resistor BRM6/02 .................................................................................................................... 313Ballast resistor BRM4/0x .................................................................................................................... 314

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 dynamicBRM8/01 (100ΩΩΩΩ) Compax3 S025 V2

Compax3 S038 V4

60W 250W (<1s; ≥10s cooling time)

BRM5/01 (56ΩΩΩΩ) Compax3 S063 V2

Compax3 S075 V4

180W 2300W (<0.4s; ≥8s coolingtime)

BRM6/02 (33ΩΩΩΩ) Compax3 S150 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)


192-120111 N1 C3 T30 T40 - March 2004 313

12.6.1. BRM8/01 ballast resistors


6

7,5

40

20

240225

12.6.2. BRM5/01 ballast resistor


222245

101

6,5

4873

12

12.6.3. Ballast resistor BRM6/02


95 97

96 98

250

330

64

120

6,5

64

92

12

1

1: thermal overcurrent relay

Compax3 Accessories

314 192-120111 N1 C3 T30 T40 - March 2004

12.6.4. 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


192-120111 N1 C3 T30 T40 - March 2004 315

12.7 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.

Compax3 Accessories

316 192-120111 N1 C3 T30 T40 - March 2004

12.8 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


192-120111 N1 C3 T30 T40 - March 2004 317

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

Compax3 Accessories

318 192-120111 N1 C3 T30 T40 - March 2004

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


192-120111 N1 C3 T30 T40 - March 2004 319

12.9 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

Compax3 Accessories

320 192-120111 N1 C3 T30 T40 - March 2004

12.10 Interface cable

You can read about the following in this chapter:RS232 cable........................................................................................................................................ 320RS485 cable to Pop............................................................................................................................ 321I/O interface X12 ................................................................................................................................. 322Ref X11................................................................................................................................................ 323Encoder cable ..................................................................................................................................... 324

12.10.1. 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 <---



192-120111 N1 C3 T30 T40 - March 2004 321

12.10.2. 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:

Compax3 Accessories

322 192-120111 N1 C3 T30 T40 - March 2004

12.10.3. 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



192-120111 N1 C3 T30 T40 - March 2004 323

12.10.4. Ref X11

SSK21/..: cable for X11 with open ends

5

Screen

2

7

3

6

9

1

Compax3

4

8

101112131415

GY

PK

GN

RDBU

WH

BN

YE

BK

VTGYPK

RDBU

WHGNBNGN

WHYE

YEBNWHGY

GYBN

GY

PK

GN

RDBU

WH

BN

YE

BK

VTGYPK

RDBU

WHGNBNGN

WHYE

YEBNWHGY

GYBN

Pin 1

1514131211

6

987

1054321


2 mm 6 mm

23 mm


Compax3 Accessories

324 192-120111 N1 C3 T30 T40 - March 2004

12.10.5. 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



192-120111 N1 C3 T30 T40 - March 2004 325

12.11 Input/output option M12

An optional input/output extension is available for Compax3. The option is referredto as M12 and makes 12 digital 24 V inputs/outputs (ports) available on X22.The use of the option as inputs or outputs is programmable in groups of 4 (with theobject "Activate input/Output option M10 / M12").The outputs are activated:by the object "Output word for I/O option"; only the ports defined as outputs arewritten to.Reading inputs:with the object "Input word for I/O option". All ports are read, even the outputs.

12.11.1. Assignment of the X22 connector

PINX22/

Input/output I/O /X12High density/Sub D

1 n.c. Not assigned

2 O0/I0 Output 0 / Input 0 - adjustable









11 I 24 VDC power supply




15 I Gnd 24 V

All inputs and outputs have 24V level.Maximum load on an output: 100 mA

Maximum capacitive load: 50nF (max. 4 Compax3 inputs)

Caution! The 24VDC power supply (X22/11) must be supplied from anexternal source and must be protected by a 1.2A delayed fuse!

