positioning with function modules according to plcopen · 2006. 1. 19. · iec 61131 - positioning...

EMD HAUSER

We reserve the right to make technical changes. 18.08.03 11:37 I11 T30 192-120104 N4 - August 2003The data contained in this manual correspond to the current status at the time of printing.

Operating Instructions Compax3 I11 T30 - Motion controlaccording to IEC61131-3

Positioning with function modulesaccording to PLCopen

I11 T30 192-120104 N4 - August 2003

as from software version V02.00

Introduction

2 I11 T30 192-120104 N4 - August 2003

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EMD HAUSER Device assignmentGeneral hazards

I11 T30 192-120104 N4 - August 2003 3

Contents

1. Introduction .............................................................................................91.1 Device assignment .................................................................................. 91.2 Type specification plate ........................................................................ 101.3 Safety Instructions................................................................................. 11

1.3.1 General hazards ................................................................................................. 111.3.2 Safety-conscious working................................................................................. 111.3.3 Special safety instructions................................................................................ 12

1.4 Warranty conditions .............................................................................. 121.5 Conditions of utilization ........................................................................ 13

2. IEC 61131 - Positioning with function modules based on PLCopen .15

3. Compax3 device description................................................................173.1 Plug and connector assignment Compax3.......................................... 17

3.1.1 Function of the LEDs on the front panel.......................................................... 183.1.2 Power supply plug X1 for 230VAC devices ..................................................... 183.1.3 Power supply plug X1 for 400 VAC devices .................................................... 193.1.4 Ballast resistor / power supply voltage plug X2 for 230VAC devices .......... 193.1.5 Ballast resistor / power supply voltage plug X2 for 400VAC devices .......... 203.1.6 Motor / Motor brake (plug X3) ........................................................................... 213.1.7 Control voltage 24VDC / enable (plug X4) ....................................................... 213.1.8 RS232 / RS485 interface (plug X10).................................................................. 233.1.9 Analog / Encoder (plug X11) ............................................................................. 24

3.1.9.1 Wiring of analog outputs ....................................................................... 243.1.9.2 Wiring of the analog input ..................................................................... 24

3.1.10 Digital inputs/outputs (plug X12)...................................................................... 253.1.10.1 Input wiring of digital inputs................................................................... 253.1.10.2 Output wiring of digital outputs.............................................................. 26

3.1.11 Resolver / Feedback (connector X13) .............................................................. 263.2 Installation and dimensions Compax3................................................. 27

3.2.1 Installation and dimensions of Compax3 S0xx V2 ......................................... 273.2.2 Installation and dimensions of Compax3 S038 and S075 V4 ........................ 283.2.3 Installation and dimensions of Compax3 S150 V4 ......................................... 293.2.4 Installation and dimensions of Compax3 S300 V4 ......................................... 30

4. Commissioning Compax3 ....................................................................314.1 Configuration ......................................................................................... 31

4.1.1 Motor selection................................................................................................... 324.1.2 Ballast resistor ................................................................................................... 334.1.3 General drive ...................................................................................................... 33

4.1.3.1 External moment of inertia / load .......................................................... 33

IntroductionGeneral hazards

4 I11 T30 192-120104 N4 - August 2003

4.1.4 Defining the reference system.......................................................................... 344.1.4.1 Measure reference................................................................................ 344.1.4.2 Locating the machine reference ........................................................... 37

4.1.5 Defining jerk / ramps.......................................................................................... 424.1.5.1 Ramp upon error and de-energize........................................................ 42

4.1.6 Limit and monitoring settings........................................................................... 424.1.6.1 Current Limit ......................................................................................... 42

4.1.7 Encoder simulation ............................................................................................ 434.1.8 Recipe table ........................................................................................................ 444.1.9 RS485 setting values ......................................................................................... 454.1.10 Configuration name / comments ...................................................................... 45

4.2 Optimization ........................................................................................... 464.2.1 Control dynamics ............................................................................................... 46

4.2.1.1 Stiffness of the speed controller ........................................................... 464.2.1.2 Damping of the speed controller ........................................................... 474.2.1.3 Filter for speed value ............................................................................ 474.2.1.4 Advanced control parameters............................................................... 48

4.2.2 Turning the motor holding brake on and off ................................................... 52

5. Programming based on IEC61131-3 ....................................................535.1 General ................................................................................................... 53

5.1.1 CoDeSys / Compax3 target system (Target Package).................................... 535.1.1.1 Preliminary installations ........................................................................ 535.1.1.2 Program development and test............................................................. 545.1.1.3 Recipe management............................................................................. 54

5.1.2 Languages supported........................................................................................ 545.1.3 AWL commands supported............................................................................... 555.1.4 Data types supported......................................................................................... 565.1.5 Recipe table with 9 columns and 32 lines ....................................................... 565.1.6 Standard function modules supported ............................................................ 575.1.7 Retain Variables ................................................................................................. 575.1.8 Maximum program size ..................................................................................... 575.1.9 Cycle time............................................................................................................ 575.1.10 Access to the Compax3 object directory......................................................... 585.1.11 Translating and downloading/uploading IEC61131 programs ...................... 58

5.2 Motion control via function modules ................................................... 595.2.1 Status diagram based on PLCopen.................................................................. 595.2.2 Library constants ............................................................................................... 605.2.3 General rules / timing......................................................................................... 615.2.4 Control functions ............................................................................................... 62

