positioning via canopen - compumotor€¦ · emd hauser we reserve the right to make technical...

EMD HAUSER

We reserve the right to make technical changes. 25.08.03 12:17 I21 T11 192-120106 N3 - August 2003The data contained in this manual correspond to the current status at the time of printing.

Operating Instructions Compax3 I21 T11

Positioning via CanOpen

I21 T11 192-120106 N3 - August 2003

as from software version V02.00

Introduction

2 I21 T11 192-120106 N3 - August 2003

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

EMD Headquarters:Parker Hannifin GmbHEMD HAUSERPostfach: 77607-1720Robert-Bosch-Str. 22D-77656 OffenburgTel.: +49 (0)781 509-0Fax: +49 (0)781 509-176

E-mail: [email protected]: www.parker-emd.com

EMD England:Parker Hannifin plcEMD Digiplan21 Balena ClosePoole, Dorset England, BH17 /DX UKTel.: +44 (0)1202 69 9000Fax: +44 (0)1202 69 5750


EMD ItalyParker Hannifin S. p. AEMD S.B.C.Via Gounod 1I-20092 Cinisello Balsamo (MI), ItalyTel.: +39 (0)2660 12459Fax: +39 (0)2660 12808


Parker USA:Parker Hannifin CorporationCompumotor Division5500 Business Park DriveRohnert Park, CA 94928Phone #: (800) 358-9068FAX #: (707) 584-3715

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

EMD HAUSER Device assignmentGeneral hazards

I21 T11 192-120106 N3 - August 2003 3

Contents

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

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

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

1.3 Safety Instructions................................................................................... 91.3.1 General hazards ................................................................................................... 91.3.2 Safety-conscious working................................................................................... 91.3.3 Special safety instructions................................................................................ 10

1.4 Warranty conditions .............................................................................. 10

1.5 Conditions of utilization ........................................................................ 11

2. Compax3 Positioning via CANopen.....................................................13

3. Compax3 device description................................................................15

3.1 Plug and connector assignment Compax3.......................................... 153.1.1 Function of the LEDs on the front panel.......................................................... 163.1.2 Power supply plug X1 for 230VAC devices ..................................................... 163.1.3 Power supply plug X1 for 400 VAC devices .................................................... 173.1.4 Ballast resistor / power supply voltage plug X2 for 230VAC devices .......... 173.1.5 Ballast resistor / power supply voltage plug X2 for 400VAC devices .......... 183.1.6 Motor / Motor brake (plug X3) ........................................................................... 193.1.7 Control voltage 24VDC / enable (plug X4) ....................................................... 193.1.8 RS232 / RS485 interface (plug X10).................................................................. 213.1.9 Analog / Encoder (plug X11) ............................................................................. 22

3.1.9.1 Wiring of analog outputs ....................................................................... 223.1.10 Digital inputs/outputs (plug X12)...................................................................... 23

3.1.10.1 Input wiring of digital inputs................................................................... 233.1.10.2 Output wiring of digital outputs.............................................................. 24

3.1.11 Resolver / Feedback (connector X13) .............................................................. 243.1.12 CANopen plug X23 ............................................................................................. 253.1.13 Adjusting the bus address / function of the bus LEDs .................................. 25

3.2 Installation and dimensions Compax3................................................. 263.2.1 Installation and dimensions of Compax3 S0xx V2 ......................................... 263.2.2 Installation and dimensions of Compax3 S038 and S075 V4 ........................ 273.2.3 Installation and dimensions of Compax3 S150 V4 ......................................... 283.2.4 Installation and dimensions of Compax3 S300 V4 ......................................... 29

4. Commissioning Compax3 ....................................................................30

4.1 Configuration ......................................................................................... 30

IntroductionGeneral hazards

4 I21 T11 192-120106 N3 - August 2003

4.1.1 Motor selection................................................................................................... 314.1.2 Ballast resistor ................................................................................................... 324.1.3 General drive ...................................................................................................... 32

4.1.3.1 External moment of inertia / load .......................................................... 324.1.4 Defining the reference system.......................................................................... 33

4.1.4.1 Measure reference................................................................................ 334.1.4.2 Machine reference modes (MN-Ms) ..................................................... 35

4.1.5 Defining jerk / ramps.......................................................................................... 414.1.5.1 Speed for positioning ............................................................................ 414.1.5.2 Acceleration / delay for positioning ....................................................... 414.1.5.3 Jerk limit for positioning ........................................................................ 414.1.5.4 Ramp upon error and de-energize........................................................ 434.1.5.5 Jerk for STOP, MANUAL and error ...................................................... 43

4.1.6 Limit and monitoring settings........................................................................... 444.1.6.1 Current Limit ......................................................................................... 44

4.1.7 Encoder simulation ............................................................................................ 454.1.8 CANopen - configuration................................................................................... 46

4.1.8.1 Operating mode speed / position control .............................................. 464.1.8.2 Possible PDO assignment .................................................................... 474.1.8.3 Error reaction to a bus failure................................................................ 474.1.8.4 Baud rate............................................................................................... 484.1.8.5 Transmission cycle time........................................................................ 48

4.1.9 RS485 setting values ......................................................................................... 48

4.2 Optimization ........................................................................................... 494.2.1 Control dynamics ............................................................................................... 49

4.2.1.1 Stiffness of the speed controller ........................................................... 494.2.1.2 Damping of the speed controller ........................................................... 504.2.1.3 Filter for speed value ............................................................................ 504.2.1.4 Advanced control parameters............................................................... 51

4.2.2 Commissioning mode........................................................................................ 544.2.3 Turning the motor holding brake on and off ................................................... 55

5. CANopen................................................................................................56

5.1 CANopen communication profile ......................................................... 565.1.1 Object types........................................................................................................ 565.1.2 Communication objects..................................................................................... 57

5.1.2.1 CAN communication objects overview sorted according to CANNo.......................................................................................................... 57

5.1.2.2 General communication objects ........................................................... 595.1.2.3 Node Guarding...................................................................................... 615.1.2.4 Emergency message ............................................................................ 625.1.2.5 Service Data Object .............................................................................. 635.1.2.6 Send process data to Compax3 ........................................................... 645.1.2.7 Read process data from Compax3 ....................................................... 71

5.2 Status machine ...................................................................................... 79

5.3 Cyclic process data objects.................................................................. 815.3.1 Control word ....................................................................................................... 815.3.2 Status word......................................................................................................... 83

5.4 Acyclic parameter channel.................................................................... 845.4.1 Service Data Objects (SDO) .............................................................................. 84

EMD HAUSER Device assignmentGeneral hazards

I21 T11 192-120106 N3 - August 2003 5

5.4.1.1 SDO abort code .................................................................................... 845.4.2 Object up-/download via CANopen .................................................................. 855.4.3 CANopen Objects............................................................................................... 86

5.4.3.1 Standardised and manufacturer-specific objects sorted accordingto CANopen index................................................................................. 86

5.4.3.2 Standardised and manufacturer-specific objects sorted accordingto object names..................................................................................... 87

5.4.3.3 Object list sorted by object name.......................................................... 895.4.4 Data formats of the bus objects ..................................................................... 103

5.4.4.1 Integer formats.................................................................................... 1035.4.4.2 Unsigned - Formats ............................................................................ 1045.4.4.3 Fixed point format E2_6...................................................................... 1045.4.4.4 Fixed point format C4_3...................................................................... 1045.4.4.5 Bit sequence V2.................................................................................. 1045.4.4.6 Byte string OS..................................................................................... 104

6. Compax3 accessories.........................................................................105

6.1 Order code for Compax3..................................................................... 105

6.2 Accessories order code ...................................................................... 106

6.3 Parker servo motors ............................................................................ 1086.3.1 Direct drives...................................................................................................... 108

6.3.1.1 Transmitter systems for direct drives.................................................. 1086.3.1.2 Linear motors ...................................................................................... 1096.3.1.3 Torque motors..................................................................................... 109

6.3.2 Rotary servo motors ........................................................................................ 1106.3.3 Motor data table for standard motors ............................................................ 1136.3.4 Holding brake ................................................................................................... 1146.3.5 Pulse encoder systems ................................................................................... 1146.3.6 Dimensions of the SMH(A)-motors................................................................. 1156.3.7 Dimensions of the MH(A)105-motors ............................................................. 1166.3.8 Dimensions of the MH(A)145 and MH(A)205 motors .................................... 1176.3.9 Order code for SMH/MH motors ..................................................................... 118

6.4 Connections to the motor ................................................................... 1196.4.1 Resolver cable .................................................................................................. 1196.4.2 SinCos cable..................................................................................................... 1206.4.3 Overview of motor cables................................................................................ 1206.4.4 Motor cable with plug ...................................................................................... 1216.4.5 Motor cable for terminal box........................................................................... 122

6.5 EMC measures ..................................................................................... 1236.5.1 Mains filter ........................................................................................................ 123

6.5.1.1 Mains filter NFI01/01........................................................................... 1236.5.1.2 Mains filter NFI01/02........................................................................... 1246.5.1.3 Mains filter for NFI01/03...................................................................... 124

6.5.2 Motor output choke.......................................................................................... 1256.5.2.1 Motor output choke MDR01/04........................................................... 1256.5.2.2 Motor output choke MDR01/01........................................................... 1256.5.2.3 Motor output choke MDR01/02........................................................... 1266.5.2.4 Wiring of the motor output choke........................................................ 126

6.6 External ballast resistors .................................................................... 127

IntroductionGeneral hazards

6 I21 T11 192-120106 N3 - August 2003

6.6.1.1 BRM8/01 ballast resistors ................................................................... 1276.6.1.2 BRM5/01 ballast resistor..................................................................... 1286.6.1.3 BRM6/01 ballast resistor..................................................................... 1286.6.1.4 Aallast resistor BRM4/0x..................................................................... 129

6.7 Operator control module BDM............................................................ 130

6.8 Interface cable...................................................................................... 1316.8.1 RS232 cable ...................................................................................................... 1316.8.2 I/O interface X12 ............................................................................................... 1326.8.3 Ref X11 .............................................................................................................. 1336.8.4 Encoder cable................................................................................................... 134

6.9 EAM06 terminal block for inputs and outputs................................... 135

6.10 ZBH plug set......................................................................................... 138

7. Appendix..............................................................................................139

7.1 Analog status output via D/A monitor................................................ 139

7.2 Status values........................................................................................ 139

7.3 Error ...................................................................................................... 1407.3.1 Error list............................................................................................................. 141

8. Technical Data.....................................................................................148

9. Index.....................................................................................................154

EMD HAUSER Introduction

I21 T11 192-120106 N3 - August 2003 7

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)

! I21 T11

1. Introduction

Introduction

8 I21 T11 192-120106 N3 - August 2003

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 designation

The complete order designation of the device (2, 5, 6, 10, 9)2 C3S025V2

C3: 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 Multiturn

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:


I21 T11 192-120106 N3 - August 2003 9

1.3 Safety Instructions

1.3.1 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 purposeThe 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.

1.3.2 Safety-conscious working

This device may be operated only by qualified personnel.Qualified personnel in these sense of these operating instructions consists of:! Persons who, by virtue to their training, experience and instruction, and their knowledge of

pertinent norms, specifications, accident prevention regulations and operationalrelationships, have been authorized by the officer responsible for the safety of the systemto perform the required task and in the process are capable of recognizing potentialhazards and avoiding them (definition of technical personnel according to VDE105 orIEC364),

! Persons who have a knowledge of first-aid techniques and the local emergency rescueservices.

! 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.

Introduction

10 I21 T11 192-120106 N3 - August 2003

1.3.3 Special safety instructions

! Check the correct association of the device and its documentation.! Never detach electrical connections while voltage is applied to them.! Safety devices must be provided to prevent human contact with moving or rotating parts.! Make sure that the device is operated only when it is in perfect condition.! Implement and activate the stipulated safety functions and devices.! Operate the device only with the housing closed.! Make sure that the nominal and peak power rating of the mains power supply module (if

present) is adequate.! 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.

1.4 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 optionsCompax3 options must be exchanged in the factory to ensure hardware andsoftware compatibility.


I21 T11 192-120106 N3 - August 2003 11

1.5 Conditions of utilization

- for CE-conform operation in industry and trade.The EC guidelines for electromagnetic compatibility 89/336/EEC and for electricaloperating devices for utilization within certain voltage limits 73/23/EEC are fulfilledwhen the following boundary conditions are observed:

Operation of the devices only in the condition in which they were delivered,i.e. with all housing panels.

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

Commercial and residential area (limit values of Class A in accordance withEN 61800-3)The following mains filters are available for independent utilization:Device: Compax3 Order No.: Condition:S0xx V2: NFI01/01 Only for motor lines longer than 10mS038, S075, S150 V4: NFI01/02 Only for motor lines longer than 10mS300 NFI01/03 Only for motor lines longer than 10m

Industrial area (limit values in accordance with EN 61800-3)Longer motor cable lengths are possible in industrial areas without a mains powerfilter.

Connection length: connection between mains filter and device:unshielded: < 0.5mshielded: < 5m (fully shielded on ground e.g. ground of control cabinet)

Operate the devices only with HAUSER motor and resolver cables (theirplugs contain special full surface area shielding).

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

Introduction

12 I21 T11 192-120106 N3 - August 2003

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

Motor cable shieldingThe motor cable should be fully shielded and connected to the Compax3 housing.We offer a special shield connecting terminal as accessory item.

< 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.).

Use only accessories recommended by HAUSER

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

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

appropriate remedial measures.

Resolver cable

Motors:

Control:

Grounding:

Cable installation:

Accessories:

Warning:

EMD HAUSER Compax3 Positioning via CANopen

I21 T11 192-120106 N3 - August 2003 13

Due to its high functionality, the Positioning version of Compax3 forms an idealbasis for many applications in high-performance motion automation.

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 contro module (BDM01/01) for Compax3 makes itpossible to exchange devices quickly without requiring a PC.

Operating modesYou can select between two operating modes:! Speed controller or! Position controller

ConfigurationConfiguration is made on a PC using the Compax3 ServoManager.Install the programme on your PC and connect to the Compax3 X10 via the RS232(Cable plan (see on page 131).

2. Compax3 Positioning viaCANopen

Compax3 Positioning via CANopen

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CANopen ratingsProfile ! Motion Control CiADS402Baud rate [kBit/s] ! 20, 50, 100, 125, 250, 500, 800, 1000EDS file ! C3.EDSService data object ! SDO1Process data objects ! PDO1

! PDO2Deviations from the CANopen DeviceProfile DSP402

! For the velocity mode profile the targetacceleration is also applicable when braking.

! Only one rotation speed is possible formachine zero run start (objects 0x6099.1 and.2 are the same).

EMD HAUSER Compax3 device description

I21 T11 192-120106 N3 - August 2003 15

3.1 Plug and connector assignment Compax3

3. Compax3 device description

X10RS232 / RS485

X11Analog/EncoderAnalogue/Encoder

X12Ein-/AusgängeInputs/Outputs

X13GeberFeedback

X1AC VersorgungAC Supply

X2Ballast / DC LSBallast / DC HV

X3Motor / BremseMotor / Brake

X424VDC / Freigabe24VDC / Enable

S24AdresseAddress

X23BusBus

Compax3 device descriptionFunction of the LEDs on the front panel

16 I21 T11 192-120106 N3 - August 2003

Always switch devices off before wiring them!

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

Caution!When the control voltage is missing there is no indication whether ornot power supply voltage is present.