Compax3 Accessories

326 192-120111 N1 C3 T30 T40 - March 2004

12.11.1.1 Input wiring of digital inputs

100K Ω

X22/11

X22/6

10K Ω22K Ω

22K Ω

22K Ω

SPS/PLC

F1

X22/15

24VDC24VDC

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

12.11.1.2 Output wiring of digital outputs

X12/2

22KΩ

X22/15

X22/11SPS/PLC

F1

24VDC

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

12.12 HEDA (motion bus) - Option M11

RJ45 (X20) RJ45 (X21)

PIN HEDA in HEDA out

1 Rx Tx

2 Rx/ Tx/

3 Lx Lx

4 - Reserved

5 - Reserved

6 Lx/ Lx/

7 - Reserved

8 - Reserved


192-120111 N1 C3 T30 T40 - March 2004 327

HEDA wiring based on the example of 4 Compax3

HEDA-Master

BUS07/01 BUS07/01

SSK28/..SSK28/.. SSK28/..

Design of the HEDA cable SSK28:

Schirm großflächig auf Gehäuse legenPlace sheath over large area of housing

Pin 6Pin 5Pin 4Pin 3Pin 2Pin 1

Pin 7Pin 8

5

2x0,14

2x0,14

2x0,14

2x0,14

4

7

8

GN

WH/GN

OG

WH/BU

BU

BN

WH/BN

WH/OG

2

3

1

6

5

4

7

8

2

3

1

6

GN

WH/GN

OG

WH/BU

BU

BN

WH/BN

WH/OG

Design of the HEDA bus terminator BUS 07/01:

Pin 6Pin 5Pin 4Pin 3Pin 2Pin 1

Pin 7Pin 8

Jumpers: 1-7, 2-8, 3-4, 5-6

12.13 HEDA (M11) & I/Os (M12) => Option M10

The M10 option includes the M12 input/output option and the HEDA M11 option.

Compax3 Accessories

328 192-120111 N1 C3 T30 T40 - March 2004

12.14 Profibus plug BUS08/01

We offer a Profibus plug and special cable as meterware for Profibus wiring:! Profibus cable: SSL01/..not prefabricated (Colour according to DESINA).! Profibus plug: BUS8/01 with 2 cable inputs (for one incoming A1, B1 and one

continuing Profibus cable - A2, B2 -) and screw terminals as well as a switch foractivating the terminal resistor.The terminal resistor must be activated on the first and on the last station (=switch setting ON).

ON

OFF


192-120111 N1 C3 T30 T40 - March 2004 329

12.15 CAN - plug BUS10/01

We offer a CAN plug and special cable in any length to order for the CAN-buswiring:! CAN cable: SSL02/.. not prefabricated (Colours according to DESINA).! CAN plug: BUS10/01 with 2 cable inputs and screw terminals as well as a switch

for activating the terminal resistor.The terminal resistor must be activated on the first and on the last station (=switch setting ON).

CAN wiring

Technical Data

330 192-120111 N1 C3 T30 T40 - 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

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

Efficiency 94% 95% 97% 97%

13. Technical Data

Parker EME Technical Data

192-120111 N1 C3 T30 T40 - March 2004 331

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

Compax3 S0xx V2 at 230VAV


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

332 192-120111 N1 C3 T30 T40 - 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 the accuracyof 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 speed of9000 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.


192-120111 N1 C3 T30 T40 - March 2004 333

Special encoder systems for directdrives Option F12

Analog hall sensors ! Sine - cosine signal (max. 5Vss39; typical1Vss) 90° offset

! U-V Signal (max. 5Vss40; typical 1Vss)120° offset.

Encoder(linear or rotatory)

! Sine-cosine (max. 5Vss41; typical 1Vss)(max. 400kHz) or

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

293) 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

39 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).40 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).41 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).