5.2.4.1 Energizing the power output stage (MC_Power) .................................. 625.2.4.2 Stop (MC_Stop) .................................................................................... 635.2.4.3 Opening the brake (C3_OpenBrake) .................................................... 64

5.2.5 Reading values ................................................................................................... 655.2.5.1 Reading the current position (MC_ReadActualPosition) ...................... 655.2.5.2 Read access to the (C3_READARRAY) array ..................................... 665.2.5.3 Reading the device status (MC_ReadStatus)....................................... 67

5.2.6 Motion functions ................................................................................................ 685.2.6.1 Absolute positioning (MC_MoveAbsolute)............................................ 695.2.6.2 Relative positioning (MC_MoveRelative).............................................. 725.2.6.3 Aditive positioning (MC_MoveAdditive) ................................................ 74


I11 T30 192-120104 N4 - August 2003 5

5.2.6.4 Endless positioning (MC_MoveVelocity) .............................................. 765.2.6.5 Current setting operation (C3_Current) ................................................ 785.2.6.6 Machine zero (MC_Home).................................................................... 79

5.2.7 Error handling..................................................................................................... 805.2.7.1 Acknowledging errors (MC_Reset) ....................................................... 805.2.7.2 Reading axis errors (MC_ReadAxisError) ............................................ 815.2.7.3 Switching off error messages (C3_ERRORMASK) .............................. 82

5.2.8 Process image .................................................................................................... 835.2.8.1 Reading digital inputs (C3_INPUT)....................................................... 835.2.8.2 Writing digital inputs (C3_INPUT)......................................................... 835.2.8.3 Reading/writing optional inputs/outputs ................................................ 845.2.8.4 Recording the axis position (MC_TouchProbe) .................................... 86

5.3 Application examples ............................................................................ 885.3.1 Example in CFC: Using Compax3-specific function modules and

Compax3 objects................................................................................................ 885.3.2 Example in CFC: Positioning 1 ......................................................................... 895.3.3 Example in CFC: Positioning 2 ......................................................................... 905.3.4 Example in CFC: Positioning with set selection............................................. 915.3.5 Example in CFC: Cycle mode............................................................................ 925.3.6 Example in ST: Cycle mode with a Move module........................................... 93

6. Compax3 - Objects................................................................................956.1 Object overview sorted by object name .............................................. 976.2 I11 T30 object: Setpoint for analog output 0 ....................................... 996.3 I11 T30 object: Setpoint for analog output 1 ....................................... 996.4 I11 T30 object: Bandwidth of the current controller ........................... 996.5 I11 T30 object: Damping factor of the current controller ................... 996.6 I11 T30 object: Damping (rotation speed controller) ........................ 1006.7 I11 T30 object: Actual acceleration value filter ................................. 1006.8 I11 T30 object: Filter for speed value ................................................. 1006.9 I11 T30 object: Moment of Inertia ....................................................... 1006.10 I11 T30 object: D-component of the rotation speed controller ........ 1016.11 I11 T30 object: Stiffness (speed controller)....................................... 1016.12 I11 T30 object: Input word of I/O option............................................. 1016.13 I11 T30 object: Activate input/output option M10/M12 ..................... 1016.14 I11 T30 object: Error in I/O option ...................................................... 1026.15 I11 T30 object: Output word for I/O option ........................................ 1026.16 I11 T30 object: Acceleration forward control .................................... 1026.17 I11 T30 object: Current forwards control ........................................... 1026.18 I11 T30 object: Jerk forward control .................................................. 1036.19 I11 T30 object: Rotation speed forward control ................................ 1036.20 I11 T30 object: Maximum permissible negative current................... 1036.21 I11 T30 object: Maximum permissible positive current.................... 1036.22 I11 T30 object: Maximum permissible negative speed..................... 1046.23 I11 T30 object: Maximum permissible positive speed...................... 1046.24 I11 T30 object: Negative end limit ...................................................... 104