3.1.1 Function of the LEDs on the front panel

State LED red LED greenVoltages missing off offWhile booting alternately flashingNo configuration exists orSinCos encoder not detected

flashing off

Axis without current excitation off flashingAxis with current excitation off onAxis in fault status / fault present on off

3.1.2 Power supply plug X1 for 230VAC devices

PIN Description1 L2 N3 PE

Mains connection: Compax3 S0xx V2Controller type S025 V2 S063 V2Mains voltage Single phase 230VAC + 10%

80-230VAC+10% / 50-60HzRated input current 6Aeff 16AeffMaximum fuse rating per device 10A (automatic circuit

breaker K)16 A (automatic circuitbreaker K)



EMD HAUSER Plug and connector assignment Compax3Power supply plug X1 for 400 VAC devices

I21 T11 192-120106 N3 - August 2003 17

3.1.3 Power supply plug X1 for 400 VAC devices

PIN Description1 L12 L23 L34 PE

Mains connection Compax3 Sxxx V4Controller type S038 V4 S075 V4 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC

80-480 VAC+10% / 50-60 HzRated input current 6Aeff 10 Aeff 16Aeff 22AeffMaximum fuse rating perdevice

10A (automaticcircuit breakerK)

16 A (automatic circuitbreaker K)




3.1.4 Ballast resistor / power supply voltage plug X2 for 230VACdevices

PIN Description1 + Ballast resistor2 - Ballast resistor3 PE4 + DC power voltage5 - DC power voltage

Brake operation Compax3 Sxxx V2Controller type S025 V2 S063 V2Capacitance / storable energy 560µF / 15Ws 1120µF /30WsMinimum ballast - resistance 100Ω 56ΩRecommended nominal power rating 20 ... 60W 60 ... 180WPulse power rating for 1s 1kW 2.5kW

Compax3 device descriptionBallast resistor / power supply voltage plug X2 for 400VAC devices

18 I21 T11 192-120106 N3 - August 2003

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

3.1.5 Ballast resistor / power supply voltage plug X2 for 400VACdevices

PIN Description1 + Ballast resistor2 - Ballast resistor3 PE4 + DC power voltage5 - DC power voltage

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

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

1100µF /176Ws

Minimum ballast -resistance

100Ω 56Ω 33Ω 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

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 rated currents)

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

Caution!

EMD HAUSER Plug and connector assignment Compax3Motor / Motor brake (plug X3)

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3.1.6 Motor / Motor brake (plug X3)

PIN Description1 U (motor)2 V (motor)3 W (motor)4 PE (motor)5 BR+ Motor holding brake6 BR- Motor holding brake

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

Motor holding brake outputController type Compax3Voltage range 21 27VDCMaximum output current (short circuitproof)

1.6 A

Motor cable (see on page 121)

3.1.7 Control voltage 24VDC / enable (plug X4)

PIN Description1 +24 V2 Gnd24 V3 Enable_in4 Enable_out_a5 Enable_out_b

Control voltage 24 VDCController type Compax3Voltage range 21 - 27VDCCurrent drain of the device 0.8 ATotal current drain 0.8 A + Total load of the digital outputs +

current for the motor holding brakeRipple 0.5VppRequirement according to safe extralow voltage (SELV)

yes

Compax3 device descriptionControl voltage 24VDC / enable (plug X4)

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Power stage enable: X4/3=24 VDCTolerance range: 18.0 V 33.6 V / 720 ΩThe +24V supply can be taken, for example, from Pin 1.

Safe stop (X4/3=0V)For implementation of a safety function in accordance with DIN EN 954-1:Category 3The 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 isContact opened activatedContact closed deactivatedSeries 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


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3.1.8 RS232 / RS485 interface (plug X10)

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

RS232PINX10

RS232 (Sub D)

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

RS485 2-wirePINX10

RS485 2-wireSub DPin 1 and pin 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-wirePIN RS485 4-wire

Sub DPin 1 and pin 9 jumpered externally

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

Compax3 device description

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3.1.9 Analog / Encoder (plug X11)

PIN X11 ReferenceHigh Density Sub D

1 +24V (output for encoder) max. 50mA2 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. 150mA6 A/ (Encoder simulation)7 A (Encoder simulation)8 B (Encoder simulation)9 Ain0 +: analogue input + (14-bit)10 Ain1 +: analogue input + (14-bit)11 Ain0 -: analogue input - (14-bit)12 B/ (Encoder simulation)13 N/ (Encoder simulation) 14 N (Encoder simulation)15 GND

3.1.9.1 Wiring of analog outputs

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

X11/3

X11/15

332ΩX11/4


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3.1.10 Digital inputs/outputs (plug X12)

PINX12/

Input/output I/O /X12High density/Sub D

1 O +24VDC output (max. 500mA)2 O0 Output 0 (max. 100mA)3 O1 Output 1 (max. 100mA)4 O2 Output 2 (max. 100mA)5 O3 Output 3 (max. 100mA)6 I0 Input 07 I1 Input 1 8 I2 Input 29 I3 Input 310 I4 Input 411 I 24V input for the digital outputs Pins 2 to 512 I5 Input 513 I6 Input 614 I7 Machine reference initiator15 O Gnd 24 VAll inputs and outputs have 24V level.Maximum capacitive load on the outputs: 50 nF (max. 4 Compax3 inputs)Note:The inputs and outputs are not accessible via the bus.

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.


24 I21 T11 192-120106 N3 - August 2003

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.

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 Hall14 REFres+ Vcc (+8V) Vcc (+5V) (controlled on the encoder

side) max. 220mA load5 +5V (for temperature sensor) +5V (for temperature and hall

sensors)6 CLKfbk CLKfbk Hall27 SIN- SIN- SIN- / A- (Encoder)8 SIN+ SIN+ SIN+ / A+ (Encoder)9 CLKfbk/ CLKfbk/ Hall310 Tmot Tmot Tmot11 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: 100mResolver cable (see on page 119)SinCos cable (see on page 120)


I21 T11 192-120106 N3 - August 2003 25

3.1.12 CANopen plug X23

PinX23

CANopen (Sub D)

1 Reserved2 CAN_L CAN Low3 GNDfb Electrically isolated GND-supply4 Reserved5 SHIELD Shield optional6 Reserved7 CAN_H CAN High8 Reserved9 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.

3.1.13 Adjusting the bus address / function of the bus LEDs

Values:1: 20; 2: 21; 3: 22; ... 7: 26; 8: reservedSettings:Left: OFFRight: ON(The address is set to 0 in the illustration to the left)Value range: 1 ...127Address 0 is set internally to address 126.

Function of the LEDsGreen LED (left) Red LED (right) Descriptionalternately flashing Field bus program missingoff flashing Compax3 not initialisedon flashing Bus operation mode (no DATA exchange)on off Bus operation mode (DATA exchange)on on Bus error


26 I21 T11 192-120106 N3 - August 2003

3.2 Installation and dimensions Compax3

3.2.1 Installation and dimensions of Compax3 S0xx V2

Mounting:3 socket head screws M5

Mounting spacing:Device separation 15 mm


I21 T11 192-120106 N3 - August 2003 27

3.2.2 Installation and dimensions of Compax3 S038 and S075 V4



248

80

259

267

279

65Compax3 S038 V4:

100Compax3 S075 V4:

115

7,5

40


28 I21 T11 192-120106 N3 - August 2003

3.2.3 Installation and dimensions of Compax3 S150 V4



248

259

15826

727

9

80 39


I21 T11 192-120106 N3 - August 2003 29

3.2.4 Installation and dimensions of Compax3 S300 V4



380 40

0

412

391

17580 6

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

Commissioning Compax3

30 I21 T11 192-120106 N3 - August 2003

4.1 Configuration

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.

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 requirementsFor 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 connnected with Compax3 over an RS232 cable (SSK1 see on page131) (COM 1/2 interface on the PC based on X10 Compax3).Start the Compax3 servo manager and make the setting for the selected interfacein the Options menu: Port (RS232) COM 1 or COM 2.

4. Commissioning Compax3

Installation of the C3ServoManager

Connection betweenPC and Compax3

EMD HAUSER Commissioning Compax3

I21 T11 192-120106 N3 - August 2003 31

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.

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 brake delay times (on page 55).

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 (Linear and Torque Motors)

Device selection

Configuration


32 I21 T11 192-120106 N3 - August 2003

4.1.2 Ballast resistor

If the regenerative brake output exceeds the amount of energy that can bestored by the servo-controller, an error will be generated. To ensure safeoperation, it is then necessary to reduce either! to reduce the accelerations resp. the decelerations,! or you will need an external ballast resistor.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.

4.1.3 General drive

4.1.3.1 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.


I21 T11 192-120106 N3 - August 2003 33

4.1.4 Defining the reference system

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

4.1.4.1 Measure reference

You can select from among the following for the unit:! mm,! increments or! angle degree.

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

Travel distance permotor revolution /

pitch

Input as numeratorand denominator

Example 1:


34 I21 T11 192-120106 N3 - August 2003

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: mmgear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutionsNumber of teeth for pinion: 12Tooth spacing: 10 mmTrave 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

CounterUnit: unit of measure Range: depends on the unit selected Standard value: depends

on the unit selectedResolution: 0.000 000 1 (7 places after the decimal point)Unit Division Standard valueIncrements* 10 ... 1 000 000 1024mm 0,010 000 0 ... 2000,000 000 0 1,000 000 0Degrees 0,010 000 0 ... 720,000 000 0 360,000 000 0

DenominatorUnit: - Range: 1 ... 1 000 000 Standard value: 1Integer 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).

Inversion of the directionUnit: - Range: no / yes Standard value: noDirection reversal makes the motor rotate in the other direction, i.e. the direction in whichthe motor is moving is reversed with the same magnitude of the setpoint.

Example 2:


I21 T11 192-120106 N3 - August 2003 35

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

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

7 4 10mm

300 mm

M 74

A reset path of 300 mm can be entered directly with numerator = 300 mm anddenominator = 1.

Reset travel distance

CounterUnit: unit of measure Range: depends on the unit selected Standard value: depends

on the unit selectedUnit Division Standard valueIncrements 10 ... 1 000 000 0mm 1 ... 2000 0Degrees 1 ... 720 0

DenominatorUnit: - Range: 1 ... 1 000 000 Standard value: 0Integer value

Turn off reset modeReset mode is turned off for numerator = 0 and denominator = 0.

4.1.4.2 Machine reference modes (MN-Ms)

Reset mode

Example:


36 I21 T11 192-120106 N3 - August 2003

MN-M 3,4/19,20 MN on the positive edge of the MN-initiatorThe 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 level

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 flank 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

With motorreference point

Without motorreference point


I21 T11 192-120106 N3 - August 2003 37

MN-M 5,6/21,22: MN proximity switch = 1 on the negative edgeThe 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

1: motor reference point2: initiator level

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 flank of the MN initiator is used directly as an MN (themotor reference point is not taken into consideration)

2222

21

21

1

1: initiator level

With motorreference point

Without motorreference point


38 I21 T11 192-120106 N3 - August 2003

MN-M 33,34 MN on the motor zero pointThe 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 35: MN at the current positionThe current position when the MN trip is activated is used as an MN.

35

MN-M 128/129: current increase while moving to blockWithout 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

Without machinereference initiator

Please observe:


I21 T11 192-120106 N3 - August 2003 39

Adjusting the machine zero proximity switchThis 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

A solution to this problem is to move the MN initiator by means of software. This isdone using the value initiator adjustment.

Initiator adjustmentUnit:Motor angle in degrees

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

Move the machine reference initiator using software

Machine reference offset0 1

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.

Travel limit0 1 2


40 I21 T11 192-120106 N3 - August 2003

The travel range, defined by the negative and positive end limits.

End limit in absolute operating modePositioning is limited to the end limits. The drive remains in place at the end limits ifa larger destination has been specified.The reference is the position reference point that was defined with the machinereference and the machine reference offset.End limit in endless operating modeEach individual positioning is limited to the end limits. The drive remains will onlymove further around the end limits if a larger destination has been 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.

Behavior after thesystem is turned on


I21 T11 192-120106 N3 - August 2003 41

4.1.5 Defining jerk / ramps

4.1.5.1 Speed for positioning

You can adjust the default speed for positioning here.The speed can be changed during operation via the bus.This setting is only relevant in the "Position control (positioning)" operating mode.

4.1.5.2 Acceleration / delay for positioning

You can make a setting for a default acceleration / delay here.The acceleration / deceleration can be changed during operation via the bus.

4.1.5.3 Jerk limit for positioning

Adjusting the maximum jerk for positioningThis setting is only relevant in the "Position control (positioning)" operating mode.In Speed control operating mode, jerk is not limited.


42 I21 T11 192-120106 N3 - August 2003

Jerk

You can use the jerk limit (= maximum change in acceleration) to limit themaximum change in acceleration.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 theacceleration (from 0 to the set value or from the set value to 0). This change inspeed is limited by 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.

JerkUnit: unit/s3 Range: 0 ... 10 000 000 Standard value:

1 000 000

STOP delayAfter a STOP signal, the drive applies the brakes with the delay that is set (2).

NO STOP: control.3 = "0" (Quick Stop: Transition 11 of the Status machine)


I21 T11 192-120106 N3 - August 2003 43

4.1.5.4 Ramp upon error and de-energize

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

3: Deceleration on error (status.3 = "1"), Disable Voltage (control.1 = "0" transition" of the status machine) and Enable Operation (CW.3 = "0" transition # of thestatus machine)

Manual acceleration/deceleration and speed controlYou can set the motion profile for moving with Manual+ or Manual- here.

--

--

1: Manual acceleration / delay2: Manual speed

+: Hand+ (control.4 ="1")-: Hand- (control.5 ="1")Only in "Manual operating more" (CANopen No.0x6060 = -1)

4.1.5.5 Jerk for STOP, MANUAL and error

The jerk set here applies for:! the STOP ramp! Manual motion! The ramp for the machine reference run

Description of jerk

JerkUnit: unit/s3 Range: 0 ... 10 000 000 Standard value:

1 000 000


44 I21 T11 192-120106 N3 - August 2003

4.1.6 Limit and monitoring settings

4.1.6.1 Current Limit

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

Positioning window - Position reachedPosition 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 s 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 (ZSW.10="1")

Tracking error limitThe tracking error is a dynamic error.The dynamic difference between the target position and the actual position duringa positioning process is referred to as the tracking error - not to be confused withthe static difference, which is always 0. The destination position is alwaysapproached exactly.

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.


I21 T11 192-120106 N3 - August 2003 45

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.The tracking error can be minimized with the help of the extended (advanced)controller parameters, in particular wit the forward feed parameters (forward feedof rotation speed acceleration, current and jerk).

1: tracking error limit2: tracking error timeERROR: Malfunction (SW.3)QUIT: CW.7

4.1.7 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 emulationUnit: 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

Disadvantagescaused by a tracking

error

Error message

Minimizing thetracking error


46 I21 T11 192-120106 N3 - August 2003

4.1.8 CANopen - configuration

4.1.8.1 Operating mode speed / position control

Make the selection between:! Velocity Mode Speed control: the target speed is specified and actual values are read

back via CANopen.! Position Mode - Positioning (Position control): The nominal position is specified via

CANopen and the actual values are read back.

Further operating modes can be selected via the CAN-object operating mode(0x6060). The rule for this is:! Operating mode = "1": Profile Position Mode - Position control! Operating mode = "3": Profile Velocity Mode - Positioning! Operating mode = "6": Homing Mode - Machine zero mode! Operating mode = "-1": Jogging Mode - Manual mode


I21 T11 192-120106 N3 - August 2003 47

4.1.8.2 Possible PDO assignment

Via the process data objects (PDOs) actual values and target values arecontinually exchanged between Compax3 and the CANopen client.2 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! Compax3 ⇒ CANopen - Client

Thereby the control word (CANopen - Client ⇒ Compax3) and the status word(Compax3 ⇒ CANopen - Client) always lie in the 1st word of the 1st PDO.The 1st target value and the 1st actual value are in each case fixed assigned too.The further assignments are optional.