Technical Data

334 192-120111 N1 C3 T30 T40 - 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 dynamicBRM8/01 (100ΩΩΩΩ) Compax3 S025 V2

Compax3 S038 V4

60W 250W (<1s; ≥10s cooling time)

BRM5/01 (56ΩΩΩΩ) Compax3 S063 V2

Compax3 S075 V4

180W 2300W (<0.4s; ≥8s 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)

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. Circuitry examples.

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


192-120111 N1 C3 T30 T40 - March 2004 335

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

336 192-120111 N1 C3 T30 T40 - March 2004

Profibus ratings

Profile ! PROFIdrive Profile drive system V3DP Versions ! DPV0/DPV1Baud rate ! up to 12 MHzProfibus ID ! C320Device master file ! PAR_C320.GSD

(can be found on the Compax3 - CD)

CANopen ratings

Baud rate [kBit/s] ! 20, 50, 100, 125, 250, 500, 800, 1000EDS file ! C3.EDSService data object ! SDO1Process data objects ! PDO1, ... PDO4

Functions

General ! Programmable based on IEC61131-3! Up to 5000 instructions! 500 16 Bit - variables! 150 32 Bit - variables! Recipe table with 288 variables! 3x16-bit retain-variable! 3x32-bit retain-variable

PLCOpen function modules ! Positioning: absolute, relative, additive,endless

! Locating the machine reference! Stop, energizing the power stage, Quit! Position, device status, reading axis error

IEC61131-3 standard modules ! Up to 8 timers (TON, TOF, TP)! Triggers (R_TRIG, F_TRIG)! Flip-flops (RS, SR)! Counters (CTU, CTD, CTUD)

Device-specific function modules ! generates an input process image! generates an output process image! access to recipe table

Inputs/Outputs ! 8 digital inputs (24V level)! 4 digital outputs (24-V level)! Optional addition of 12 inputs/outputs

I20 Function

I21 Function

Parker EME Index

192-120111 N1 C3 T30 T40 - March 2004 337

AAbsolute positioning (MC_MoveAbsolute) 114Access to the Compax3 object directory 99Accessories order code 291Acknowledging errors (MC_Reset) 140Acyclic parameter channel 184, 190Aditive positioning (MC_MoveAdditive) 119Adjusting the bus address / function of the bus

LEDs 37, 38Adjusting the machine zero proximity switch 69Advanced control parameters 84Analog / Encoder (plug X11) 33ASCII - record 156Assignment of the process data channel 77Assignment of the X22 connector 325

BBallast resistor 28, 47, 333Ballast resistor / high voltage supply plug X2 for

230VAC devices 28Ballast resistor / high voltage supply plug X2 for

400VAC devices 29Ballast resistor BRM4/0x 314Ballast resistor BRM6/02 313Baud rate 79Binary record 157Bit sequence V2 188, 198Brake delay times 89BRM5/01 ballast resistor 313BRM8/01 ballast resistors 313Bus format Y2 and Y4 187, 197Byte string OS 188, 198

CC3 IEC61131-3 - Debugger 17C3 MotorManager: configuration of almost any

motors 17C3 ServoManager: configuration, setup and

optimization of Compax3 16C3_CamIn 132C3_CamOut 134C3_Current 124C3_ErrorMask 142C3_Input 143C3_IOADDITION_0 144C3_IOADDITION_1 144C3_IOADDITION_2 145C3_OpenBrake 108C3_Output 143C3_READARRAY 111Calibration of the analog input 87CAM 274Cam switching mechanism 247CamDesigner 160

CamEditor: cam creation for C3 T40 17CAN - plug BUS10/01 38, 329CAN communication objects overview sorted

according to CAN No. 163CANopen 160CANopen - configuration 79CANopen com object: Node ID of the SDO1

client 169CANopen com. object RPDO4: Transmission

type 173CANopen com. object TPDO2: Inhibit time 178CANopen com. object TPDO3: COB-ID 178CANopen com. object: COB-ID of the EMCY

message 168CANopen com. object: COB-ID of the SYNC

message 165CANopen com. object: Device name 166CANopen com. object: Device type 165CANopen com. object: Error register 165CANopen com. object: General device

information 166CANopen com. object: Guard time 167CANopen com. object: Hardware version 166CANopen com. object: Inhibit Time Emergency