6 I11 T30 192-120104 N4 - August 2003

6.25 I11 T30 object: Positive end limit........................................................ 1046.26 I11 T30 object: Status of the Multiturn emulation ............................. 1056.27 I11 T30 object: Read objects from Flash ........................................... 1056.28 I11 T30 object: Save objects permanently......................................... 1056.29 I11 T30 object: Tracking error time .................................................... 1066.30 I11 T30 object: Tracking error limit .................................................... 1066.31 I11 T30 object: Position reached ........................................................ 1066.32 I11 T30 object: Positioning window for position reached ................ 1066.33 I11 T30 object: Position window time ................................................ 1076.34 I11 T30 object: Status of acceleration target value........................... 1076.35 I11 T30 object: Status of actual current value ................................... 1076.36 I11 T30 object: Status of device utilization........................................ 1076.37 I11 T30 object: Status of motor utilisation......................................... 1086.38 I11 T30 object: Short-term motor utilization...................................... 1086.39 I11 T30 object: Status of position actual value ................................. 1086.40 I11 T30 object: Status of position target value.................................. 1086.41 I11 T30 object: Status of tracking error ............................................. 1096.42 I11 T30 object: Status of actual speed value ..................................... 1096.43 I11 T30 object: Status of target value................................................. 1096.44 I11 T30 object: Status of speed error ................................................. 1096.45 I11 T30 object: Status of motor temperature ..................................... 1106.46 I11 T30 object: Status of power output stage temperature .............. 1106.47 I11 T30 object: Status of analog input 0 ............................................ 1106.48 I11 T30 object: Status of analog input 1 ............................................ 1106.49 I11 T30 object: Status of auxiliary voltage......................................... 1116.50 I11 T30 object: Status of power direct current .................................. 1116.51 I11 T30 object: Set objects to valid .................................................... 1116.52 I11 T30 object: Variable Column 1 Row 1 .......................................... 1116.53 I11 T30 object: Variable Column 2 Row 1 .......................................... 1126.54 I11 T30 object: Variable Column 3 Row 1 .......................................... 1126.55 I11 T30 object: Variable Column 4 Row 1 .......................................... 1126.56 I11 T30 object: Variable Column 5 Row 1 .......................................... 1126.57 I11 T30 object: Variable Column 6 Row 1 .......................................... 1136.58 I11 T30 object: Variable Column 7 Row 1 .......................................... 1136.59 I11 T30 object: Variable Column 8 Row 1 .......................................... 1136.60 I11 T30 object: Variable Column 9 Row 1 .......................................... 1136.61 I11 T30 object: Indirect table access Column 1................................. 1146.62 I11 T30 object: Indirect table access Column 2................................. 1146.63 I11 T30 object: Indirect table access Column 3................................. 1146.64 I11 T30 object: Indirect table access Column 4................................. 1146.65 I11 T30 object: Indirect table access Column 5................................. 1156.66 I11 T30 object: Indirect table access Column 6................................. 1156.67 I11 T30 object: Indirect table access Column 7................................. 115


I11 T30 192-120104 N4 - August 2003 7

6.68 I11 T30 object: Indirect table access Column 8................................. 1156.69 I11 T30 object: Indirect table access Column 9................................. 1166.70 I11 T30 object: Pointer to table row.................................................... 1166.71 I11 T30 object: Current error (n) ......................................................... 1166.72 I11 T30 object: Acceleration and delay for machine reference run . 1176.73 I11 T30 object: Initiator adjustment.................................................... 1176.74 I11 T30 object: Jerk for machine reference run................................. 1176.75 I11 T30 object: Adjusting the machine reference mode ................... 1176.76 I11 T30 object: Speed for machine reference run ............................. 118

7. Compax3 accessories.........................................................................1197.1 Order code for Compax3..................................................................... 1197.2 Accessories order code ...................................................................... 1207.3 Parker servo motors ............................................................................ 122

7.3.1 Direct drives...................................................................................................... 1227.3.1.1 Transmitter systems for direct drives.................................................. 1227.3.1.2 Linear motors ...................................................................................... 1237.3.1.3 Torque motors..................................................................................... 123

7.3.2 Rotary servo motors ........................................................................................ 1247.3.3 Motor data table for standard motors ............................................................ 1277.3.4 Holding brake ................................................................................................... 1287.3.5 Pulse encoder systems ................................................................................... 1287.3.6 Dimensions of the SMH(A)-motors................................................................. 1297.3.7 Dimensions of the MH(A)105-motors ............................................................. 1307.3.8 Dimensions of the MH(A)145 and MH(A)205 motors .................................... 1317.3.9 Order code for SMH/MH motors ..................................................................... 132

7.4 Connections to the motor ................................................................... 1337.4.1 Resolver cable .................................................................................................. 1337.4.2 SinCos cable..................................................................................................... 1347.4.3 Overview of motor cables................................................................................ 1347.4.4 Motor cable with plug ...................................................................................... 1357.4.5 Motor cable for terminal box........................................................................... 136

7.5 EMC measures ..................................................................................... 1377.5.1 Mains filter ........................................................................................................ 137

7.5.1.1 Mains filter NFI01/01........................................................................... 1377.5.1.2 Mains filter NFI01/02........................................................................... 1387.5.1.3 Mains filter for NFI01/03...................................................................... 138

7.5.2 Motor output choke.......................................................................................... 1397.5.2.1 Motor output choke MDR01/04........................................................... 1397.5.2.2 Motor output choke MDR01/01........................................................... 1397.5.2.3 Motor output choke MDR01/02........................................................... 1407.5.2.4 Wiring of the motor output choke........................................................ 140

7.6 External ballast resistors .................................................................... 1417.6.1.1 BRM8/01 ballast resistors ................................................................... 1417.6.1.2 BRM5/01 ballast resistor..................................................................... 1427.6.1.3 BRM6/01 ballast resistor..................................................................... 1427.6.1.4 Ballast resistor BRM4/0x..................................................................... 143

7.7 Operator control module BDM............................................................ 144


8 I11 T30 192-120104 N4 - August 2003

7.8 Interface cable...................................................................................... 1457.8.1 RS232 cable ...................................................................................................... 1457.8.2 I/O interface X12 ............................................................................................... 1467.8.3 Ref X11 .............................................................................................................. 1477.8.4 Encoder cable................................................................................................... 148

7.9 Input/output option M12 ...................................................................... 1497.9.1 Assignment of the X22 connector .................................................................. 149

7.9.1.1 Input wiring of digital inputs................................................................. 1507.9.1.2 Output wiring of digital outputs............................................................ 150