Possible assignments of the 4-word wide PDOs:1. PDO 2. PDO

Words 1 2 3 4 1 2 3 4Rotation speed control (velocity mode)RPDO Control

0x6040Target_velocityNominal speed(CAN: 0x60FF)

not available not available not available not available not available

TPDO Status0x6041

Velocity_actual_valueActual speed(CAN: 0x606C)


RPDO Control0x6040

Target_velocityNominal speed(CAN: 0x60FF)


TPDO Status0x6041


Torque_actual_valueActual current value(CAN: 0x6077)

not available not available not available not available

Positioning control (position mode)RPDO Control

0x6040Vl_target_positionTarget position(CAN: 0x60FF)


TPDO Status0x6041

Position_actual_valueActual position value(CAN: 0x607A)


not available not available not available not available

RPDO Control0x6040

Vl_target_positionTarget position(CAN: 0x60FF)

not available Profile_velocitySpeed for positioning(CAN: 0x6081)

not available not available

TPDO Status0x6041

Position_actual_valueActual position value(CAN: 0x6064)



Following_error_actual_valueTracking error(CAN: 0x60F4)

RPDO Control0x6040

Vl_target_positionTarget position(CAN: 0x60FF)

not available Profile_velocitySpeed for positioning(CAN: 0x6081)

Profile_accelerationAcceleration for positioning(CAN: 0x6083)

TPDO Status0x6041

Position_actual_valueActual position value(CAN: 0x6064)



Following_error_actual_valueTracking error(CAN: 0x60F4)

RPDO: CANopen - Client ⇒ Compax3TPDO: Compax3 ⇒ CANopen - Client

4.1.8.3 Error reaction to a bus failure

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


48 I21 T11 192-120106 N3 - August 2003

4.1.8.4 Baud rate

Selecting the Baud rate.Bear in mind that the maximum cable length depends on the Baud rate:Baud rate Maximum length1Mbit/s 25m800kbit/s 50m500kbit/s 100m250kbit/s 250m125kbit/s 500m50kbit/s 1,000m20kbit/s 2,500m10kbit/s 5,000m

4.1.8.5 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.

4.1.9 RS485 setting values

When you select "Master=Pop", only the settings that match the Pops (ParkerOperator Panels) of EMD HAUSER 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.

Multicast address

Device address

Baud rate

Protocol


I21 T11 192-120106 N3 - August 2003 49

4.2 Optimization

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 in a simple manner.! With advanced settings for users familiar with control loops.

4.2.1 Control dynamics

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

201: Stiffness of the speed controllerUnit: % Range: 10 ... 100 000 Standard value: 100%The stiffness is proportional to the control loop speed.


50 I21 T11 192-120106 N3 - August 2003

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

202: Damping of the speed controllerUnit: % 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.

204: Filter actual speed valueUnit: % Range: 0 ... 550 Standard value: 100%This is used to improve signals (filtering) of the speed control signal


I21 T11 192-120106 N3 - August 2003 51

4.2.1.4 Advanced control parameters

Controller structure:

PI - Current controller

Actuatingsignal

201: Stiffness202: Damping203: Moment of inertia

Position controller / PID - Speed controller

SpeedcontrollerD-term

Forward currentcontrol

Actu

al v

alue

s

207: Bandwidth ofcurrent controller208: Damping of current controller

Forward speed control

Forward accelerationcontrol

Acceleration (a)

Current205: Filter: actual accelerationvalue

204: Velocity filter Position

Acceleration

Velocity

Forward jerkcontrol

Jerk (r)

t

s

v

t

a

t

r

t

Setpoint generator

Target position

Speed

Acceleration

Deceleration

Acceleration jerk

Deceleration jerk

Speed (v)

Target poisiton (s)

207: Current controller bandwidthUnit: % Range: 10 ... 200 Standard value: 50%

208: Damping current controllerUnit: % Range: 0 ... 500 Standard value: 100%

206: D component speed controllerUnit: % Range: 0 ... 4 000 000 Standard value: 0

205: Actual acceleration value filterUnit: % Range: 0 ... 550 Standard value: 100

203: Moment of inertiaUnit: % Range: 10 ... 500 Standard value: 100%


52 I21 T11 192-120106 N3 - August 2003

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 targetvalue for the position controller. This provides the target value plate with thepreliminary information on changes in speed, acceleration and current required forpositioning. Switching this information to the controller then makes it possible toreduce tracking errors to a minimum. The transient response of the controller isalso improved 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

101: Forward speed controlUnit: % Range: 0 ... 500 Standard value: 100%

Advantages:

Principle:


I21 T11 192-120106 N3 - August 2003 53

Effect of the rotation speed forward control

t

t

1

2

3

4

1: target speed value2: actual speed value3: motor current4: tracking error

102: Acceleration forward controlUnit: % Range: 0 ... 500 Standard value: 100%

Additional effect of forward acceleration control

t

t

2

1

3

4


104: Current forwards controlUnit: % Range: 0 ... 500 Standard value: 0%


54 I21 T11 192-120106 N3 - August 2003

Additional effect of forward current control

t

t

2

1

3

4


105: Jerk forward controlUnit: % Range: 0 ... 500 Standard value: 0%

4.2.2 Commissioning mode

Commissioning mode can be activated in the ServoManager under the menu item"Optimisation".The following functions are possible:! Manual+ / Manual-! Activation / deactivation of the motor holding brake.! Drive energising / deenergising.

The functions of the commissioning mode take precedence over Profibuscommands given through the control word.

The status word can also be updated in commissioning mode.

Control word /Commissioning

mode

Status word /Commissioning

mode


I21 T11 192-120106 N3 - August 2003 55

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! the control word! the ServoManager

Thereafter the motor is braked to zero rotation speed on the set ramp.When zero speed is reached, the motor is de-energized with the delay "brakeclosing delay time".

t

1

t

2

3

45

1: Motor energised2. Motor deenergised3: Open brake4: Apply brake5: Brake delay time release

The power output stage is enabled by:! Acknowledge (after error) with the control word! the ServoManager

The motor is energised with the delay "brake opening delay time".

t

t

2

1

4

3

5

1: Motor energised2. Motor deenergised3: Open brake4: Apply brake5: Brake delay time release

CANopen

56 I21 T11 192-120106 N3 - August 2003

5.1 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 OSI referencemodel 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 the value of theobject 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 Node-ID (1 ... 127)Node-ID: The Compax3 device address is used here as standard valueFunction code:

5.1.1 Object types

The following table shows the preset COB-IDs:Communicationobjecttype

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 Transmit process data objectT-PDO2 0101b 641-767 281h-2FFh 1801h Assignment via Index 1A01h ( Compax3) max. 8 BytesR-PDO1 0100b 513-639 201h-27Fh 1400h Assignment via Index 1600h Receive process data objectR-PDO2 0110b 769-895 301h-37Fh 1401h Assignment via Index 1601h ( Compax3) max. 8 BytesT-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 2

5. CANopen

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Communicationobjecttype

Functioncode

COB -Identifier(dec)

COB -Identifier(hex)

DefinedinIndex...

Description

Nodeguard

1110b 1793-1919 701h-77Fh 100Eh Check bus subscribers.

* The SDO2 are not activated for I21 T11.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 SDOs.

Application of the communication object typesTransmission 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 linesT-SDO Transmit service data object: Compax3 answer.R-SDO Receive service data object: send to Compax3.

5.1.2 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.

5.1.2.1 CAN communication objects overview sortedaccording to CAN No.

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 C3xxxxxxxxxxxxxxxxxx const0x1009 Manufacturer Hardware Version Visible_String CTPxxxxxxxxLEIxxxxxxxx const0x100A Manufacturer Software Version Visible_String V xxxxxxxxxxxxxxxxxxx const0x100C 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 rw

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Maximumvalue

Access

0x1400.5 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-


parameter-


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 rw

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Maximumvalue

Access

0x1A00 Transmit PDO1 mappingparameter

-

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-


parameter-


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

5.1.2.2 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

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60 I21 T11 192-120106 N3 - August 2003

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 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:

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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:

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:

5.1.2.3 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 generate 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

62 I21 T11 192-120106 N3 - August 2003

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:

5.1.2.4 Emergency message

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

register-

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:

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5.1.2.5 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

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:

CANopen

64 I21 T11 192-120106 N3 - August 2003

5.1.2.6 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:


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

Telegram activatedTelegram deactivated

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

RTR allowed no 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:

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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

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:

Structure





CANopen

66 I21 T11 192-120106 N3 - August 2003

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


Structure





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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Structure

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)

CANopen

68 I21 T11 192-120106 N3 - August 2003


Byte)


Byte)


Byte)


Byte)



Byte)

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Byte)


Byte)


Byte)


Byte)



Byte)

CANopen

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Byte)


Byte)


Byte)


Byte)



Byte)

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Byte)


Byte)


Byte)


Byte)

5.1.2.7 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

72 I21 T11 192-120106 N3 - August 2003

Structure

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:



Structure



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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:




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)


Byte)


Byte)


Byte)


Byte)

CANopen

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Byte)


Byte)


Byte)


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:

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Byte)


Byte)


Byte)


Byte)


Byte)

CANopen

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Byte)


Byte)


Byte)


Byte)


Byte)

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5.2 Status machine

PowerDisabled

Fault

Start

Not Ready toSwitch On

status: xxxx xxxx x0xx 0000

Switch OnDisabled

status : xxxx xxxx x1xx 0000

Ready to Switch on

status : xxxx xxxx x01x 0001

PowerEnabled

FaultReaction Active


Fault


Switched on


OperationEnable


Quick StopActiv


control: xxxx xxxx 0xxx x110

control:xxxx xxxx 0xxx xx0xxxxx xxxx 0xxx x01x



control: xxxx xxxx 0xxx 1111 control:

xxxx xxxx 0xxx 0111


control: xxxx xxxx 0xxx xx0xxxxx xxxx 0xxx x01x

control: xxxx xxxx 0xxx x01x

control: xxxx xxxx 0xxx 1111

control: xxxx xxxx 0xxx xx0x

icontrol: xxxx xxxx xixxx xxxx10

control: xxxx xxxx 0xxx xx0x

10

0

1

2

3

4

5

10

7

8

9

6

11

16

12

15

14

13

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$, %, &, ... : Status transitions

Status values:Description ExplanationNot Ready to Switch On Control voltage switched on

InitialisationBrake closedNot ready to turn on

Switch On Disable Initialisation completedParameter values can be changedPower supply voltage switched offTravel commands not possible

Ready to Switch on Power supply voltage can be switched onParameter values can be changedTravel commands not possible

Switched on Power supply voltage switched onParameter values can be changedTravel commands not possibleMotor de-energized

Operation enable Motor energizedCompax3 is ready for carrying out travel commandsParameter values can be changed

Quick Stop active The "Quick Stop" function has been executedMotor energizedParameter values can be changed

Fault reaction active A fault has occurredThe motor is deenergised; depending on the faultreaction, either immediately or after first brought tostandstill with the ramp ERROR_decel and ERROR_jerk.Parameter values can be changed

Fault Fault status; faults are readTravel commands not possibleParameter values can be changedA positive flank is expected at FAULT RESET

Transitions:For various transitions, for which Compax3 leaves the status "Operation Enable"(travel commands may be active), various ramps can be set. The rule for this is:Transition associated ramp objects5, 11 STOP_decel, STOP_jerk8 FSTOP1_decel, FSTOP1_jerk9 FSTOP3_decel, FSTOP3_jerk13 ERROR_decel, ERROR_jerk

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5.3 Cyclic process data objects

The layout of the PZD is specified in the configuration menu: CANopenoperating mode of the ServoManager.

5.3.1 Control word

Bit Name/Function0 ="1" Switch On1 ="0" Disable Voltage2 ="0" Quick stop3 ="1" Enable Operation4 ="1" Operating mode dependent:

Positioning: new target valueSpeed control: reservedMachine zero mode: Trigger machine zero runManual mode: Hand+

5 ="1" Operating mode dependent:Positioning: Dynamic positioning possibleSpeed control: reservedMachine zero mode: reservedManual mode: Hand-

4,5 ="0" in manual mode: Motor stops with JOG_accel, JOG_jerk6 ="0" absolute positioning for Bit 13="0"

Absolute positioning: a machine reference, ifmachine reference run is required.

="1" relative Positioning Relative positioning.With relative positioning: the specified positionis added to the current actual position.*

7 ="1" Reset Fault Fault acknowledge with positive edge="0" Bit 7 must be set to "0" again after fault acknowledge.

8 ="1" Halt The travel command is interrupted;thereby the ramp settings (deceleration,jerk) of the current positioning are used.A machine zero run is discontinued withthe STOP ramp (STOP_decel,STOP_jerk).

9 - 12, 15 Reserved13 ="0" absolute positioning for Bit 6="0"

="1" additive positioning Relative positioning.With relative positioning: the specified positionis added to the current target position.*

14 ="0" Normal operation a machine zero and a machine zero run arerequired.

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Bit Name/Function="1" Endless mode for each positioning the nominal value

and the actual value are set to 0..

*Relative; example! Positioning mode: absolute! Target position = 1000! Positioning mode: relative! Command: destination position = 200 for actual position 500! Drive travels to 700Additive; example! Positioning mode: absolute! Target position = 1000! Positioning mode: additive! Command: destination position = 200 for any actual position! Drive travels to 1200

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5.3.2 Status word

Bit Name/Function0 ="1" Ready to switch on1 ="1" Switched on2 ="1" Operation enable3 ="1" Fault4 ="1" Voltage disable5 ="0" Quick stop6 ="1" Switch on disabled7 Reserved8 Reserved9 ="1" Remote: parameters can be changed via CAN.10 ="1" Target reached

Velocity Mode: Speed reachedPosition Mode: Position reachedEven if the motor is at a standstill after:"Stop" (Controlword Bit 8="1") or afterQuick Stop (Controlword Bit 2="0")

11 ="1" Internal limit active12 ="1" Operating mode dependent:

Positioning: Position reachedSpeed control: Speed = 0Machine zero mode: Machine zero approached

13 ="1" Operating mode dependent:Positioning: Tracking error (motor is deenergised)Speed control: reservedMachine zero mode: reserved

14 Reserved15 Reserved

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5.4 Acyclic parameter channel

5.4.1 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.

5.4.1.1 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 The object cannot be mapped in a PDO0604 0042 The size and number of the mapped objects exceeds the maximum 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 small0609 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 management

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Abort Code Description0800 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)

5.4.2 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 = LowUpload

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 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 ... D16 2. Repeat step 1 until the end of the table

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5.4.3 CANopen 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.