168CANopen com. object: Length of the

synchronisation window 166CANopen com. object: Lifetime factor 167CANopen com. object: Period of a

communication cycle 165CANopen com. object: Product code 167CANopen com. object: Receive PDO1

communication parameters 169CANopen com. object: Receive PDO1 mapping

parameter 173CANopen com. object: Receive PDO2

communication parameters 170CANopen com. object: Receive PDO2 mapping


communication parameter 171CANopen com. object: Receive PDO3 mapping


communication parameter 172CANopen com. object: Receive PDO4 mapping

parameter 176CANopen com. object: Revision number 167CANopen com. object: RPDO1 mapping entry 1

173CANopen com. object: RPDO1 mapping entry 2



174

14. Index

Index

338 192-120111 N1 C3 T30 T40 - March 2004

CANopen com. object: RPDO1 mapping entry 5 174

CANopen com. object: RPDO1: COB-ID 169CANopen com. object: RPDO1: Event timer

170CANopen com. object: RPDO1: Inhibit time

170CANopen com. object: RPDO1: Transmission

type 170CANopen com. object: RPDO2 mapping entry 1





175CANopen com. object: RPDO2: Event timer








176CANopen com. object: RPDO3: COB-ID 171CANopen com. object: RPDO3: Event timer








176CANopen com. object: RPDO4: COB-ID 172CANopen com. object: RPDO4: Event timer


173CANopen com. object: SDO1: COB-ID R-SDO

169CANopen com. object: SDO1: COB-ID T-SDO

169CANopen com. object: Serial number 167

CANopen com. object: Server SDO1 Parameter 168

CANopen com. object: Software version 166CANopen com. object: TPDO1 mapping entry 1

180CANopen com. object: TPDO1 mapping entry 2




181CANopen com. object: TPDO1: COB-ID 177CANopen com. object: TPDO1: Event timer

177CANopen com. object: TPDO1: Inhibit time 177CANopen com. object: TPDO1: Transmission

type 177CANopen com. object: TPDO2 mapping entry 1






178CANopen com. object: TPDO2: Transmission






182CANopen com. object: TPDO3: Event timer

179CANopen com. object: TPDO3: Inhibit time 179CANopen com. object: TPDO3: Transmission







180

Parker EME Index

192-120111 N1 C3 T30 T40 - March 2004 339

CANopen com. object: TPDO4: Inhibit time 180CANopen com. object: TPDO4: Transmission

type 179CANopen com. object: Transmit PDO1

communication parameter 177CANopen com. object: Transmit PDO1 mapping

parameter 180CANopen com. object: Transmit PDO2


parameter 181CANopen com. object: Transmit PDO3 mapping

parameter 182CANopen com. object: Transmit PDO4


parameter 182CANopen com. object: Vendor Id 166CANopen com. objext: Transmit PDO3

communication parameter 178CANopen com.object: RPDO2: COB-ID 171CANopen communication profile 161CANopen plug X23 38CoDeSys - IEC61131-3 - development tool 17CoDeSys / Compax3 target system (Target

Package) 93Communication objects 162Compax3 - Objects 199Compax3 status diagram 101, 113Compax3 device description 25Compax3 status diagram 113Compilation, debugging and down/upload of

IEC61131 programs 99Complements / corrections in manual and online

help 17Conditions of utilization 20conditions of utilization for CE compliant

operation 308Conditions of utilization for CE-conform

operation 20Conditions of utilization for UL permission 15,

22Configuration 43Configuration name / comments 80Configuration of the process-data channel 76Connections to the motor 304Continuous positioning (MC_MoveVelocity)

121Control and status word 190Control dynamics 81Control functions 106Control voltage 24 VDC 31Control voltage 24VDC / enable (plug X4) 31Current Limit 72Current setting operation (C3_Current) 124Currents 271Cycle time 98Cyclic process data channel 189