7.10 EAM06: Terminal block for inputs and outputs................................. 1517.11 ZBH plug set......................................................................................... 154

8. Appendix..............................................................................................1558.1 Analog status output via D/A monitor................................................ 1558.2 Status values........................................................................................ 1558.3 Error ...................................................................................................... 156

8.3.1 Error list............................................................................................................. 157

9. Technical Data.....................................................................................164

10. Index.....................................................................................................170

EMD HAUSER Introduction

I11 T30 192-120104 N4 - August 2003 9

1.1 Device assignment

This manual applies to the following devices:! Compax3 S025 V2 + supplement! Compax3 S063 V2 + supplement! Compax3 S038 V4 + supplement! Compax3 S075 V4 + supplement! Compax3 S150 V4 + supplement! Compax3 S300 V4 + supplement

With the supplement:! F10 (Resolver)! F11 (SinCos)! F12 (linear and rotary direct drives)

! I11 T30

1. Introduction

Introduction

10 I11 T30 192-120104 N4 - 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 generation

Compax3 - Typespecification plate:


I11 T30 192-120104 N4 - August 2003 11

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 andoperational relationships, have been authorized by the officer responsible for thesafety of the system to perform the required task and in the process are capableof recognizing potential hazards and avoiding them (definition of technicalpersonnel according to VDE105 or IEC364),

! Persons who have a knowledge of first-aid techniques and the local emergencyrescue services.

! Persons who have read and will observe the safety instructions.! Those who have read and observe the manual or help (or the sections pertinent

to the work to be carried out).This applies to all work relating to setting up, commissioning, configuring,programming, modifying the conditions of utilization and operating modes, and tomaintenance work.This manual and the help information must be available close to the device duringthe performance of all tasks.

Introduction

12 I11 T30 192-120104 N4 - 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.


I11 T30 192-120104 N4 - August 2003 13

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 >20m.

! 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.

Mains filter:

Motor and resolvercable:

Motor cable

Introduction

14 I11 T30 192-120104 N4 - August 2003

< 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 IEC 61131 - Positioning with function modules based on PLCopen

I11 T30 192-120104 N4 - August 2003 15

Due to its high functionality, Compax3 in the version IEC 61131 - Positioningbased on PLCopen (T30) forms an ideal basis for many applications in high-performance motion automation.

A standard with general applicability was created with Standard IEC 61131-3. Theprogramming system is equipped with a series of functions in addition to thecompliant editor. The Motion Control functions specified in PLCopen are alsoprovided by Parker as a library with the device and control software.

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

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

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

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.

2. IEC 61131 - Positioning withfunction modules based onPLCopen

IEC 61131 - Positioning with function modules based on PLCopen

16 I11 T30 192-120104 N4 - August 2003

The optional Operator control module (BDM01/01 (see on page 144)) forCompax3 makes it possible to exchange devices quickly without requiring a PC.

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 145)).

EMD HAUSER Compax3 device description

I11 T30 192-120104 N4 - August 2003 17

3.1 Plug and connector assignment Compax3

Connection assignment based on the example of Compax3 S025 V2:

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

Compax3 device descriptionFunction of the LEDs on the front panel

18 I11 T30 192-120104 N4 - 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

I11 T30 192-120104 N4 - August 2003 19

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

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

Caution!

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

20 I11 T30 192-120104 N4 - August 2003

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: dieser ist gültigit 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.

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

I11 T30 192-120104 N4 - August 2003 21

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 135)

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)

22 I11 T30 192-120104 N4 - August 2003

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

Safe stop (X4/3=0V)For implementation of a safety function according to 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): 100mV -60VSwitching current: 10mA - 0.3A


I11 T30 192-120104 N4 - August 2003 23

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

24 I11 T30 192-120104 N4 - August 2003

3.1.9 Analog / Encoder (plug X11)

PIN X11 ReferenceHigh Density Sub D

1 +24V (output for encoder) max. 50mA2 Ain1 -: analog input - (14Bit)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 +: analog input + (14Bit)10 Ain1 +: analog input + (14Bit)11 Ain0 -: analog input - (14Bit)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

3.1.9.2 Wiring of the analog input

10nF

2.2KΩ

10KΩAin+

2.2KΩ

X11/910KΩ

10nF

Ain-X11/11

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


I11 T30 192-120104 N4 - August 2003 25

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 initiator or Input 715 O Gnd 24 VAll inputs and outputs have 24V level.Maximum capacitive loading of the outputs: 50nF (max. 4 Compax3 inputs)Note:The inputs and outputs are freely programmable using an IEC61131-3-3 - program.Input 7 is provided as a machine reference initiator.

3.1.10.1 Input wiring of digital inputs

24V

0V

100KΩ

X12/1

X12/6

X12/15

10KΩ22KΩ

22KΩ

22KΩ

SPS/PLC

X4/1

X4/2

F2 F1

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


26 I11 T30 192-120104 N4 - 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 cable length: 100mResolver cable (see on page 133)SinCos cable (see on page 134)


I11 T30 192-120104 N4 - August 2003 27

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


28 I11 T30 192-120104 N4 - August 2003

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


I11 T30 192-120104 N4 - August 2003 29

3.2.3 Installation and dimensions of Compax3 S150 V4



248

259

15826

727

9

80 39


30 I11 T30 192-120104 N4 - August 2003

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!