5.4.3.1 Standardised and manufacturer-specific objectssorted according to CANopen index

No. Object name Object CANopenCANop

Busformat

Validbeginning

1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 0x2000 C4_3 immediately1113.2 C3Plus.STOP_jerk Jerk for STOP 0x2001 U32 immediately1116.1 C3Plus.FSTOP1_decel Delay for FSTOP1 0x2002 U32 immediately1116.2 C3Plus.FSTOP1_jerk Jerk for FSTOP1 0x2003 U32 immediately1118.2 C3Plus.FSTOP3_jerk Jerk for FSTOP3 0x2004 U32 immediately1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 0x2005 U32 immediately1111.6 C3Plus.POSITION_jerk_decel Delay jerk for positioning 0x2006 U32 immediately1128.1 C3Plus.JOG_accel Acceleration for Manual +/- 0x2007 U32 immediately1128.3 C3Plus.JOG_speed Speed for Manual +/- 0x2008 C4_3 immediately402.1 C3.Limit_SpeedPositive Maximum permissible positive speed 0x2009 I16 VP402.2 C3.Limit_SpeedNegative Maximum permissible negative speed 0x200A I16 VP402.3 C3.Limit_CurrentPositive Maximum permissible positive current 0x200B I16 VP402.4 C3.Limit_CurrentNegative Maximum permissible negative

current0x200C I16 VP

1118.1 C3Plus.FSTOP3_decel Delay for FSTOP3 0x200D U32 immediately682.4 C3.StatusAccel_DemandValue Status of acceleration target value 0x200E I32 -685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 0x200F E2_6 -1128.2 C3Plus.JOG_jerk Jerk for Manual +/- 0x2010 U32 immediately683.2 C3.StatusDevice_ActualDeviceLoad Status of device utilization 0x2011 E2_6 -683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor load 0x2012 E2_6 -684.2 C3.StatusTemperature_Motor Status of motor temperature 0x2013 U16 -684.1 C3.StatusTemperature_PowerStage Status of power output stage temperature 0x2014 U16 -1125.2 C3Plus.ERROR_jerk Jerk on Error 0x2015 U32 immediately210.10 C3.ValidParameter_Global Set objects to valid 0x2016.10 U16 immediately20.1 C3.ObjectDir_Objekts-->FLASH Store objects permanently (bus) 0x2017 I16 immediately1125.1 C3Plus.ERROR_decel Deceleration upon error 0x2018 U32 immediately681.6 C3.StatusSpeed_Error Status of speed error 0x2027 C4_3 -2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) 0x2100.2 U16 VP2100.3 C3.ControllerTuning_Damping Damping (rotation speed controller) 0x2100.3 U16 VP2100.4 C3.ControllerTuning_Inertia Moment of Inertia 0x2100.4 U16 VP2100.5 C3.ControllerTuning_FilterSpeed Filter for speed value 0x2100.5 U16 VP2100.6 C3.ControllerTuning_FilterAccel Actual acceleration value filter 0x2100.6 U16 VP2100.7 C3.ControllerTuning_SpeedDFactor D-component of the rotation speed

controller0x2100.7 U16 VP

2100.8 C3.ControllerTuning_CurrentBandwidth Bandwidth of the current controller 0x2100.8 U16 VP2100.9 C3.ControllerTuning_CurrentDamping Damping factor of the current


2010.1 C3.FeedForward_Speed Rotation speed forward control 0x2101.1 U16 VP2010.2 C3.FeedForward_Accel Acceleration forward control 0x2101.2 U16 VP2010.4 C3.FeedForward_Current Current forwards control 0x2101.4 U16 VP2010.5 C3.FeedForward_Jerk Jerk forward control 0x2101.5 U16 VP550.1 C3Plus.ErrorHistory_LastError Current error (n) 0x603F/

0x603F/U16 -

1100.3 C3Plus.DeviceControl_Controlword_1 CW control word 0x6040 V2 immediately

Set objects to valid

Save objectspermanently

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Busformat

Validbeginning

1000.3 C3Plus.DeviceState_Statusword_1 Status word ZSW 0x6041 V2 immediately1100.5 C3Plus.DeviceControl_OperationMode Operating mode 0x6060 I16 immediately1000.5 C3Plus.DeviceState_ActualOperationMode Operating mode display 0x6061 I16 immediately680.5 C3.StatusPosition_Actual Status of position actual value 0x6064 C4_3 -420.2 C3.PositioningAccuracy_FollowingErrorWindow Tracking error limit 0x6065 C4_3 immediately420.3 C3.PositioningAccuracy_FollowingErrorTimeout Tracking error time 0x6066 U16 immediately420.1 C3.PositioningAccuracy_Window Positioning window for position

reached0x6067 C4_3 immediately

420.7 C3.PositioningAccuracy_WindowTime Position window time 0x6068 U16 immediately681.4 C3.StatusSpeed_DemandValue Status of target value 0x606B C4_3 -681.5 C3.StatusSpeed_Actual Status of actual speed value 0x606C C4_3 -683.1 C3.StatusDevice_ActualCurrent Status of actual current value 0x6077 E2_6 -685.2 C3.StatusVoltage_BusVoltage Status of power direct current 0x6079 E2_6 -1111.1 C3Plus.POSITION_position Target position 0x607A C4_3 immediately 1130.5 C3Plus.HOMING_home_offset Machine reference offset 0x607C C4_3 immediately410.2 C3.LimitPosition_Positive Positive end limit 0x607D.1 C4_3 immediately410.3 C3.LimitPosition_Negative Negative end limit 0x607D.2 C4_3 immediately1111.2 C3Plus.POSITION_speed Speed for positioning 0x6081 C4_3 immediately1111.3 C3Plus.POSITION_accel Acceleration for positioning 0x6083 U32 immediately1127.1 C3Plus.SPEED_accel Acceleration / delay in speed control

operating mode0x6083 U32 immediately

1111.4 C3Plus.POSITION_decel Delay for positioning 0x6084 U32 immediately1113.1 C3Plus.STOP_decel Delay for STOP 0x6085 U32 immediately1130.4 C3Plus.HOMING_mode Adjusting the machine reference

mode0x6098 U16 immediately

1130.3 C3Plus.HOMING_speed Speed for machine reference run 0x6099.1 C4_3 immediately1130.1 C3Plus.HOMING_accel Acceleration and delay for machine

reference run0x609A U32 immediately

680.6 C3.StatusPosition_FollowingError Status of tracking error 0x60F4 C4_3 -680.4 C3.StatusPosition_DemandValue Status of position target value 0x60FC C4_3 -1127.3 C3Plus.SPEED_speed Target speed in speed control

operating mode0x60FF C4_3 immediately

5.4.3.2 Standardised and manufacturer-specific objectssorted according to object names


Busformat

Validbeginning

2100.8 C3.ControllerTuning_CurrentBandwidth Bandwidth of the current controller 0x2100.8 U16 VP2100.9 C3.ControllerTuning_CurrentDamping Damping factor of the current controller 0x2100.9 U16 VP2100.3 C3.ControllerTuning_Damping Damping (rotation speed controller) 0x2100.3 U16 VP2100.6 C3.ControllerTuning_FilterAccel Actual acceleration value filter 0x2100.6 U16 VP2100.5 C3.ControllerTuning_FilterSpeed Filter for speed value 0x2100.5 U16 VP2100.4 C3.ControllerTuning_Inertia Moment of Inertia 0x2100.4 U16 VP2100.7 C3.ControllerTuning_SpeedDFactor D-component of the rotation speed


2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) 0x2100.2 U16 VP2010.2 C3.FeedForward_Accel Acceleration forward control 0x2101.2 U16 VP2010.4 C3.FeedForward_Current Current forwards control 0x2101.4 U16 VP2010.5 C3.FeedForward_Jerk Jerk forward control 0x2101.5 U16 VP2010.1 C3.FeedForward_Speed Rotation speed forward control 0x2101.1 U16 VP402.4 C3.Limit_CurrentNegative Maximum permissible negative

current0x200C I16 VP

402.3 C3.Limit_CurrentPositive Maximum permissible positivecurrent

0x200B I16 VP

402.2 C3.Limit_SpeedNegative Maximum permissible negativespeed

0x200A I16 VP

402.1 C3.Limit_SpeedPositive Maximum permissible positive speed 0x2009 I16 VP410.3 C3.LimitPosition_Negative Negative end limit 0x607D.2 C4_3 immediately410.2 C3.LimitPosition_Positive Positive end limit 0x607D.1 C4_3 immediately20.1 C3.ObjectDir_Objekts-->FLASH Store objects permanently (bus) 0x2017 I16 immediately420.3 C3.PositioningAccuracy_FollowingErrorTimeou

tTracking error time 0x6066 U16 immediately

420.2 C3.PositioningAccuracy_FollowingErrorWindow

Tracking error limit 0x6065 C4_3 immediately

420.1 C3.PositioningAccuracy_Window Positioning window for positionreached

0x6067 C4_3 immediately

420.7 C3.PositioningAccuracy_WindowTime Position window time 0x6068 U16 immediately

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Busformat

Validbeginning

682.4 C3.StatusAccel_DemandValue Status of acceleration target value 0x200E I32 -683.1 C3.StatusDevice_ActualCurrent Status of actual current value 0x6077 E2_6 -683.2 C3.StatusDevice_ActualDeviceLoad Status of device utilization 0x2011 E2_6 -683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor load 0x2012 E2_6 -680.5 C3.StatusPosition_Actual Status of position actual value 0x6064 C4_3 -680.4 C3.StatusPosition_DemandValue Status of position target value 0x60FC C4_3 -680.6 C3.StatusPosition_FollowingError Status of tracking error 0x60F4 C4_3 -681.5 C3.StatusSpeed_Actual Status of actual speed value 0x606C C4_3 -681.4 C3.StatusSpeed_DemandValue Status of target value 0x606B C4_3 -681.6 C3.StatusSpeed_Error Status of speed error 0x2027 C4_3 -684.2 C3.StatusTemperature_Motor Status of motor temperature 0x2013 U16 -684.1 C3.StatusTemperature_PowerStage Status of power output stage

temperature0x2014 U16 -

685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage 0x200F E2_6 -685.2 C3.StatusVoltage_BusVoltage Status of power direct current 0x6079 E2_6 -210.10 C3.ValidParameter_Global Set objects to valid 0x2016.10 U16 immediately1100.3 C3Plus.DeviceControl_Controlword_1 CW control word 0x6040 V2 immediately1100.5 C3Plus.DeviceControl_OperationMode Operating mode 0x6060 I16 immediately1000.5 C3Plus.DeviceState_ActualOperationMode Operating mode display 0x6061 I16 immediately1000.3 C3Plus.DeviceState_Statusword_1 Status word ZSW 0x6041 V2 immediately1125.1 C3Plus.ERROR_decel Deceleration upon error 0x2018 U32 immediately1125.2 C3Plus.ERROR_jerk Jerk on Error 0x2015 U32 immediately550.1 C3Plus.ErrorHistory_LastError Current error (n) 0x603F/

0x603F/U16 -

1116.1 C3Plus.FSTOP1_decel Delay for FSTOP1 0x2002 U32 immediately1116.2 C3Plus.FSTOP1_jerk Jerk for FSTOP1 0x2003 U32 immediately1118.1 C3Plus.FSTOP3_decel Delay for FSTOP3 0x200D U32 immediately1118.2 C3Plus.FSTOP3_jerk Jerk for FSTOP3 0x2004 U32 immediately1130.1 C3Plus.HOMING_accel Acceleration and delay for machine

reference run0x609A U32 immediately

1130.7 C3Plus.HOMING_edge_sensor_distance Initiator adjustment 0x2000 C4_3 immediately1130.5 C3Plus.HOMING_home_offset Machine reference offset 0x607C C4_3 immediately1130.4 C3Plus.HOMING_mode Adjusting the machine reference

mode0x6098 U16 immediately

1130.3 C3Plus.HOMING_speed Speed for machine reference run 0x6099.1 C4_3 immediately1128.1 C3Plus.JOG_accel Acceleration for Manual +/- 0x2007 U32 immediately1128.2 C3Plus.JOG_jerk Jerk for Manual +/- 0x2010 U32 immediately1128.3 C3Plus.JOG_speed Speed for Manual +/- 0x2008 C4_3 immediately1111.3 C3Plus.POSITION_accel Acceleration for positioning 0x6083 U32 immediately1111.4 C3Plus.POSITION_decel Delay for positioning 0x6084 U32 immediately1111.5 C3Plus.POSITION_jerk_accel Acceleration jerk for positioning 0x2005 U32 immediately1111.6 C3Plus.POSITION_jerk_decel Delay jerk for positioning 0x2006 U32 immediately1111.1 C3Plus.POSITION_position Target position 0x607A C4_3 immediately1111.2 C3Plus.POSITION_speed Speed for positioning 0x6081 C4_3 immediately1127.1 C3Plus.SPEED_accel Acceleration / delay in speed control

operating mode0x6083 U32 immediately

1127.3 C3Plus.SPEED_speed Target speed in speed controloperating mode

0x60FF C4_3 immediately

1113.1 C3Plus.STOP_decel Delay for STOP 0x6085 U32 immediately1113.2 C3Plus.STOP_jerk Jerk for STOP 0x2001 U32 immediately

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5.4.3.3 Object list sorted by object name

In this chapter you can read about:CANopen object: Bandwidth of the current controller ......................................................... 90CANopen object: Damping of the current controller ........................................................... 90CANopen object: Damping (rotation speed controller) ....................................................... 90CANopen object: Actual acceleration value filter................................................................ 90CANopen object: Filter for actual speed value ................................................................... 90CANopen object: Moment of inertia ................................................................................... 91CANopen object: D-component of the rotation speed controller ......................................... 91CANopen object: Stiffness (rotation speed controller) ........................................................ 91CANopen object: Control word STW.................................................................................. 91CANopen object: Operating mode ..................................................................................... 91CANopen object: Operating mode display ......................................................................... 92CANopen object: Status word ZSW................................................................................... 92CANopen object: Deceleration on error ............................................................................. 92CANopen object: Jerk on error .......................................................................................... 92CANopen object: Current error (n) ..................................................................................... 93CANopen object: Acceleration forward control................................................................... 93CANopen object: Current forward control .......................................................................... 93CANopen object: Jerk forward control................................................................................ 93CANopen object: Rotation speed forward control............................................................... 93CANopen object: Deceleration for FSTOP1....................................................................... 94CANopen object: Jerk for FSTOP1.................................................................................... 94CANopen object: Deceleration for FSTOP3....................................................................... 94CANopen object: Jerk for FSTOP3.................................................................................... 94CANopen object: Acceleration and deceleration for the machine zero run ......................... 94CANopen object: Proximity switch adjustment ................................................................... 95CANopen object: Machine zero offset................................................................................ 95CANopen object: Adjusting the machine zero mode .......................................................... 95CANopen object: Speed for machine zero run ................................................................... 95CANopen object: Acceleration for manual+/- ..................................................................... 95CANopen object: Jerk for manual+/- .................................................................................. 96CANopen object: Speed for manual+/- .............................................................................. 96CANopen object: Maximum permissible negative current .................................................. 96CANopen object: Maximum permissible positive current.................................................... 96CANopen object: Maximum permissible negative speed.................................................... 96CANopen object: Maximum permissible positive speed ..................................................... 97CANopen object: Negative end limit .................................................................................. 97CANopen object: Positive end limit .................................................................................... 97CANopen object: Save objects permanently (bus) ............................................................. 97CANopen object: Acceleration for positioning .................................................................... 97CANopen object: Deceleration for positioning.................................................................... 98CANopen object: Acceleration jerk for positioning.............................................................. 98CANopen object: Deceleration jerk for positioning ............................................................. 98CANopen object: Target position ....................................................................................... 98CANopen object: Speed for positioning ............................................................................. 98CANopen object: Tracking error time................................................................................. 99CANopen object: Tracking error limit ................................................................................. 99CANopen object: Positioning window for position reached................................................. 99CANopen object: Position window time.............................................................................. 99CANopen object: Acceleration / deceleration in the rotation speed control mode............... 99CANopen object: Target speed in rotation speed control mode ....................................... 100CANopen object: Status of acceleration target value ....................................................... 100CANopen object: Status of device utilisation.................................................................... 100CANopen object: Status of long-term motor utilization ..................................................... 100CANopen object: Status of actual current value............................................................... 100CANopen object: Status of position actual value.............................................................. 101CANopen object: Status of position target value .............................................................. 101CANopen object: Status of tracking error......................................................................... 101CANopen object: Status of actual speed value ................................................................ 101CANopen object: Status of speed target value................................................................. 101CANopen object: Status of speed error............................................................................ 102CANopen object: Status of motor temperature................................................................. 102CANopen object: Status of power output stage temperature............................................ 102CANopen object: Status of auxiliary voltage .................................................................... 102CANopen object: Status of power direct voltage .............................................................. 102CANopen object: Deceleration for STOP ......................................................................... 103CANopen object: Jerk for STOP ...................................................................................... 103CANopen object: Set objects to valid............................................................................... 103