DDamping of the speed controller 83

Data formats of the bus objects 186, 195Data types supported 97Defining jerk / ramps 72Defining the reference system 48Device 266Device assignment 13Digital inputs/outputs (plug X12) 34Dimensions of the MH(A)105-motors 301Dimensions of the MH(A)145 and MH(A)205

motors 302Dimensions of the SMH(A)-motors 300Direct drives 15, 293Dynamic positioning 113

EEAM06 terminal block for inputs and outputs

316Electronic gearbox (MC_GearIn) 127EMC measures 308Emergency message 168Encoder cable 324Encoder simulation 74Energizing the power output stage (MC_Power)

106Error 168, 277Error handling 140Error list 277Error reaction to a bus failure 78, 79Example in CFC: Cycle mode 152Example in CFC: Positioning 1 149Example in CFC: Positioning 2 150Example in CFC: positioning with set selection

151Example in CFC: Using Compax3-specific

function modules and Compax3 objects 148Example in ST: Cycle mode with a Move module

153Example of cams 136Example: changing the stiffness 192Exiting the active curve with coupling movement

(C3_CamOut) 134External ballast resistors 312

FFilter for speed value 83Firmware - Download 16Fixed point format C4_3 187, 196Fixed point format E2_6 186, 196Forward control measures 85Function of the LEDs on the front panel 27Function range supported 95

GGain alignment 88General 92General communication objects 165General drive 48General hazards 18General rules / timing 104GSD file 336

Index

340 192-120111 N1 C3 T30 T40 - March 2004

HHardware-Endgrenzen 16, 70HEDA 91HEDA (M11) & I/Os (M12) => Option M10 327HEDA (motion bus) - Option M11 326Holding brake 299

II/O interface X12 322IEC examples 148IEC61131-3 275Initiatorlogik tauschen 56, 71Input wiring of digital inputs 34, 326Input/output option M12 325Inputs 273Installation and dimensions Compax3 39Installation and dimensions of Compax3 S038

and S075 V4 40Installation and dimensions of Compax3 S0xx

V2 39Installation and dimensions of Compax3 S150

V4 41Installation and dimensions of Compax3 S300

V4 42Integer formats 186, 195Interchange assignment direction reversal / end

switchs 71Interface cable 320Introduction 13

JJerk limitation 116

LLanguages supported 94Library constants 103, 127, 129, 130, 132, 134,

138Library Constants 121Limit and monitoring settings 72Linear motors 294Locating the machine reference 52

MMachine zero (MC_Home) 123Machine zero modes overview 54Machine zero modes with home switch (on

X12/14) 57Machine zero modes without home switch (on

X12/14) 64Machine zero only from motor reference 66Mains filter 308Mains filter for NFI01/03 309Mains filter NFI01/01 308Mains filter NFI01/02 309Master reference system 90Master signal phase shift (MC_Phasing) 138Maximum program size 98MC_CamIn 130MC_CamTableSelect 129MC_GearIn 127

MC_Home 123MC_MoveAbsolute 114MC_MoveAdditive 119MC_MoveRelative 117MC_MoveSuperImposed 125MC_MoveVelocity 121MC_Phasing 138MC_Power 106MC_ReadActualPosition 109MC_ReadAxisError 141MC_ReadStatus 112MC_Reset 140MC_Stop 107MC_TouchProbe 146Measure reference 49MN-M 1,2