EMD HAUSER Commissioning Compax3

I11 T30 192-120104 N4 - August 2003 31

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 the installation, 200 MB after the installationis complete

! 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!

4. Commissioning Compax3

Installation of the C3ServoManager

Commissioning Compax3Motor selection

32 I11 T30 192-120104 N4 - August 2003

Your PC is connnected with Compax3 over an RS232 cable (SSK1 see on page145) (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.

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 52).

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

! Rotary motors / linear motors! Revolutions ≡ Pitch! Rotation speed ≡ Speed! Torque ≡ Power! Moment of inertia ≡ Load

Notes on direct drives (see on page 122) (Linear and Torque - Motors)

Connection betweenPC and Compax3

Device selection

Configuration

EMD HAUSER ConfigurationBallast resistor

I11 T30 192-120104 N4 - August 2003 33

4.1.2 Ballast resistor

If the regenerative brake output exceeds the amount of energy that can bestored by the servo-controller (see on page 167), an error will be generated. Toensure safe operation, it is then necessary to reduce either! to reduce the accelerations resp. the decelerations,! or you will need an external ballast resistor (see on page 141).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.

Commissioning Compax3Defining the reference system

34 I11 T30 192-120104 N4 - August 2003

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:

EMD HAUSER ConfigurationDefining the reference system

I11 T30 192-120104 N4 - August 2003 35

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 pinions: 12Tooth separation: 10mmTrave 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 Range: depending on the chosen unit Standard value:

depending on thechosen unit

Resolution: 0.000 000 1 (7 decimal places)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:

Commissioning Compax3Defining the reference system

36 I11 T30 192-120104 N4 - August 2003

Reset mode is available for applications in which the positioning range repeats;some examples are: Rotary table applications, belt conveyor, ... .After the reset path (which can be specified exactly as numerator anddenominator (see on page 34)) the position values in the Compax3 are reset to 0.

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

7 4 10mm

300 mm

M 74

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

Reset travel distance

CounterUnit: Unit Range: depending on the chosen unit Standard value:

depending on thechosen unit

Unit 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.

Reset mode

Example:


I11 T30 192-120104 N4 - August 2003 37

4.1.4.2 Locating the machine reference

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

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

Operation with SinCos MultiturnUsing a SinCos Multiturn absolute value encoder (Motor - Option A7) as feedbacksystem, the absolute position can read in when switching on the Compax3. Amachine zero run after switch-on is then not necessary.In this case the reference only needs to be established once! at initial commissioning time! after replacing a motor / encoder! after a mechanical modification and! after replacing the device (Compax3)by carrying out a machine zero run.The machine zero run mode 35 "MN at the current position (see on page 40)" isappropriate for this, because it is therewith possible to operate without proximityswitch, but any other machine zero run mode is possible too if the hardwareprerequisites are fulfilled.When you have once re-established the reference, reset the machine zero runmode to "without machine zero run".

Operation with MultiTurn emulationYou can simulate the function of a SinCos Multiturn by the aid of a Multiturnemulation. A resolver or a SinCos Singleturn is sufficient as a feedback signal fromthe motor.It differs from the physical SinCos Multiturn in the way that it may not be moved bymore than half a turn in currentless state unless the absolute position is lost.Besides that, the Multiturn emulation offers the same function as the physicalSinCos Multiturn.You can switch on the Multiturn emulation directly in the wizard.You can assign the maximal permissible motor angle via the Multiturn validitywindow (object 230.44).If Compax3 states after switching on that this value is exceeded, this is indicatedvia a status. The status can be read in the IEC61131-3 program in object 3310.1("0": angle in the window; "-1": angle was outside the window). Compax3 restoresnevertheless the absolute position, which is, however, not correct if the motor wasmoved by more than half a turn while currentless.

Position referencepoint

Commissioning Compax3

38 I11 T30 192-120104 N4 - August 2003

Machine reference modes (MN-Ms)

MN-M 3.4/19.20: MN on the positive edge of the MN proximity switchThe 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 1st motor zero point at MN proximity switch = "1" is used as MN.MN-M 4: The 1st motor zero point at MN proximity switch = "1" is used as MN.

3

4

4

3

1

21: Motor zero point2: Proximity switch signal level

MN-M 19: The negative edge of the MN proximity switch is taken directly as MN(the motor zero point remains without consideration).MN-M 20: The positive edge of the MN proximity switch is used directly as MN (themotor zero point remains without consideration).

19

20

20

19

1

1: Proximity switch signal level

With motorreference point

Without motorreference point


I11 T30 192-120104 N4 - August 2003 39

MN-M 5,6/21,22: MN proximity switch = 1 on the negative flankThe 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 1st motor zero point with MN proximity switch = "0" is used as MN.MN-M 6: The 1st motor zero point at MN proximity switch = "1" is used as MN.

6

5

5

6

1

2

1: Motor zero point2: Proximity switch signal level

MN-M 21: The negative edge of the MN proximity switch is taken directly as MN(the motor zero point remains without consideration).MN-M 22: The positive edge of the MN proximity switch is used directly as MN (themotor zero point remains without consideration).