CANopen

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CANopen object: Bandwidth of the current controllerCANopen Index 0x2100.8 Object No. 2100.8Object name C3.ControllerTuning_CurrentBandwidthUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 10 % Maximum value 200 %Remark:

CANopen object: Damping of the current controllerCANopen Index 0x2100.9 Object No. 2100.9Object name C3.ControllerTuning_CurrentDampingUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 500 %Remark:

CANopen object: Damping (rotation speed controller)CANopen Index 0x2100.3 Object No. 2100.3Object name C3.ControllerTuning_DampingUnit % Access: Read/write Bus format: U16 Valid after: VPMinimum value 0 % Maximum value 500 %Remark:

CANopen object: Actual acceleration value filterCANopen Index 0x2100.6 Object No. 2100.6Object name C3.ControllerTuning_FilterAccelUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 550 %Remark:

CANopen object: Filter for actual speed valueCANopen Index 0x2100.5 Object No. 2100.5Object name C3.ControllerTuning_FilterSpeedUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 Maximum value 550Remark:

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CANopen object: Moment of inertiaCANopen Index 0x2100.4 Object No. 2100.4Object name C3.ControllerTuning_InertiaUnit % Access: Read/write Bus format: U16 Valid after: VPMinimum value 10 % Maximum value 500 %Remark:

CANopen object: D-component of the rotation speed controllerCANopen Index 0x2100.7 Object No. 2100.7Object name C3.ControllerTuning_SpeedDFactorUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 2000000 %Remark: D-component of the rotation speed controller

CANopen object: Stiffness (rotation speed controller)CANopen Index 0x2100.2 Object No. 2100.2Object name C3.ControllerTuning_StiffnessUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 10 % Maximum value 100000 %Remark:

CANopen object: Control word STWCANopen Index 0x6040 Object No. 1100.3Object name C3Plus.DeviceControl_Controlword_1Unit Without Access: Read/writeBus format: V2 Valid after: immediatelyMinimum value 0 Maximum value --Remark: Control word 1

I20 T11: profile-dependentI20 T30: freely programmable

CANopen Object Operating modeCANopen Index 0x6060 Object No. 1100.5Object name C3Plus.DeviceControl_OperationModeUnit Without Access: Read/writeBus format: I16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: Operating mode

I20 T11: profile-dependentI20 T30: freely programmableI21 T11:= "1": Profile Position Mode= "3": Profile Velocity Mode= "6": Homing Mode= "-1": Jogging Mode

CANopen

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CANopen object: Operating mode displayCANopen Index 0x6061 Object No. 1000.5Object name C3Plus.DeviceState_ActualOperationModeUnit Without Access: Read/write Bus format: I16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: I20 T11: profile-dependent

I20 T30: freely programmable

CANopen object: Status word ZSWCANopen Index 0x6041 Object No. 1000.3Object name C3Plus.DeviceState_Statusword_1Unit Without Access: Read/writeBus format: V2 Valid after: immediatelyMinimum value 0 Maximum value --Remark: Status word

I20 T11: profile-dependentI20 T30: freely programmable

CANopen object: Deceleration on errorCANopen Index 0x2018 Object No. 1125.1Object name C3Plus.ERROR_decelUnit Unit/s² Access: Read/write Bus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: Deceleration for ERROR

If 0 is specified, the minimum value is used automatically.Please note: the deceleration should be set very large so as to traversea short ramp

CANopen object: Jerk on errorCANopen Index 0x2015 Object No. 1125.2Object name C3Plus.ERROR_jerkUnit Unit/s³ Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: Jerk for ERROR

If 0 is specified, the minimum value is used automatically.Please note: the jerk should be set very large so as to traverse a shortramp

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CANopen object: Current error (n)CANopen Index 0x603F/ 0x201D.1 Object No. 550.1Object name C3Plus.ErrorHistory_LastErrorUnit Without Access: Read onlyBus format: U16 Valid after: -Minimum value 0 Maximum value --Remark: 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.

CANopen object: Acceleration forward controlCANopen Index 0x2101.2 Object No. 2010.2Object name C3.FeedForward_AccelUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 100%

CANopen object: Current forward controlCANopen Index 0x2101.4 Object No. 2010.4Object name C3.FeedForward_CurrentUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 Maximum value 500Remark: Default 0%

CANopen object: Jerk forward controlCANopen Index 0x2101.5 Object No. 2010.5Object name C3.FeedForward_JerkUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 0%

CANopen object: Rotation speed forward controlCANopen Index 0x2101.1 Object No. 2010.1Object name C3.FeedForward_SpeedUnit % Access: Read/writeBus format: U16 Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 100%

CANopen

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CANopen object: Deceleration for FSTOP1CANopen Index 0x2002 Object No. 1116.1Object name C3Plus.FSTOP1_decelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

OFF1 for Profibus

CANopen object: Jerk for FSTOP1CANopen Index 0x2003 Object No. 1116.2Object name C3Plus.FSTOP1_jerkUnit Unit/s³ Access: Read/write Bus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

OFF1 for Profibus

CANopen object: Deceleration for FSTOP3CANopen Index 0x200D Object No. 1118.1Object name C3Plus.FSTOP3_decelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

OFF3 for Profibus

CANopen object: Jerk for FSTOP3CANopen Index 0x2004 Object No. 1118.2Object name C3Plus.FSTOP3_jerkUnit Unit/s³ Access: Read/write Bus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

OFF3 for Profibus

CANopen object: Acceleration and deceleration for the machine zerorunCANopen Index 0x609A Object No. 1130.1Object name C3Plus.HOMING_accelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

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CANopen object: Proximity switch adjustmentCANopen Index 0x2000 Object No. 1130.7Object name C3Plus.HOMING_edge_sensor_distanceUnit Degrees Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value -1000000 degrees Maximum value 1000000 degreesRemark: Virtual displacement of the initiator

CANopen object: Machine zero offsetCANopen Index 0x607C Object No. 1130.5Object name C3Plus.HOMING_home_offsetUnit Unit Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value -1000000 rev Maximum value 1000000 revRemark:

CANopen object: Adjusting the machine zero modeCANopen Index 0x6098 Object No. 1130.4Object name C3Plus.HOMING_modeUnit Without Access: Read/writeBus format: U16 Valid after: immediatelyMinimum value -127 Maximum value 128Remark:

CANopen object: Speed for machine zero runCANopen Index 0x6099.1 Object No. 1130.3Object name C3Plus.HOMING_speedUnit Unit/s Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value 0 rev/s Maximum value 2000 rev/sRemark:

CANopen object: Acceleration for manual+/-CANopen Index 0x2007 Object No. 1128.1Object name C3Plus.JOG_accelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

CANopen

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CANopen object: Jerk for manual+/-CANopen Index 0x2010 Object No. 1128.2Object name C3Plus.JOG_jerkUnit Unit/s³ Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

CANopen object: Speed for manual+/-CANopen Index 0x2008 Object No. 1128.3Object name C3Plus.JOG_speedUnit Unit/s Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value 0.00001157 rev/s Maximum value 2000 rev/sRemark: If 0 is specified, the minimum value is used automatically.

The minimum value corresponds to 1 rev/day

CANopen object: Maximum permissible negative currentCANopen Index 0x200C Object No. 402.4Object name C3.Limit_CurrentNegativeUnit % Access: Read/writeBus format: I16 Valid after: VPMinimum value 0 A Maximum value -500 ARemark: Negative current limit

100% correspond to the rated motor current

CANopen object: Maximum permissible positive currentCANopen Index 0x200B Object No. 402.3Object name C3.Limit_CurrentPositiveUnit % Access: Read/writeBus format: I16 Valid after: VPMinimum value 0 A Maximum value 500 ARemark: Positive current limit

100% correspond to the rated motor current

CANopen object: Maximum permissible negative speedCANopen Index 0x200A Object No. 402.2Object name C3.Limit_SpeedNegativeUnit % Access: Read/writeBus format: I16 Valid after: VPMinimum value 0 rev/s Maximum value -1000 rev/sRemark: Negative speed limit

100% correspond to the motor reference speed

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CANopen object: Maximum permissible positive speedCANopen Index 0x2009 Object No. 402.1Object name C3.Limit_SpeedPositiveUnit % Access: Read/writeBus format: I16 Valid after: VPMinimum value 0 rev/s Maximum value 2000 rev/sRemark: Positive speed limit

100% correspond to the motor reference speed

CANopen object: Negative end limitCANopen Index 0x607D.2 Object No. 410.3Object name C3.LimitPosition_NegativeUnit Unit Access: Read/write Bus format: C4_3 Valid after: immediatelyMinimum value -4000000 rev Maximum value 4000000 revRemark:

CANopen object: Positive end limitCANopen Index 0x607D.1 Object No. 410.2Object name C3.LimitPosition_PositiveUnit Unit Access: Read/write Bus format: C4_3 Valid after: immediatelyMinimum value -4000000 rev Maximum value 4000000 revRemark:

CANopen object: Save objects permanently (bus)CANopen Index 0x2017 Object No. 20.1Object name C3.ObjectDir_

s-->FLASHUnit Without Access: Read/write Bus format: I16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: Saving objects in Flash memory with a positive edge so they are safe

from power failure (write object with 0 and then with 1)

CANopen object: Acceleration for positioningCANopen Index 0x6083 Object No. 1111.3Object name C3Plus.POSITION_accelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 100000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

CANopen

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CANopen object: Deceleration for positioningCANopen Index 0x6084 Object No. 1111.4Object name C3Plus.POSITION_decelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the accel value is used automatically.

CANopen object: Acceleration jerk for positioningCANopen Index 0x2005 Object No. 1111.5Object name C3Plus.POSITION_jerk_accelUnit Unit/s³ Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

CANopen object: Deceleration jerk for positioningCANopen Index 0x2006 Object No. 1111.6Object name C3Plus.POSITION_jerk_decelUnit Unit/s³ Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

CANopen object: Target positionCANopen Index 0x607A Object No. 1111.1Object name C3Plus.POSITION_positionUnit Unit Access: Read/write Bus format: C4_3 Valid after: immediatelyMinimum value -4000000 rev Maximum value 4000000 revRemark:

CANopen object: Speed for positioningCANopen Index 0x6081 Object No. 1111.2Object name C3Plus.POSITION_speedUnit Unit/s Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value 0.00001157 rev/s Maximum value 2000 rev/sRemark: If 0 is specified, the minimum value is used automatically.

The minimum value corresponds to 1 rev/day

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CANopen object: Tracking error timeCANopen Index 0x6066 Object No. 420.3Object name C3.PositioningAccuracy_FollowingErrorTimeoutUnit ms Access: Read/writeBus format: U16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: If the tracking error limit for this time is exceeded, this will lead to the

tracking error event.

CANopen object: Tracking error limitCANopen Index 0x6065 Object No. 420.2Object name C3.PositioningAccuracy_FollowingErrorWindowUnit Unit Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value 0 Maximum value 4000000Remark:

CANopen object: Positioning window for position reachedCANopen Index 0x6067 Object No. 420.1Object name C3.PositioningAccuracy_WindowUnit Unit Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value 0 rev Maximum value 4000000 revRemark:

CANopen object: Position window timeCANopen Index 0x6068 Object No. 420.7Object name C3.PositioningAccuracy_WindowTimeUnit Without Access: Read/writeBus format: U16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: Time for position reached in 500µs;

1 = 500µs

CANopen object: Acceleration / deceleration in the rotation speedcontrol modeCANopen Index 0x6083 Object No. 1127.1Object name C3Plus.SPEED_accelUnit Unit/s² Access: Read/write Bus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

CANopen

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CANopen object: Target speed in rotation speed control modeCANopen Index 0x60FF Object No. 1127.3Object name C3Plus.SPEED_speedUnit Unit/s Access: Read/writeBus format: C4_3 Valid after: immediatelyMinimum value -2000 rev/s Maximum value 2000 rev/sRemark: Target travel speed for the internal target speed value

CANopen object: Status of acceleration target valueCANopen Index 0x200E Object No. 682.4Object name C3.StatusAccel_DemandValueUnit Unit/s² Access: Read onlyBus format: I32 Valid after: -Minimum value 0 Maximum value --Remark: Target acceleration value for forward control

CANopen object: Status of device utilisationCANopen Index 0x2011 Object No. 683.2Object name C3.StatusDevice_ActualDeviceLoadUnit % Access: Read onlyBus format: E2_6 Valid after: -Minimum value 0 Maximum value --Remark: Drive utilization

CANopen object: Status of long-term motor utilizationCANopen Index 0x2012 Object No. 683.3Object name C3.StatusDevice_ActualMotorLoadUnit % Access: Read only Bus format: E2_6 Valid after: -Minimum value 0 Maximum value --Remark: Motor the same value as under the status display of the same name.

The value given is a percentage of the total possible motor load.

CANopen object: Status of actual current valueCANopen Index 0x6077 Object No. 683.1Object name C3.StatusDevice_ActualCurrentUnit % Access: Read onlyBus format: E2_6 Valid after: -Minimum value 0 Maximum value --Remark: Actual current value (actual torque value)

The reference is the rated motor current

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CANopen object: Status of position actual valueCANopen Index 0x6064 Object No. 680.5Object name C3.StatusPosition_ActualUnit Unit Access: Read onlyBus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Actual position value

CANopen object: Status of position target valueCANopen Index 0x60FC Object No. 680.4Object name C3.StatusPosition_DemandValueUnit Unit Access: Read onlyBus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Target position value of position controller (input)

CANopen object: Status of tracking errorCANopen Index 0x60F4 Object No. 680.6Object name C3.StatusPosition_FollowingErrorUnit Unit Access: Read onlyBus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Tracking error (position controller)

CANopen object: Status of actual speed valueCANopen Index 0x606C Object No. 681.5Object name C3.StatusSpeed_ActualUnit Unit/s Access: Read onlyBus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Actual speed value

CANopen object: Status of speed target valueCANopen Index 0x606B Object No. 681.4Object name C3.StatusSpeed_DemandValueUnit Unit/s Access: Read only Bus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Target speed value for speed controller or forward control

CANopen

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CANopen object: Status of speed errorCANopen Index 0x2027 Object No. 681.6Object name C3.StatusSpeed_ErrorUnit Unit/s Access: Read onlyBus format: C4_3 Valid after: -Minimum value 0 Maximum value --Remark: Speed error

CANopen object: Status of motor temperatureCANopen Index 0x2013 Object No. 684.2Object name C3.StatusTemperature_MotorUnit C Access: Read onlyBus format: U16 Valid after: -Minimum value 0 Maximum value --Remark: Measured by the sensor in the motor

CANopen object: Status of power output stage temperatureCANopen Index 0x2014 Object No. 684.1Object name C3.StatusTemperature_PowerStageUnit C Access: Read only Bus format: U16 Valid after: -Minimum value 0 Maximum value --Remark: Measured by the sensor in the power output stage

CANopen object: Status of auxiliary voltageCANopen Index 0x200F Object No. 685.1Object name C3.StatusVoltage_AuxiliaryVoltageUnit V Access: Read onlyBus format: E2_6 Valid after: -Minimum value 0 Maximum value --Remark: Auxiliary status from outside (24 VDC)

CANopen object: Status of power direct voltageCANopen Index 0x6079 Object No. 685.2Object name C3.StatusVoltage_BusVoltageUnit V Access: Read onlyBus format: E2_6 Valid after: -Minimum value 0 Maximum value --Remark: Output voltage after rectification

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CANopen object: Deceleration for STOPCANopen Index 0x6085 Object No. 1113.1Object name C3Plus.STOP_decelUnit Unit/s² Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

CANopen object: Jerk for STOPCANopen Index 0x2001 Object No. 1113.2Object name C3Plus.STOP_jerkUnit Unit/s³ Access: Read/writeBus format: U32 Valid after: immediatelyMinimum value 30 rev/s³ Maximum value 125,000,000 rev/s³Remark: If 0 is specified, the minimum value is used automatically.