End-Initiator als Maschinennull 16MN-M 1.2: End-Initiator als Maschinennull 54,

67MN-M 11...14

Mit Wende-Initiatoren auf der negativen Seite 54

MN-M 11..00.14: Mit Wende-Initiatoren auf dernegativen Seite 63

MN-M 128/129Stromanstieg beim Fahren auf Block 54

MN-M 128/129: Stromanstieg beim Fahren aufBlock 64

MN-M 130, 131Abolutlage über Abstandscodierung erfassen

16MN-M 130, 131: Abolutlage über

Abstandscodierung erfassen 54, 66MN-M 132, 133: Determine absolute position via

distance coding with direction reversalswitches 54, 68

MN-M 17.18: End-Initiator als Maschinennull 54, 65

MN-M 19,20: MN-Initiator = 1 auf der positivenSeite 54, 57

MN-M 21.22: MN-Initiator = 1 on the negativeside 54, 58

MN-M 23...26: Wende-Initiatoren auf derpositiven Seite 54, 59

MN-M 27..0.30: Mit Wende-Initiatoren auf dernegativen Seite 54, 59

MN-M 3.4: MN-Initiator = 1 auf der positivenSeite 54, 60

MN-M 33,34 MN on the motor zero point 54, 66MN-M 35

MN an der aktuellen Position 54MN-M 35: MN an der aktuellen Position 64MN-M 5,6: MN-Initiator = 1 on the negative side

54, 61MN-M 7..0.10

Wende-Initiatoren auf der positiven Seite 54MN-M 7..0.10: Wende-Initiatoren auf der

positiven Seite 62Motion control via function modules 100Motion functions 113Motor 267Motor / Motor brake (plug X3) 30

Parker EME Index

192-120111 N1 C3 T30 T40 - March 2004 341

Motor cable for terminal box 307Motor Connection 30Motor data table for standard motors 298Motor holding brake 30Motor output choke MDR01/01 310Motor output choke MDR01/02 311Motor output filter 310Motor output filter MDR01/04 310Motor selection 45Motorkabel mit Stecker 22, 30, 306

NNew Compax3 functions 15New functions of the Compax3 software tools

16New machine zero modes 16Node Guarding 167

OObject list sorted by object name 202Object overview 199Object types 162Object up-/download via CANopen 185Object: 1. object of the setpoint PZD (Profibus)

212Object: 1st object of actual value PZD 212Object: acceleration and delay for the machine

reference run 260Object: Activating the input/output option

M10/M12 209Object: actual acceleration value filter 206Object: actual acceleration value filter 2 206Object: actual speed value filter 206Object: Actual speed value filter 2 207Object: Automatic commutation starting current

256Object: Baudrate 262Object: control word 2 257Object: control word CW 257Object: current controller bandwidth 205Object: current error (n) 259Object: Cycle time specification 262Object: D component speed controller 207Object: damping (speed controller) 205Object: Enable cams group 0 250Object: Enable cams group 1 250Object: Enable fast cams 252Object: Error (n-1) in the error history 210Object: Error of the I/O option 209Object: forward acceleration control 213Object: forward current control 213Object: forward jerk control 213Object: forward speed controller 214Object: Hysteresis for cam switching mechanism

253Object: Indirect table access column 1 243Object: Indirect table access column 2 244Object: Indirect table access column 3 244Object: Indirect table access column 4 244Object: Indirect table access column 5 245Object: Indirect table access column 6 245

Object: Indirect table access column 7 245Object: Indirect table access column 8 246Object: Indirect table access column 9 246Object: initiator adjustment 260Object: Input word of the I/O option 209Object: Jerk for the machine reference run 260Object: List of the ProfiDrive standard signals

263Object: maximum permissible negative current

214Object: maximum permissible negative speed

215Object: maximum permissible positive current

215Object: maximum permissible positive speed

215Object: moment of inertia 207Object: negative end limit 216Object: Number of cams 251Object: operating mode 258Object: Operating mode display 258Object: Output cams group 0 251Object: Output cams group 1 252Object: Output fast cams 252Object: Output word for the I/O option 210Object: Pointer to table row 246Object: Position from external signal source

211Object: Position reached 221Object: position window time 222Object: positioning window for position reached