2222

21

21

1

1: Proximity switch signal level

With motorreference point

Without motorreference point


40 I11 T30 192-120104 N4 - August 2003

MN-M 33,34: MN at motor zero pointThe motor reference point is now evaluated (no MN initiator):

MN-M 33: For a MN run, starting from the current position, the next motor zeropoint in the negative travel direction is taken as the MN.MN-M 34: For a MN run, starting from the current position, the next motor zeropoint in the positive travel direction is taken as the MN.

3334

1

1: Motor zero 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:


I11 T30 192-120104 N4 - August 2003 41

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

Travel limit0 1 2

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


42 I11 T30 192-120104 N4 - August 2003

4.1.5 Defining jerk / ramps

4.1.5.1 Ramp upon error and de-energize

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

3: Deceleration upon error and upon deactivation of MC_Power (see on page 62)

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 reached

Position reached indicates that the target position is located within the positionwindow.In addition to the position window, a position window time is supported. If the actualposition goes inside the position window, the position window time is started. If theactual position is still inside the position window after the position window time,"Position reached" is set.If the actual position leaves the position window within the position window time,the position window time is started again.When the actual position leaves the position window 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: Positioning window2: Position window time

POS: Target position reached (==object PositioningAccuracy_PositionTeached )


I11 T30 192-120104 N4 - August 2003 43

Tracking error limit

The tracking error is a dynamic error.The dynamic difference between the setpoint position and the actual positionduring a positioning is called the tracking error. Do not confuse this with the staticdifference which is always 0; the target position is always reached 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.

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 minimised with the help of the extended (advanced)controller parameters, in particular with the forward feed parameters (see onpage 48) (rotation speed, acceleration, current and jerk forward control).

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

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 perrevolution / 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


44 I11 T30 192-120104 N4 - August 2003

4.1.8 Recipe table

If you would like to work with the Recipe table (see on page 56), you can makepreasignments in it with Compax3 ServoManager.


I11 T30 192-120104 N4 - August 2003 45

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.

4.1.10 Configuration name / comments

You can assign a name to the current configuration or write some commendsabout it in this place.

Multicast address

Device address

Baud rate

Protocol


46 I11 T30 192-120104 N4 - August 2003

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 ina 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.


I11 T30 192-120104 N4 - August 2003 47

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


48 I11 T30 192-120104 N4 - August 2003

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: Bandwidth of the current controllerUnit: % Range: 10 ... 200 Standard value: 50%

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

206: D-component of the rotation 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%


I11 T30 192-120104 N4 - August 2003 49

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: Rotation speed forward controlUnit: % Range: 0 ... 500 Standard value: 100%

Advantages:

Principle:


50 I11 T30 192-120104 N4 - August 2003

Effect of the rotation speed forward control

t

t

1

2

3

4

1: Rotation target speed value2: Rotation 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%


I11 T30 192-120104 N4 - August 2003 51

Additional effect of forward current control

t

t

2

1

3

4


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


52 I11 T30 192-120104 N4 - August 2003

4.2.2 Turning the motor holding brake on and off

COMPAX controls the stationary state holding brake of the motor and the poweroutput stage. The time behavior can be set.

Application:For an axis to which torque is applied in the stationary state (e.g. for a z-axis) thedrive can be switched on and off in a manner such that no load movement takesplace. The drive thereby remains energized during the holding brake responsetime. This is adjustable.

The power output stage current is de-energized by:! Error or! by deactivating the MC_Power module! the ServoManager

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

t

1

t

2

3

45

1: Motor energized2: Motor de-energized3: Brake open4: Engage the brake5: Brake delay time on opening

The power output stage is enabled by:! Quit (acknowledge) (after error) with the MC_Reset module! by activating the MC_Power module! the ServoManager

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

t

t

2

1

4

3

5

1: Motor energized2: Motor de-energized3: Brake open4: Engage the brake5: Brake delay time on opening

EMD HAUSER Programming based on IEC61131-3

I11 T30 192-120104 N4 - August 2003 53

5.1 General

5.1.1 CoDeSys / Compax3 target system (Target Package)

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

Beginning with Compax3 software version V2.0, two new Compax3 targets areincluded with delivery (containing module and object descriptions).! C3 T30: for Compax3 T30 (beginning with Compax3 software version V2.0)! C3 T40: for Compax3 T40 (beginning with Compax3 software version V2.0)The old target is still available for programs that were created earlier (created withCompax3 software version < V2.0).! Compax3: for Compax3 T30This programs are thus still capable of running.When migrating to a new target, you must be certain that the module and objectnames have been changed.Edit the appropriate parts of the IEC program accordingly.

5.1.1.1 Preliminary installations

The following installations are required to be able to program:! Compax3 ServoManager! Programming tool CoDeSys V2.3 (the development system version) including

Compax3 Target Package

5. Programming based onIEC61131-3

Programming based on IEC61131-3

54 I11 T30 192-120104 N4 - August 2003

5.1.1.2 Program development and test

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

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

For testing your program directly with Compax3, you may use the Compax3IEC61131-3 debugger (the debug functions of CoDeSys are not supported inconjunction with Compax3). The debugger is called up from the ServoManager(under Programming: IEC61131-3 debugger). It automatically accesses the lastIEC61131-3 program in the ServoManager to be loaded into Compax3 with"Download: IEC61131-3" and makes its modules and variables available in theproject tree.The data from Compax3 are read via the instruction log in. Please not in thisregard that the interface to Compax3 can only be assigned once: Online functionsin the ServoManager such as Upload, Download, Status display in the Optimizationwindow or oscilloscope functions are not possible simultaneously. These functionsinterrupt the connection between debugger and Compax3 automatically.