CANopen object: Set objects to validCANopen Index 0x2016.10 Object No. 210.10Object name C3.ValidParameter_GlobalUnit Without Access: Read/writeBus format: U16 Valid after: immediatelyMinimum value 0 Maximum value --Remark: 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.

5.4.4 Data formats of the bus objects

5.4.4.1 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

CANopen

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5.4.4.2 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

5.4.4.3 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

5.4.4.4 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

5.4.4.5 Bit sequence V2

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

5.4.4.6 Byte string OS

Byte string OS: String with variable length.

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6.1 Order code for Compax3

C3Device 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 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!

6. Compax3 accessories

Compax3 accessories

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6.2 Accessories order code

Accessories order code /

Motor cable2 (1.5mm

2; up to 13.8A); for SMH / MH56 / MH70 / MH105

3M O K 5 5 / ... ... 1

Motor cable2 (cable chain compatible) (1.5mm2; up to 13.8A); for SMH / MH56 / MH70 / MH105

3M O K 5 4 / ... ... 1

Motor cable2 (2.5mm

2 to 18.9A); for SMH / MH56 / MH70 / MH1053

M O K 5 6 / ... ... 1

Motor cable2 (cable chain compatible) (2.5mm2 to 18.9A); for SMH / MH56 / MH70 / MH105

3M O K 5 7 / ... ... 1

Motor cable2 (1.5mm

2; up to 13.8A); for MH145 / MH205

4M O K 6 0 / ... ... 1

Motor cable2 (cable chain compatible) (1.5mm2; up to 13.8A); for MH145 / MH205

4M O K 6 3 / ... ... 1

Motor cable2 (2.5mm

2 to 18.9A); for MH145 / MH2054

M O K 5 9 / ... ... 1

Motor cable2 (cable chain compatible) (2.5mm2 to 18.9A); for MH145 / MH205

4M O K 6 4 / ... ... 1

Motor cable2 (cable chain compatible) (6mm2; up to 32.3A); for MH145 / MH205

4M O K 6 1 / ... ... 1

Motor cable2 (cable chain compatible) (10mm2; up to 47.3A); for MH145 / MH205

4M O K 6 2 / ... ... 1

Feedback cable2 for resolver R E K 4 2 / ... ... 1

Feedback cable2 for resolver (cable chain compatible) R E K 4 1 / ... ... 1

Feedback cable2 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 / .../ ...Interface cable Compax3 HEDA '''' Compax3 HEDA S S K 2 8 / .../ ... 5

HEDA bus termination plug (for the first and last Compax3 in the HEDA - Bus) B U S 0 7 / 0 1Profibus cable

2 not prefabricated; S S L 0 1 / ... ... 1

Profibus plug B U S 0 8 / 0 1CAN-Bus cable

2 not prefabricated; S S L 0 2 / ... ... 1

CANbus connector B U S 1 0 / 0 1Connection set ZBH02/01 for Compax3 S0xx V2 (Plug set, EMC clamp) Z B H 0 2 / 0 1Connection set ZBH 02/02 for Compax3 S038 / S075 / S150 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 2Connection set ZBH 02/03 for Compax3 S300 V4 (Plug set, EMC clamp) Z B H 0 2 / 0 3Operating module B D M 0 1 / 0 1Terminal block for I/Os without indicator (for X11, X12) E A M 0 6 / 0 1Terminal block for I/Os with luminous indicator (for X12) E A M 0 6 / 0 2Ballast resistor for Compax3 S063 V2 or S075 V4 (0.18 / 2.3 kW) B R M 0 5 / 0 1Ballast resistor for Compax3 S025 V2 or S038 V4 (60 / 253W) B R M 0 8 / 0 1Ballast resistor for Compax3 S150 V4 (450 / 6.9 kW) B R M 0 6 / 0 1Ballast resistor for Compax3 S300 V4 (BRM4/01: 0.57kW / ...4/02: 0.74kW ...4/03:1.5kW) 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


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1 Length key 1Length [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

Example SSK01/09: length 25m5 Length key 2 for SSK28

Length [m] 0,25 0,5 1,0 3,0 5,0 10,0Code 20 21 01 22 03 05

2 colors according to DESINA3 with motor connector4 with cable eye for motor terminal box

MOK55 and MOK54 can also be used for linear motors LXR406, LXR412 andBLMA.

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6.3 Parker servo motors

6.3.1 Direct drives

6.3.1.1 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. 5Vss; typical

1Vss) 90° offsetU-V signal (max. 5Vss; typical 1Vss) 120°

offset.! Linear encoder ! Sine-Cosine (max. 5Vss; typical 1Vss) (max.

400kHz) orTTL (RS422) (max. 5MHz)! with the following modes of commutation:! Auto commutation or

Digital hall sensors

The motor performs auto-commutating after:! Power on,! A configuration download or! An IEC program download

The time duration (typically 5-10 sec) of auto-commutating can be optimized withthe start current (see in the optimization display of the C3 ServoManager; given asa percentage of the reference current). Note that values that are too high will causeError 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 auto-commutating! The linear motor must not be at the end limits for auto-commutating.! Actively working load torques are not permitted during auto-commutating.! Rubbing caused by friction deteriorates the effect of auto-commutating.! With the exception of missing commutation information, the controller/motor combination

is configured and ready for operation (parameters correctly assigned for the linearmotor/drive). The transmitter and the direction of the field of rotation in effect must match.

! The auto-commutating function must be adapted to fit the mechanics if necessary duringcommissioning.


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6.3.1.2 Linear motors

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

Linear motor: Feed force(continuous/dynamic)

Stroke length:

Linear motor kit SL: 475N / 739N As required

Linear motors of the LXRseries:

315N / 1,000N Up to 3 m

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

6.3.1.3 Torque motors

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

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6.3.2 Rotary servo motors

Modern 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 motorsAn 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 motorsMH 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.

SMH60:


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SMH82:

SMH100:

MH105:

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112 I21 T11 192-120106 N3 - August 2003

MH145:

MH205:


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6.3.3 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 1.306400 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 tour request!

Compax3 accessories

114 I21 T11 192-120106 N3 - August 2003

6.3.4 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.

6.3.5 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


I21 T11 192-120106 N3 - August 2003 115

6.3.6 Dimensions of the SMH(A)-motors

LM / LB / LE / LBE

S

L

D

SF

IM

QF

CF

DF

G

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 G8 5.5 63 60 Ø40 74SMH 60 1.4 129.5 / 161.0 / 153.0* / ---.-* 7 70 5 6 75

9x2011x23

3x3x164x4x18

10.212.5

-----M4x10 70 Ø60 h6x2.5 90

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 h6x3.5 135

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

LD

SF

IM

QF

CF

DF

G

i64,5

61,5

112

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

Compax3 accessories

116 I21 T11 192-120106 N3 - August 2003

6.3.7 Dimensions of the MH(A)105-motors

i

IC

LM / LB / LE /LBE

D

S

L

QF C

F

DF

SF

G

Motor Type LM / LB / LE / LBE SF IC Flange -type DF F D x L WxHxI t1 V x Z QF C x S G

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

MH 105flange 5/14

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 6/9

08 317 / 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)


I21 T11 192-120106 N3 - August 2003 117

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

IM

LM / LB / LE / LBE

D

S

L

QF C

F

DF

SF

GIC i

Motor Type LM / LB / LE / LBE SF IM IC Flangetype DF F D x L WxHxI t1 V x Z QF C x S G

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

10x8x7012x8x100

4145

M12x32M16x40 205 Ø180 h6x4 250

LM: Length without brake and without encoderLB: Length with brake and without encoderLE: Length without brake and with encoder (option A)LBE: Length with brake and with encoder (option A)* applies only to SinCos Multiturn (Option A7)Option A6 (SinCos Singleturn) has for MH205 no effect on the motor length (then LM and LB apply).

Compax3 accessories

118 I21 T11 192-120106 N3 - August 2003

6.3.9 Order code for SMH/MH motors

SMH / MH motorsMotor 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: 56/70/105/145/205Speed 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 diameter9/11/14/19/24/28/38/42ShaftS: without feather keyType of connections2ID: SMH60/82/100/MH562I: MH70/1053I: MH145/205Protection class64: IP6465: IP65 (standard)SinCos© typeO6: 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).


I21 T11 192-120106 N3 - August 2003 119

6.4 Connections to the motor

Under the designation "REK.." (resolver cables) and "MOK.." (motor cables) wecan deliver motor connecting cables in various lengths to order. If you wish tomake up your own cables, please consult the cable plans shown below:

6.4.1 Resolver cable

REK42/..

12

11 12

11

5

2

1

10

7Ref+

Ref-

9

8 +Temp

-Temp

COS-

COS+

SIN-

SIN+

Schirm auf Schirmanbindungselement

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

YE

Compax3 (X13)

27m

m

Lötseite / Crimpseite

9 8

7

6

54

3

2

1 12

11

10

Codiernut S = 20°1514131211 6

987

10 54321

Lötseitesolder side

2 mm 6 mm23 mm

Screen 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.

Compax3 accessories

120 I21 T11 192-120106 N3 - August 2003

6.4.2 SinCos cable

GBK24/..: cable chain compatible

12

11 12

11

5

2

1

+485

-485

9

8 K1

K2

COS-

COS+

SIN-

SIN+

14

NCNCNC

5

3

NC


2x0,25

Pin 1

DATA

DATA

10

9

+8Vref

Tmot

COS-

COS+

SIN-

SIN+

6NCNCNCNC

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

7

10

13

4

15NC16NC17NC

+V

GND

13

4

15GND

+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 mm

23 mm


You will find the length code in the accessories order code.

6.4.3 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 MOK632.5 mm2 / up to 18.9 A MOK56 MOK57 MOK59 MOK646 mm2 / up to 32.3 A - - - MOK6110 mm2 / up to 47.3 A -- - MOK62


I21 T11 192-120106 N3 - August 2003 121

6.4.4 Motor cable with plug

MOK55/.. (max. 13.8A)Cable: 6x1.5 mm2

PE ( )

Bremse -24V

Bremse +24V

W

V

U

6

5

2

1

3

4

sw1

sw2

sw3

sw4

sw5

gn/ge

sw1

sw2

sw3

sw4

sw5

gn/geBr-

Br+

W

V

U 6

4 2

15

3 ( )

140 mm75 mm65 mm

10 mm

MOK54/..: (max. 13.8 A) cable chain compatibleSame 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 compatibleSame structure as MOK55, but with 4x2.5 + 2x1 mm2 and cable chain compatible.


Compax3 accessories

122 I21 T11 192-120106 N3 - August 2003

6.4.5 Motor cable for terminal box

MOK61/..: (max. 32.3A) cable chain compatibleCable: 4x6mm2 + 2x1mm2

PE

Bremse -24VBremse +24V

W

V

UU1

V2

W3

BR1BR2

gn/gePE

Br-Br+

W

V

UU1

V2

W3

BR1BR2

gn/ge

15 mm

10 mm

220 mm60 mm160 mm

15 mm

8 mm

190 mm25 mm 165 mm

25 mm

Schirm auf SchirmanbindungselementScreen at screen contact

MOK62/.. (max. 47.3 A) cable chain compatible

Same structure as MOK61/.. but with 4 x 10mm2 + 2 x 1 mm2

MOK60/.. (max. 13.8A) standard


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

MOK59/.. (max. 18.9A) standard


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



I21 T11 192-120106 N3 - August 2003 123

6.5 EMC measures

6.5.1 Mains filter

For radio disturbance suppression and for complying with the emission limit valuesfor CE compliant operation 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)

6.5.1.1 Mains filter NFI01/01

Mains filter for Compax3 S025 V2 and Compax3 S063 V2

Dimensional drawing:

50,8±0,385,4116139

79,5

101

88,9

±0,4

55,5

Ø 4

5,2 x 4

LINE

LOAD

Compax3 accessories

124 I21 T11 192-120106 N3 - August 2003

6.5.1.2 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

6.5.1.3 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


I21 T11 192-120106 N3 - August 2003 125

6.5.2 Motor output choke

We offer motor output chokes for disturbance suppression when the motorconnecting cables are long (>20m):

6.5.2.1 Motor output choke MDR01/04

up to 6.3A rated motor current


1205495

590 40

170

U1 V1 W1 + - U2 V2 W2 + -


Up to 16 A rated motor current


1506795

6113 50

195

U1 V1 W1 + - U2 V2 W2 + -

Compax3 accessories

126 I21 T11 192-120106 N3 - August 2003


up to 30 A rated motor current


18076110

6136 57

195

U1 V1 W1 + - U2 V2 W2 + -

6.5.2.4 Wiring of the motor output choke

M

MotorMDRCompax3PEPEUVWBr+Br-

++- -

U1 U2V2V1

W1 W2


I21 T11 192-120106 N3 - August 2003 127

6.6 External ballast resistors

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 Compax3Ballast resistor Device sustained dynamicBRM8/01 (100ΩΩΩΩ) Compax3 S025 V2

Compax3 S038 V460W 250W (<1s; ≥10s cooling time)

BRM5/01 (56ΩΩΩΩ) Compax3 S063 V2Compax3 S075 V4

180W 2300W (<0.4s; ≥8s coolingtime)

BRM6/01 (22ΩΩΩΩ) Compax3 S150 V4 450W 6900 W (<1s; ≥ 20s coolingtime)

BRM4/01 (15ΩΩΩΩ) Compax3 S300 V4 570W 6800W (<1s; ≥20s cooling time)BRM4/02 (15ΩΩΩΩ) Compax3 S300 V4 740W 8900W (<1s; ≥20s cooling time)BRM4/03 (15ΩΩΩΩ) Compax3 S300 V4 1500W 18kW (<1s; ≥20s cooling time)

6.6.1.1 BRM8/01 ballast resistors


6

7,5

40

20

240225

Compax3 accessories

128 I21 T11 192-120106 N3 - August 2003

6.6.1.2 BRM5/01 ballast resistor


222245

101

6,5

48

73

12

6.6.1.3 BRM6/01 ballast resistor


95 97

96 98

250

330

64

120

6,5

64

92

12

1

1: thermal overcurrent relay


I21 T11 192-120106 N3 - August 2003 129

6.6.1.4 Aallast resistor BRM4/0x


95 97

96 98

A

B

C

120

6,5

C

92

12

1

1: thermal overcurrent relayDimensions:Size: BRM4/01 BRM4/02 BRM4/03A 250 300 540B 330 380 620C 64 64 64

Compax3 accessories

130 I21 T11 192-120106 N3 - August 2003

6.7 Operator control module BDM

Flexible service and maintenance

Functions:! For mobile or stationary control can remain on the device for display and diagnostic

purposes can be moved from device to device and plugged into each one.! Can be plugged in while in operation! Power supply via Compax3 servo control! Display with 2 times 16 places.! Menu-driven operation using 4 keys.! Displays and changing of values.! Designing function.! Display of Compax3 messages.! Duplication of device properties to another Compax3 with identical hardware.


I21 T11 192-120106 N3 - August 2003 131

6.8 Interface cable

6.8.1 RS232 cable

SSK1/.. --->PC

2346578

RxDTxDDTRDSRGNDRTSCTS

2346578

RxDTxDDTRDSRGNDRTSCTS

9+5V

1n.c.