221Object: positive end limit 216Object: PPO type selection switch 263Object: Profibus profile number 208Object: Rapidity of the speed monitor 223Object: Read objects from Flash 220Object: save objects permanently 220Object: Save objects permanently (Bus) 219Object: Scaling factor for column 1 of the recipe

array 218Object: Scaling factor for column 2 of the recipe

array 217Object: Scaling factor for Y2 positions 217Object: Scaling factor for Y2 voltages 218Object: Scaling factor for Y4 positions 218Object: Scaling factor for Y4 speeds 219Object: Scaling factor for Y4 voltages 219Object: Scaling factor forY2 speeds 217Object: set objects to valid 239Object: Setpoint for analog output 0 204Object: Setpoint for analog output 1 204Object: setting the machine reference modes

261Object: Source of cam 249Object: Source of fast cam 254Object: speed for the machine reference run

261Object: Speed from external signal source 211Object: station address 263Object: Status actual acceleration filtered 223

Index

342 192-120111 N1 C3 T30 T40 - March 2004

Object: Status actual acceleration unfiltered 223

Object: Status actual current effective (torqueforming) 224

Object: Status actual position 231Object: Status actual position without absolute

reference 231Object: Status actual speed filtered 235Object: Status actual speed in the Y2 format

234Object: Status actual speed in the Y4 format

234Object: Status actual speed unfiltered 234Object: Status analog input 0 237Object: Status analog input 1 238Object: Status analog input cosine 229Object: Status analog input sine 229Object: Status control deviation current effective

224Object: Status Control deviation of speed 236Object: Status control program cycle time 261Object: Status cosine in signal processing 230Object: Status current and jerk feedforward

effective 225Object: Status current phase U 225Object: Status current phase V 225Object: Status DC bus voltage 238Object: Status disturbance monitored 229Object: Status encoder input 0 (24V) 233Object: Status encoder input 0 (5V) 233Object: Status encoder level 230Object: Status long-term motor utilization 228Object: Status master position 256Object: Status maximum cycle time 262Object: status of actual current value 227Object: status of auxiliary voltage 238Object: status of device utilisation 227Object: status of motor temperature 237Object: status of power stage temperature 237Object: Status of the digital inputs 208Object: Status of the Multiturn emulation 216Object: status of tracking error 233Object: Status of voltage control signal 226Object: Status position acutal value in the Y4

bus format 231Object: Status signal source of master position

monitoring 255Object: Status sine in signal processing 230Object: Status slave position 256Object: Status speed and acceleration

feedforward 236Object: Status target acceleration 224Object: Status target current effective (torque

forming) 226Object: Status target jerk of setpoint encoder

226Object: Status target position 232Object: Status target position of virtual master

232Object: Status target position without absolute

reference 232Object: Status target speed controller input 235

Object: Status target speed of setpoint encoder 235

Object: Status target speed virtual master 236Object: Status word 2 259Object: status word SW 258Object: stiffness (speed controller) 208Object: Switch for disturbance feedforward 222Object: Switch-off anticipation of cam 249Object: Switch-off anticipation of fast cam 255Object: Switch-off position of cam 248Object: Switch-off position of fast cam 253Object: Switch-on anticipation of cam 250Object: Switch-on anticipation of fast cam 255Object: Switch-on position of cam 248Object: Switch-on position of fast cam 254Object: telegram selection switch 264Object: Time constant disturbance filter 222Object: tracking error limit 221Object: tracking error time 220Object: Variable column 1 row 1 240Object: Variable column 2 row 1 241Object: Variable column 3 row 1 241Object: Variable column 4 row 1 241Object: Variable column 5 row 1 242Object: Variable column 6 row 1 242Object: Variable column 7 row 1 242Object: Variable column 8 row 1 243Object: Variable column 9 row 1 243Object: Voltage feedforward 214Object:Damping of the current controller 205objects for the process data channel 79Objects for the process data channel 76Objekt: Status short-term motor utilization 228Offset alignment 87Opening the brake (C3_OpenBrake) 108Operation with MultiTurn emulation 53Operation with SinCos Multiturn 52Operator control module BDM 315Operators supported 95Optimization 81Optimize motor reference point and switching

frequency of the power output stage 46Order and response processing 191Order code accessories 304, 305, 306, 307,