5.1.1.3 Recipe management

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

5.1.2 Languages supported

! AWL (Instruction List)! ST (Structured Text)! FUP (Function module diagram)! CFC (Free Graphical Functional Plan Editor)! KOP (Ladder diagram)

Programdevelopment

Download toCompax3

Program test


I11 T30 192-120104 N4 - August 2003 55

5.1.3 AWL commands supported

! LD(N)! ST(N)! S! R! AND(N)! OR(N)! XOR(N)! ADD! SUB! MUL! DIV! GT! GE! EQ! NE! LE! LT! RET! NOT! MOD! SHL! SHR! ROL! ROR! JMP! JMPC! JMPCN! CAL! CALC! CALCN! Type conversions! TRUNC


56 I11 T30 192-120104 N4 - August 2003

5.1.4 Data types supported

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

Status values: TRUE or FALSEINT 16-bit integer: Fixed point number without places after the decimalDINT 32-bit integer: Fixed point number without places after the decimalREAL 32-bit floating point: 16 bit s before the decimal and 16 bits after the

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

(resolution: 0.5 ms)Altogether 300 16-bit variables are available. These include BOOL, INT, andWORD.Altogether 150 32-bit variables are available. These includeDINT,DWORD,TIME,REAL.

5.1.5 Recipe table with 9 columns and 32 lines

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

The layout of the table is as follows:Column 1type:REALobjectsO1901

Column 2type:REALobjectsO1902

Column 3type:INTobjectsO1903



Column 6type:DINTobjectsO1906




Row 1"Array_Col1_Row1"(1901.1)









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

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

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









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


I11 T30 192-120104 N4 - August 2003 57

5.1.6 Standard function modules supported

Flip-flops: RS, SRTrigger: R_TRIG, F_TRIGCounter: CTU, CTD, CTUDTimer: TON, TOF, TP (maximum 8 pieces, time resolution 0.5 ms)You will find a description of these function modules in the CoDeSys Help.

5.1.7 Retain Variables

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

5.1.8 Maximum program size

The maximum allowable size for a program is 3000 (AWL) instructions (please notethat function modules that are integrated also require program memory).The number of instructions generated is displayed in the CoDeSys output windowby the Compax3 compiler during interpretation.

5.1.9 Cycle time

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


58 I11 T30 192-120104 N4 - August 2003

5.1.10 Access to the Compax3 object directory

All Compax3 objects are encapsulated in the "C3" program module. This module isautomatically integrated in addition for each Compax3 project.Access to Compax3 Objects (see on page 95) in CoDeSys:

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

5.1.11 Translating and downloading/uploading IEC61131 programs

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

ServoManager.


I11 T30 192-120104 N4 - August 2003 59

5.2 Motion control via function modules

5.2.1 Status diagram based on PLCopen

StandstillHoming

Stopping

ContinuousMotion

Errorstop

Discrete Motion

MC_MoveAbsoluteMC_MoveRelativeMC_MoveAdditive MC_MoveVelocity

MC_MoveAbsolute; MC_MoveRelative; MC_MoveAdditive

MC_MoveAbsolute MC_MoveRelative MC_MoveAdditive

MC_MoveVelocity

MC_Stop

Error

MC_Stop

MC_MoveVelocityDone

Error

MC_Stop

Error

ErrorMC_Stop

Done

Error

MC_Home

MC_Stop

MC_Power

MC_Resetpowered

not powered


60 I11 T30 192-120104 N4 - August 2003

5.2.2 Library constants

The following global constants are declared in the PLCopen function modulelibrary:Name Type DescriptionFor power supply of the axis inputs/outputs of modules:Axis_Ref_LocalAxis INT Local axis (physically present axis)Additional constantsMC_Direction_Positive INT For supply of the Direction input of the

MC_MoveVelocity module (for positiverotational direction)

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

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

Direction_Memory ( * ) INT (Variable) ( * )( * ) Note on Direction_Memory:The MC_MoveVelocity modules instances store the last direction parameter in thisvariable. This variable can only be used by Motion Control modules and must notbe overwritten!


I11 T30 192-120104 N4 - August 2003 61

5.2.3 General rules / timing

General rules! The outputs "Done", "InVelocity", "Error", "ErrorID" and "CommandAborted" reset

with the falling edge of the "Execute" input.! If the "Execute" input goes back to FALSE again before the module action (for

example positioning) has been completed ("pulse to Execute"), the correspondingoutputs (for example "Done") will still be set for exactly ONE cycle upontermination.

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

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

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

with an "Execute" signal.

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

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

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

! "Distance" is the difference between 2 positions.