7 x 0,25mm + Schirm/Shield

1

5

6

9

1

5

6

9

X10 <---


Compax3 accessories

132 I21 T11 192-120106 N3 - August 2003

6.8.2 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

BKVTGYPKRDBUWHGNBNGNWHYEYEBNWHGYGYBN

GYPK

GN

RDBU

WHBN

YE


Pin 1

2 mm 6 mm23 mm


12345

1112131415

6789

10



I21 T11 192-120106 N3 - August 2003 133

6.8.3 Ref X11

SSK21/..: cable for X11 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

1514131211

6

987

1054321


2 mm 6 mm

23 mm


Compax3 accessories

134 I21 T11 192-120106 N3 - August 2003

6.8.4 Encoder cable

GBK23/..: connection from encoder to Compax3

12

11

5

A

B

NCNCNC

NC


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


GY

PK

GN

BN

WH

BU

RD

YE

Pin 1 32m

m

1514131211 6

987

10 54321


2 mm 6 mm23 mm




I21 T11 192-120106 N3 - August 2003 135

6.9 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 indicator

Corresponding connecting cables EAM06 - Compax3 are available:! From X11 - EAM06/01: SSK23/..! From X12 - EAM06/xx: SSK24/..

EAM6/01: terminal block without luminous indicator for X11 or X12

Width: 67.5 mm

EAM6/02: terminal block with luminous indicator for X12

Compax3 accessories

136 I21 T11 192-120106 N3 - August 2003

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


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


I21 T11 192-120106 N3 - August 2003 137

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

5

2

7

3

6

9

1

I/O ModulCompax3

4

8

101112131415

GYPK

GN

RDBU

WHBN

YE


GYPK

GN

RDBU

WHBN

YE


5

2

7

3

6

9

1

4

8

101112131415

Lötseite

101112131415

9 12345678

Pin 1 Pin 1

2 mm 6 mm23 mm


12345

1112131415

6789

10

Compax3 accessories

138 I21 T11 192-120106 N3 - August 2003

6.10 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

EMD HAUSER Appendix

I21 T11 192-120106 N3 - August 2003 139

7.1 Analog status output via D/A monitor

The following status values can be output via the D/A monitor channel 0 (X11/4)and channel 1 (X11/3) as analog voltage in the range +/-10V.Description Reference valueTorque 1000% of rated motor torqueHigh voltage DC bus 1,000VActual speed value 2000 motor revolutions/sTarget Speed 2000 motor revolutions/sTarget Position 223 motor revolutionsActual position 223 motor revolutionsTracking error 223 motor revolutionsInternal current setpoint 500A

7.2 Status values

The following status values can be viewed in the Compax3 ServoManageroptimization window.Description Unit ScalingTorque % Reference: 100% motor reference torqueDrive utilization % Reference: 100% = rated device currentMotor utilization % Reference: 100% maximum permissible motor

utilizationLong-term - I2t monitoring of motor current andthermal motor time constants

Motor impulse utilization % Reference: 100% maximum permissible motorpulse loadShort-term - I2t monitoring of motor pulse currentand motor pulse current time

Control voltage V Physical unitHigh voltage DC bus V Physical unitActual speed value Unit/s Position units/sMotor temperature °C Physical unitPower output stagetemperature

°C Physical unit

Target Speed Unit/s Unit*/sTarget Position Unit Position units*Actual position Unit Position units*Tracking error Unit Position units*Analog input 10V Physical unitInternal current setpoint mA

7. Appendix

Appendix

140 I21 T11 192-120106 N3 - August 2003

7.3 Error

All errors lead to error status.Reaction 2: Downramp with "de-energise ramp then apply brake and thendeenergise.

Reaction 5: De-energise 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).

EMD HAUSER Appendix

I21 T11 192-120106 N3 - August 2003 141

7.3.1 Error list

Error code (hex): 0x2213Error: Runtime overflow 31.25usError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x2214Error: Runtime overflow 500usError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Runtime monitoring. Internal errorError code (hex): 0x2311Error: Monitor (Effective Motor Current)Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Adjustable monitoring (wit 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 / deenergise.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: deenergise immediately (without ramps), apply brake.Measure: Check motor cableNote: Origin is a hardware signalError code (hex): 0x3210Error: DC bus voltage too highError reaction: Reaction 5: deenergise immediately (without ramps), apply brake.Measure:Note: The voltage on the output bus has exceeded the maximum permissible

valueError code (hex): 0x3222Error: Voltage in DC bus too low (< 70V)Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Measurement via PAPError code (hex): 0x4210Error: Temperature of power output stage / deviceError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Measurement via PAP; source from power stageError code (hex): 0x4310Error: Motor temperatureError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Source is motor temperature signalError code (hex): 0x5111Error: Auxiliary voltage 15V defectiveError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Measurement via PAPError code (hex): 0x5112Error: Overvoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Measurement via PAPError code (hex): 0x5116Error: Undervoltage 24VError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Measurement via PAPError code (hex): 0x5117Error: Undervoltage options

0x2213

0x2214

0x2311

0x2312

0x2320

0x3210

0x3222

0x4210

0x4310

0x5111

0x5112

0x5116

0x5117

Appendix

142 I21 T11 192-120106 N3 - August 2003

Error code (hex): 0x5117Error reaction: NoneMeasure:Note: Used for M expansion with I/O if the external power supply is missingError code (hex): 0x5380 Error: Short circuit at digital outputError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Applies to the 4 on-board outputsError code (hex): 0x5420Error: Ballast resistor overload, pulse currentError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Setting via tool inputError code (hex): 0x5421Error: Braking Resistor overloaded (Continuous Current) Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Setting via tool inputError code (hex): 0x5480Error: Short Circuit - Motor BrakeError reaction: NoneMeasure:Note: Diagnostic lines from power stage interfaceError code (hex): 0x5481Error: Open Circuit - Motor BrakeError reaction: NoneMeasure:Note: Diagnostic lines from power stage interfaceError code (hex): 0x5491Error: Disable power output stageError reaction: Reaction 5: deenergise immediately (without ramps), apply brake.Measure:Note: Hardware input (secure stop)Error code (hex): 0x6280Error: IEC61131-3 Division by zeroError reaction: Reaction 2: downramp / apply brake / deenergise.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 / deenergise.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 / deenergise.Measure: Reduce nesting depth in function and subprogram callsNote: Stack overflow in IEC runtime. Execution is aborted at this point and the

cycle is restarted after the selected cycle time.Error code (hex): 0x6283Error: IEC61131-3 FB stack overflowError reaction: Reaction 2: downramp / apply brake / deenergise.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 / deenergise.Measure: Recompile the program / download and verify the compiler versionNote: Invalid opcode in the IEC program Execution is aborted at this point and the

cycle is restarted after the selected cycle time.Error code (hex): 0x7121Error: Motor stalledError reaction: Reaction 5: deenergise immediately (without ramps), apply brake.Measure:Note: Speed controller signal at limit for specific timeError code (hex): 0x7180

0x5380

0x5420

0x5421

0x5480

0x5481

0x5491

0x6280

0x6281

0x6282

0x6283

0x6284

0x7121

0x7180

EMD HAUSER Appendix

I21 T11 192-120106 N3 - August 2003 143

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

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

Error code (hex): 0x7310Error: Rotation speed too highError reaction: Reaction 5: deenergise immediately (without ramps), apply brake.Measure:Note: Rotation speed too highError code (hex): 0x7320Error: Tracking error Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: Monitoring of tracking error window incl. timeError code (hex): 0x7381Error: Resolver level too highError reaction: Reaction 2: downramp / apply brake / deenergise.Measure: Check encoder cable or encoder

Internal info: encoder stimulator or power supply has been deactivated!Note: Level limit exceededError code (hex): 0x7382Error: Resolver level too lowError reaction: Reaction 2: downramp / apply brake / deenergise.Measure: Check encoder cable or encoder

Internal info: encoder stimulator or power supply has been deactivated!Note: Value is below level limitError code (hex): 0x7390Error: SinCos internal feedback error (group bit)Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note: SinCos errorError code (hex): 0x7391Error: Encoder level too highError reaction: Reaction 2: downramp / apply brake / deenergise.Measure: Check encoder cable (shield, abort, short-circuit) or encoder

Internal info: encoder stimulator or power supply has been deactivated!Note: SinCos encoder: Level of Sine/Cosine trace too high, can only be

acknowledged by turning device off and powering on againError code (hex): 0x7392Error: Encoder level too lowError reaction: Reaction 2: downramp / apply brake / deenergise.Measure: Check encoder cable (shield, abort, short-circuit) or encoder

Internal info: encoder stimulator or power supply has been deactivated!Note: SinCos encoder level of sine/cosine trace too lowError code (hex): 0x7393Error: SinCos RS-485 communication errorError reaction: NoneMeasure: Check encoder cable or encoderNote: SinCos communication errorError code (hex): 0x73a0Error: Hall commutation: invalid combination of hall signalsError reaction: Reaction 5: deenergise immediately (without ramps), apply brake.Measure:Note:Error code (hex): 0x73a5Error: Auto commutation: no standstill of the drive on startError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x73a6Error: Auto commutation: more than 60 el. movementError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x73A7Error: Auto commutation: more than 4 el. movement during phase 2Error reaction: Reaction 2: downramp / apply brake / deenergise.

0x7310

0x7320

0x7381

0x7382

0x7390

0x7391

0x7392

0x7393

0x73a0

0x73a5

0x73a6

0x73A7

Appendix

144 I21 T11 192-120106 N3 - August 2003

Error code (hex): 0x73A7Measure:Note: Error code (hex): 0x73A8Error: Auto commutation: no standstill during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergise. Measure:Note:Error code (hex): 0x73A9Error: Auto commutation: Timeout during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x73AAError: Auto commutation: too many trials during phase 3Error reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x73abError: Auto commutation: timeoutError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0x73ACError: Auto commutation: mo motor connectedError reaction: Reaction 2: downramp / apply brake / deenergise.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 rejectedError code (hex): 0x8182Error: Error upon CAM commandError reaction: Reaction 2: downramp / apply brake / deenergise.Measure:Note:Error code (hex): 0xFF03Error: Object is "read only"Error reaction: NoneMeasure:Note: No write accessError code (hex): 0xFF04Error: Object cannot be readError reaction: NoneMeasure:Note: No read accessError code (hex): 0xFF05Error: Version conflict; object data not valid in flashError reaction: NoneMeasure:Note: Internal errorError code (hex): 0xFF06

0x73A8

0x73A9

0x73AA

0x73ab

0x73AC

0x8120

0x8121

0x8130

0x8181

0x8182

0xFF03

0xFF04

0xFF05

0xFF06

EMD HAUSER Appendix

I21 T11 192-120106 N3 - August 2003 145

Error code (hex): 0xFF06Error: No object for process data; object cannot be mappedError reaction: NoneMeasure:Note: This object cannot be mapped on the cyclic dataError code (hex): 0xFF07Error: Data not validError reaction: NoneMeasure:Note: No OPM text presentError code (hex): 0xFF08Error: No convert functionError reaction: NoneMeasure:Note: Internal error Error code (hex): 0xFF10Error: Command syntax errorError reaction: NoneMeasure:Note: Syntax errorError code (hex): 0xFF11Error: Value not validError reaction: NoneMeasure:Note: Argument incorrectError code (hex): 0xFF12Error: Checksum errorError reaction: NoneMeasure:Note: Checksum CRC incorrectError code (hex): 0xFF13Error: Timeout errorError reaction: NoneMeasure:Note: Active in binary protocol; 5 msError code (hex): 0xFF14Error: Overflow error Error reaction: NoneMeasure:Note: Utype errorError code (hex): 0xFF15Error: Parity errorError reaction: NoneMeasure:Note: Utype errorError code (hex): 0xFF16Error: Frame errorError reaction: NoneMeasure:Note: Utype errorError code (hex): 0xFF20Error: Flash sector delete failedError reaction: NoneMeasure:Note: Error while deleting flashError code (hex): 0xFF21Error: Program flash cell failedError reaction: NoneMeasure:Note: Error while programming flashError code (hex): 0xFF22Error: Checksum error of prog. Flash areaError reaction: NoneMeasure:Note: Error for flash checksumError code (hex): 0xFF23Error: DOWN/UPLOAD activatedError reaction: NoneMeasure:Note: Download or upload is activeError code (hex): 0xFF24

0xFF07

0xFF08

0xFF10

0xFF11

0xFF12

0xFF13

0xFF14

0xFF15

0xFF16

0xFF20

0xFF21

0xFF22

0xFF23

0xFF24

Appendix

146 I21 T11 192-120106 N3 - August 2003

Error code (hex): 0xFF24Error: DOWN/UPLOAD not activatedError reaction: NoneMeasure:Note: Download or upload is inactiveError code (hex): 0xFF30Error: EEPROM Delay Count ErrorError reaction: NoneMeasure:Note: Internal errorError code (hex): 0xFF40Error: Not enough memory for OSZI or AWL reservedError reaction: NoneMeasure: Note: An attempt was made to reserve too much memory (IEC, osci)Error code (hex): 0xFF42Error: No objects availableError reaction: NoneMeasure: Load application data into device (objects)Note: Application data error; no valid objects present

LED red flashingError 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 flashingError 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: Devicetype difError reaction: NoneMeasure:Note: The hardware of the source is not compatible with the hardware of the target

for duplicating a deviceError code (hex): 0xff91Error: Invalid combination of hall signals gross commutationError reaction: NoneMeasure:Note:Error code (hex): 0xFFA0Error: FBK errorError reaction: NoneMeasure:Note: Error from encoderError code (hex): 0xFFD0Error: SinCos CRCError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError code (hex): 0xFFD1Error: SinCos RX TimeoutError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError code (hex): 0xFFD2Error: SinCos RX OverrrunError reaction: NoneMeasure:Note: Error from encoder via serial interface

0xFF30

0xFF40

0xFF42

0xFF43

0xFF45

0xFF46

0xFF47

0xff91

0xFFA0

0xFFD0

0xFFD1

0xFFD2

EMD HAUSER Appendix

I21 T11 192-120106 N3 - August 2003 147

Error code (hex): 0xFFD3Error: SinCos RX ParityError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError code (hex): 0xFFD4Error: SinCos RX FrameError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError code (hex): 0xFFD5Error: Unknown SinCos encoder typeError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError code (hex): 0xFFD6Error: SinCos speed exceeds normal when writing encoder positionError reaction: NoneMeasure:Note: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)

0xFFD3

0xFFD4

0xFFD5

0xFFD6

0xFFE0

Technical Data

148 I21 T11 192-120106 N3 - August 2003

Mains connection: Compax3 S0xx V2Controller type S025 V2 S063 V2Mains voltage Single phase 230VAC + 10%

80-230VAC+10% / 50-60HzRated input current 6Aeff 16AeffMaximum fuse rating per device 10A (automatic circuit

breaker K)16 A (automatic circuitbreaker K)

Mains connection Compax3 Sxxx V4Controller type S038 V4 S075 V4 S150 V4 S300 V4Mains voltage Three-phase 3*400VAC

80-480 VAC+10% / 50-60 HzRated input current 6Aeff 10 Aeff 16Aeff 22AeffMaximum fuse rating perdevice


16 A (automatic circuitbreaker K)


Output data: Compax3 S0xx V2Controller type S025 V2 S063 V2Output voltage (at 1*230 V) 3x 0-230V 3x 0-230VRated output current (at 1*230 V) 2.5Aeff 6.3AeffPulse current 5Aeff for 5s 12.6Aeff for 5sPower [hp] 1kVA 2.5kVASwitching frequency 8kHz 8kHzPower loss for In [Pv] 30W 60WEfficiency 95% 96%

Output data Compax3 Sxxd V4Controller 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 4kHzPower loss for In 80 W 120W 160W 350WEfficiency 94% 95% 97% 97%

8. Technical Data

EMD HAUSER Technical Data

I21 T11 192-120106 N3 - August 2003 149

Output data for mains voltage > 400 VAC

Operation with mains voltages higher than 400VAC requires a reduction of thenominal device currents with respect to permanent load.We allow operation with up to 480VAC, however you will have to take a reductionof 10%/40VAC into account.With respect to known standard voltages, this means:Mains voltage Device current drains400VAC 100%415VAC 96%440VAC 90%460VAC 85%480VAC 80%

Accuracy at the motorFor option F10: Resolver ! Position resolution: 16 bits (= 0.005°)

! Absolute accuracy: ±0.167°For option F11: SinCos ! Position resolution: 19 bits (= 0.0007°)

! Absolute accuracy: ±0.005°For option F12: Direct drives ! Position resolution per pitch resp. per

revolution (max. 24bit):! the analog hall sensors: 13 bits! For Sine-Cosine:

13Bit + log2 (Strokes / Pitch)! For TTL (ES422):

2 + log2 (Strokes / Pitch)For rotational motors you have to use revolutionsinstead of pitch.! Accuracy:

The accuracy depends on the accuracy ofthe encoders used.