320, 322, 323, 324Order code for Compax3 290Order code for SMH/MH motors 303Output wiring of digital outputs 35, 326Overview of motor cables 305

PParameter access with DPV0

Required data channel 190, 193Parker servo motors 293PKW parameter channel 78Plug and connector assignment Compax3 26Plug assignment Compax3S0xx V2 26, 27, 28,

30, 31, 32, 36Positioning window - Position reached 73Positioning with IEC61131-3 23Positions 268

Parker EME Index

192-120111 N1 C3 T30 T40 - March 2004 343

Possible PDO assignment 79Power supply 26, 27Power supply plug X1 for 230VAC devices 27Power supply plug X1 for 400 VAC devices 28Predefined external setpoint value optimized via

analogue input 15Process image 143Profibus 189Profibus configuration 76Profibus plug X23 37Profibus-Master configuration 189Profibusstecker BUS08/01 37, 328Program development and test 94Programming based on IEC61131-3 92Pulse encoder systems 299

RRamp upon error and de-energize 72Read access to the (C3_READARRAY) array

111Read process data from Compax3 177Reading axis errors (MC_ReadAxisError) 141Reading digital inputs (C3_INPUT) 143Reading the current position

(MC_ReadActualPosition) 109Reading the device status (MC_ReadStatus)

112Reading values 109Reading/writing optional inputs/outputs 144Recipe management 94Recipe table 75Recipe table with 9 columns and 32 lines 98Recording the axis position (MC_TouchProbe)

146Ref X11 323Relative positioning (MC_MoveRelative) 117Release 1/2004 15Requirements 93Resolver 36Resolver / Feedback (connector X13) 36Resolverkabel 36, 304Retain Variables 97Rotary servo motors 295RS232 & RS485 interface record 155RS232 / RS485 interface (plug X10) 32RS232 cable 320RS232 plug assignment 32RS485 / RS232 interface 16RS485 cable to Pop 321RS485 plug assignment 32RS485 setting values 80

SSafety Instructions 18Safety-conscious working 18SDO abort code 184Selecting a curve (MC_CamTableSelect) 129Send process data to Compax3 169Service Data Object 168Service Data Objects (SDO) 184Setting up Compax3 43

Setup support 16SinCos-Kabel 36, 305Software end limits 69Special safety instructions 19Speed control 121Speeds 269Standard function modules supported 96Standard functions supported 96Starting a selected curve (MC_CamIn) 130Starting a selected curve with coupling

movement (C3_CamIn) 132Status values 265Stiffness of the speed controller 82Stop (MC_Stop) 107Superimposed positioning

(MC_MoveSuperImposed) 113, 125Switching frequency of the power output stage

can be set 15Switching off error messages

(C3_ERRORMASK) 142Synchronization 90

TTechnical Data 330Time frame predefined setpoint value 90Torque motors 294Tracking error limit 73Transmission cycle time 80Transmitter 276Transmitter systems for direct drives 293Travel limits 69Turning the motor holding brake on and off 89Type specification plate 14Typical application with fieldbus and IEC61131

189

UUL certification 15Unsigned - Formats 186, 195Upload/download objects via the Profibus 194Usage in accordance with intended purpose 18

VVirtual Master 102

WWarranty conditions 19Wiring of analog outputs 33Wiring of the analog input 33Wiring of the motor output filter 311With direction reversal switches 58, 61, 67With motor reference point 60, 66Without direction reversal switches 57, 60Without motor reference point 57, 64Write digital outputs (C3_OUTPUT) 143

XX1 27X10 32X11 33

Index

344 192-120111 N1 C3 T30 T40 - March 2004

X12 34X13 36X2 28X3 30X4 31

ZZBH plug set 319Zubehör Compax3 22, 290

function modules based on plcopen

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