Control voltage 24 VDCController type Compax3Voltage range 21 - 27VDCCurrent drain of the device 0.8 ATotal current drain 0.8 A + Total load of the digital outputs +

current for the motor holding brakeRipple 0.5VppRequirement according to safe extralow voltage (SELV)

yes

Technical Data

150 I21 T11 192-120106 N3 - August 2003

Motors and feedback systems supportedMotorsDirect drives! Linear motors! Torque motors

! Sinusoidal commutated synchronous motorsup to maximum rotation speed of 9000 rpm.

! 3 phase synchronous direct drives! Maximum rotating field frequency 600Hz

! !

Position encoder (Feedback) Option F10: ResolverLitton: ! 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.

CANopen ratingsProfile ! Motion Control CiADS402Baud rate [kBit/s] ! 20, 50, 100, 125, 250, 500, 800, 1000EDS file ! C3.EDSService data object ! SDO1Process data objects ! PDO1

! PDO2Deviations from the CANopen DeviceProfile DSP402

! For the velocity mode profile the targetacceleration is also applicable when braking.

! Only one rotation speed is possible formachine zero run start (objects 0x6099.1 and.2 are the same).

FunctionsOperating modes: ! Speed control

! Positioning (position controlSpeed control ! Cyclic predefined target value

! Up to 2 cyclic actual valuesPositioning ! Cyclic predefined target value for up to 3

target values! Up to 2 cyclic actual values

Actual position ! Encoder simulation! Resolution: 1 - 16384 increments / revolution

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


I21 T11 192-120106 N3 - August 2003 151

InterfacesInterface 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 115200 baud! Word length 7/8 bit, 1 start bit, 1 stop bit! Parity (can be switched off) even/odd! 2 or 4-wire

Motor holding brake outputController type Compax3Voltage range 21 27VDCMaximum output current (short circuitproof)

1.6 A

Brake operation Compax3 Sxxx V2Controller type S025 V2 S063 V2Capacitance / storable energy 560µF / 15Ws 1120µF /30WsMinimum ballast - resistance 100Ω 56ΩRecommended nominal power rating 20 ... 60W 60 ... 180WPulse power rating for 1s 1kW 2.5kW

Compax3 Sxxx V4 brake operationController type S038 V4 S075 V4 S150 V4 S300 V4Capacitance / storableenergy

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

1100µF /176Ws

Minimum ballast -resistance

100Ω 56Ω 33Ω 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 Compax3Ballast resistor Device sustained dynamicBRM8/01 (100ΩΩΩΩ) Compax3 S025 V2

Compax3 S038 V460W 250W (<1s; ≥10s cooling time)

BRM5/01 (56ΩΩΩΩ) Compax3 S063 V2Compax3 S075 V4

180W 2300W (<0.4s; ≥8s coolingtime)

BRM6/01 (22ΩΩΩΩ) Compax3 S150 V4 450W 6900 W (<1s; ≥ 20s coolingtime)

BRM4/01 (15ΩΩΩΩ) Compax3 S300 V4 570W 6800W (<1s; ≥20s cooling time)BRM4/02 (15ΩΩΩΩ) Compax3 S300 V4 740W 8900W (<1s; ≥20s cooling time)BRM4/03 (15ΩΩΩΩ) Compax3 S300 V4 1500W 18kW (<1s; ≥20s cooling time)

Technical Data

152 I21 T11 192-120106 N3 - August 2003

Mechanical dataController type Dimensions

HxWxD [mm]Weight [kg]

Compax3 S025 V2 199 x 84 x 172 2.0Compax3 S063 V2 199 x 100 x 172 2.5Compax3 S038 V4 260 x 100 x 172 3,5Compax3 S075 V4 260 x 115 x 172 4,3Compax3 S150 V4 260 x 160 x 172 6,8Compax3 S300 V4 380 x 175 x 172 10,9 Protection type IP20

Insulation requirementsProtection class Protection class I according to EN 50 178 (VDE

0160 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 conditionsGeneral 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 condensationOperationStorageTransport

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

(Relative humidity)

Elevation of operating site <=1000m above sea level for 100% loadratingsPlease inquire for greater elevations

Cooling mode Compax3 S025 V2 ... S150 V4: convectionCompax3 S300 V4: force-ventilation via fan inthe heat dissipator

Sealing IP20 protection class according to EN 60 529EMC interference emission Limit values according to EN 61 800-3, Class A

with 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)


I21 T11 192-120106 N3 - August 2003 153

EC directives and harmonised EC normsEC low voltage directive73/23/EEC and RL 93/68/EEC

EN 50 178, General industrial safety normEquipping electric power systems withelectronic operating equipmentHD 625, general electrical safetyInsulation principles for electrical operatingequipmentEN 60 204-1, Machinery norm, partly applied

EC-EMC directive89/336/EEC

EN 61 800-3, EMC normProduct standard for variable speed drivesEN 50 081-2 ... 50 082-2, EN 61 000-4-2 ...61000-4-5

Index

154 I21 T11 192-120106 N3 - August 2003

AAcceleration / delay for positioning 41Accessories order code 110Acyclic parameter channel 87Adjusting the bus address / function of the bus

LEDs 25Advanced control parameters 51Analog / Encoder (plug X11) 22Analog status output via D/A monitor 143Appendix 143

BBallast resistor 17, 32, 155Ballast resistor / power supply voltage plug X2

for 230VAC devices 17Ballast resistor / power supply voltage plug X2

for 400VAC devices 18Ballast resistor BRM4/0x 133Baud rate 48Bit sequence V2 108Brake delay times 55BRM5/01 ballast resistor 132BRM6/01 ballast resistor 132BRM8/01 ballast resistors 131Byte string OS 108

CCAN communication objects overview sorted

according to CAN No. 57CANopen 56CANopen - configuration 46CANopen com object

Node ID of the SDO1 client 64CANopen com. object

COB-ID of the EMCY message 62COB-ID of the SYNC message 60Device name 60Device type 59Error register 59General device information 61Guard time 62Hardware version 61Inhibit Time Emergency 63Length of the synchronisation window 60Lifetime factor 62Period of a communication cycle 60Product code 61Receive PDO1 communication parameters

64Receive PDO1 mapping parameter 68Receive PDO2 communication parameters

65Receive PDO2 mapping parameter 69Receive PDO3 communication parameter 66Receive PDO3 mapping parameter 71

Receive PDO4 communication parameter 67Receive PDO4 mapping parameter 72Revision number 61RPDO1

COB-ID 64

Event timer 65

Inhibit time 65

Transmission type 65RPDO1 mapping entry 1 68RPDO1 mapping entry 2 69RPDO1 mapping entry 3 69RPDO1 mapping entry 4 69RPDO1 mapping entry 5 69RPDO2

Event timer 66

Inhibit time 66


COB-ID 66

Event timer 67

Inhibit time 67


COB-ID 67

Event timer 68

Inhibit time 68RPDO4 mapping entry 1 72RPDO4 mapping entry 2 72RPDO4 mapping entry 3 72RPDO4 mapping entry 4 73RPDO4 mapping entry 5 73SDO1

COB-ID R-SDO 63

COB-ID T-SDO 63Serial number 62Server SDO1 Parameter 63Software version 61TPDO1

9. Index

EMD HAUSER Index

I21 T11 192-120106 N3 - August 2003 155

COB-ID 73

Event timer 74

Inhibit time 74

Transmission type 73TPDO1 mapping entry 1 77TPDO1 mapping entry 2 77TPDO1 mapping entry 3 77TPDO1 mapping entry 4 78TPDO1 mapping entry 5 78TPDO2

COB-ID 74

Event timer 75


Event timer 76

Inhibit time 76


COB-ID 76

Event timer 77

Inhibit time 77

Transmission type 76TPDO4 mapping entry 1 81TPDO4 mapping entry 2 81TPDO4 mapping entry 3 81TPDO4 mapping entry 4 81TPDO4 mapping entry 5 81Transmit PDO1 communication parameter 73Transmit PDO1 mapping parameter 77Transmit PDO2 communication parameter 74Transmit PDO2 mapping parameter 78Transmit PDO3 mapping parameter 79Transmit PDO4 communication parameter 76Transmit PDO4 mapping parameter 80Vendor Id 61

CANopen com. object RPDO4Transmission type 68

CANopen com. object TPDO2Inhibit time 75

CANopen com. object TPDO3COB-ID 75

CANopen com. objextTransmit PDO3 communication parameter 75

CANopen com.objectRPDO2

COB-ID 65CANopen communication profile 56CANopen object

Acceleration / deceleration in the rotationspeed control mode 103

Acceleration and deceleration for the machinezero run 98

Acceleration for manual+/- 99Acceleration for positioning 101Acceleration forward control 96Acceleration jerk for positioning 101Actual acceleration value filter 93Adjusting the machine zero mode 98Bandwidth of the current controller 93Control word STW 94Current error (n) 96Current forward control 96Damping (rotation speed controller) 93Damping of the current controller 93D-component of the rotation speed controller

94Deceleration for FSTOP1 97Deceleration for FSTOP3 97Deceleration for positioning 101Deceleration for STOP 106Deceleration jerk for positioning 101Deceleration on error 95Filter for actual speed value 93Jerk for FSTOP1 97Jerk for FSTOP3 98Jerk for manual+/- 99Jerk for STOP 106Jerk forward control 97Jerk on error 96Machine zero offset 98Maximum permissible negative current 99Maximum permissible negative speed 100Maximum permissible positive current 100Maximum permissible positive speed 100Moment of inertia 94Negative end limit 100Operating mode display 95Position window time 103Positioning window for position reached 102Positive end limit 100Proximity switch adjustment 98Rotation speed forward control 97Save objects permanently (bus) 101Set objects to valid 106Speed for machine zero run 99Speed for manual+/- 99Speed for positioning 102Status of acceleration target value 103Status of actual current value 104Status of actual speed value 105Status of auxiliary voltage 106Status of device utilisation 103Status of long-term motor utilization 104Status of motor temperature 105Status of position actual value 104Status of position target value 104Status of power direct voltage 106

Index

156 I21 T11 192-120106 N3 - August 2003

Status of power output stage temperature 105

Status of speed error 105Status of speed target value 105Status of tracking error 104Status word ZSW 95Stiffness (rotation speed controller) 94Target position 102Target speed in rotation speed control mode

103Tracking error limit 102Tracking error time 102

CANopen Object Operating mode 95CANopen Objects 89CANopen plug X23 25Commissioning Compax3 30Commissioning mode 54Communication objects 57Compax3 accessories 109Compax3 device description 15Compax3 Positioning via CANopen 13Conditions of utilization 11Configuration 30Connections to the motor 123Control dynamics 49Control voltage 24 VDC 19Control voltage 24VDC / enable (plug X4) 19Control word 84Current Limit 44Cyclic process data objects 84

DDamping of the speed controller 50Data formats of the bus objects 107Defining jerk / ramps 41Defining the reference system 33Device assignment 7Digital inputs/outputs (plug X12) 23Dimensions of the MH(A)105-motors 120Dimensions of the MH(A)145 and MH(A)205

motors 121Dimensions of the SMH(A)-motors 119Direct drives 112

EEAM06 terminal block for inputs and outputs

139EMC measures 127Emergency message 62Encoder cable 138Encoder simulation 45Error 144Error list 145Error reaction to a bus failure 47External ballast resistors 131External moment of inertia / load 32

FFilter for speed value 50Fixed point format C4_3 108Fixed point format E2_6 107Forward control measures 52

Function of the LEDs on the front panel 16

GGeneral communication objects 59General drive 32General hazards 9

HHolding brake 118

II/O interface X12 136Input wiring of digital inputs 23Installation and dimensions Compax3 26Installation and dimensions of Compax3 S038

and S075 V4 27Installation and dimensions of Compax3 S0xx

V2 26Installation and dimensions of Compax3 S150

V4 28Installation and dimensions of Compax3 S300

V4 29Integer formats 107Interface cable 135Introduction 7

JJerk for STOP, MANUAL and error 43Jerk limit for positioning 41

LLimit and monitoring settings 44Linear motors 113

MMachine reference modes (MN-Ms) 35Mains filter 127Mains filter for NFI01/03 128Mains filter NFI01/01 127Mains filter NFI01/02 128Measure reference 33MN-M 128/129

current increase while moving to block 38MN-M 3,4/19,20 MN on the positive edge of

the MN-initiator 36MN-M 33,34 MN on the motor zero point 38MN-M 35

MN at the current position 38MN-M 5,6/21,22

MN proximity switch = 1 on the negative edge 37

Motor / Motor brake (plug X3) 19Motor cable for terminal box 126Motor cable with plug 125Motor Connection 19Motor data table for standard motors 117Motor holding brake 19Motor output choke 129Motor output choke MDR01/01 129Motor output choke MDR01/02 130Motor output choke MDR01/04 129

EMD HAUSER Index

I21 T11 192-120106 N3 - August 2003 157

Motor selection 31

NNode Guarding 62

OObject list sorted by object name 92Object types 56Object up-/download via CANopen 88Operating mode speed / position control 46Operator control module BDM 134Optimization 49Order code for Compax3 109Order code for SMH/MH motors 122Output wiring of digital outputs 24Overview of motor cables 124

PParker servo motors 112Plug and connector assignment Compax3 15Plug assignment Compax3S0xx V2 16, 17,

19, 21, 24Possible PDO assignment 47Power supply 16Power supply plug X1 for 230VAC devices 16Power supply plug X1 for 400 VAC devices

17Pulse encoder systems 118

RRamp upon error and de-energize 43Read process data from Compax3 73Ref X11 137Resolver 24Resolver / Feedback (connector X13) 24Resolver cable 123Rotary servo motors 114RS232 / RS485 interface (plug X10) 21RS232 cable 135RS232 plug assignment 21RS485 plug assignment 21RS485 setting values 48

SSafety Instructions 9Safety-conscious working 9SDO abort code 87Send process data to Compax3 64Service Data Object 63Service Data Objects (SDO) 87SinCos cable 124Special safety instructions 10Speed for positioning 41Standardised and manufacturer-specific

objects sorted according to CANopen index 89

Standardised and manufacturer-specificobjects sorted according to object names 90

Status machine 82Status values 143

Status word 86Stiffness of the speed controller 49

TTechnical Data 152Torque motors 113Transmission cycle time 48Transmitter systems for direct drives 112Turning the motor holding brake on and off

55Type specification plate 8

UUnsigned - Formats 107Usage in accordance with intended purpose

9

WWarranty conditions 10Wiring of analog outputs 22Wiring of the motor output choke 130

ZZBH plug set 142

Index

158 I21 T11 192-120106 N3 - August 2003

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