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

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

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

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

"CommandAborted" is set if a positioning process is interrupted by a secondpositioning process, by "MC_Stop" or MC_Power.The reset behavior of "CommandAborted" is the same as "Done".If "CommandAborted" occurs, the other outputs will be reset.Make certain the limits in revolutions are specified.To convert to the configured unit, multiply the min/max values by the "traveldistance per motor revolution".Linear motors

Status of theoutputs

Input parameters

Missing inputparameters

Position anddistance

Sign

Error handling

Behavior of the"Done" - output

Behavior of the"CommandAborted"

output

Value ranges ofevaluation

parameters


62 I11 T30 192-120104 N4 - August 2003

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

5.2.4 Control functions

5.2.4.1 Energizing the power output stage (MC_Power)

FB name MC_PowerSupplies current to the power output stageVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTEnable BOOL Activates the module; as long as Enable=True, the power

output stage will be energized.VAR_OUTPUTVAR_OUTPUTStatus BOOL Status of the power output stage (TRUE= axis energized,

FALSE= axis de-energized)Error BOOL Error while de-energizing power output stageNote: -

Enable : BOOLAxis : INT (VAR_IN_OUT)

Status : BOOLError : BOOL

Axis : INT (VAR_IN_OUT)

MC_POWER

If the input parameter "Enable" = TRUE, all enables of the axis will be set.All enables will be reset if the input parameter"Enable" = FALSE.The controller is enabled with the MC_POWER function module.


I11 T30 192-120104 N4 - August 2003 63

5.2.4.2 Stop (MC_Stop)

FB name MC_StopStops the current movementVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Stops the movementDeceleration DINT Value of deceleration (always positive) [Units/s²] <Value

range>1

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

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

Execute : BOOL Done : BOOLError : BOOL


MC_STOP

Deceleration : DINTJerk : DINTAxis : INT (VAR_IN_OUT)

1 Deceleration for STOP ......................................................................... Min: 0.24 rev/s² .................... Max: 1000000 rev/s²2 Jerk for STOP: ..................................................................................... Min: 30 rev/s³ ....................... Max: 125,000,000 rev/s³


64 I11 T30 192-120104 N4 - August 2003

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

Execute

Distance

Done

Error

Axis

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute Done

Error

Axis

MC_STOP

Deceleration

Jerk

AxisAXIS_REF_LocalAxis

AXIS_REF_LocalAxis

go

MC_STOP

Execute (Stop Axis)

t

t

t

t

t

10

10

10

10

0

Command-Aborted

Execute (go)

Done (Stopp)

Velocity

MC_MOVERELATIVE

BewegungsablaufMoving diagram

stopAxis

400

4000

6000. 0

500. 0

100

100

1000

1000

5.2.4.3 Opening the brake (C3_OpenBrake)

FB name C3_OpenBrakeOpening the motor holding brake works only with no current (standstill - not powered)VAR_INPUTVAR_INPUT OpenBrake BOOL "TRUE" opens the motor holding brakeWhen current is being supplied to the drive, the input has no function.

C3_OpenBrake

OpenBrake : BOOL


I11 T30 192-120104 N4 - August 2003 65

5.2.5 Reading values

5.2.5.1 Reading the current position(MC_ReadActualPosition)

FB name MC_ReadActualPositionReading the current axis position VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID reference to library constantsVAR_INPUTVAR_INPUTEnable BOOL Activates the module, continuous reading of the axis

position as long as Enable=TRUEVAR_OUTPUTVAR_OUTPUTDone BOOL Position value availableError BOOL Error while reading the positionPosition REAL Axis positionNote: -


Done : BOOL

Position : REALAxis : INT (VAR_IN_OUT)

MC_READACTUALPOSITION

Error : BOOL

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

Enable Done

Error

Position


AxisAXIS_REF_LocalAxis


Enable

t

t

10

10Done

go

Axis

t

10Position


66 I11 T30 192-120104 N4 - August 2003

5.2.5.2 Read access to the (C3_READARRAY) array

FB name C3_READARRAYThis module is used for simplified read access to the array (recipe table).VAR_INPUTVAR_INPUTEnable BOOL The desired rows can be read with the Enable input (after

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

the Row module input.VAR_OUTPUTVAR_OUTPUTError BOOL Error as an output indicates that an error was encountered

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

Col1 Col9 REALINTDINT

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

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

Row : INTEnable : BOOL

Col5 : INTCol6 : DINTCol7 : DINT

Col1 : REALCol2 : REAL

Col3 : INT

Error : BOOL

Col4 : INT

Col8 : DINTCol9 : DINT


I11 T30 192-120104 N4 - August 2003 67

5.2.5.3 Reading the device status (MC_ReadStatus)

FB name MC_ReadStatusSpecifies the current status according to the PLCopen status machineVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTEnable BOOL Activates the module; continuous outputs of output

parameters as long as Enable=TRUEVAR_OUTPUTVAR_OUTPUTDone BOOL Status values availableError BOOL Error while executing module

Errorstop BOOL Error stop function. The motor brakes as specified by thestop ramp and is de-energized;

Stopping BOOL The motor is stopped;Standstill BOOL The motor is stopped;DiscreteMotion BOOL Individual movement;ContinuousMotion BOOL Endless positioning;Homing BOOL Machine reference is approached;SynchronizedMotion

BOOL Synchronous motion

Note: See also in the status diagram.


Done : BOOL

Errorstop : BOOL

SynchronizedMotion : BOOL

MC_READSTATUS

Error : BOOL

Standstill : BOOL

ContinuousMotion : BOOLDiscreteMotion : BOOL

Stopping : BOOL

Homing : BOOL



68 I11 T30 192-120104 N4 - August 2003

5.2.6 Motion functions


I11 T30 192-120104 N4 - August 2003 69

5.2.6.1 Absolute positioning (MC_MoveAbsolute)

FB name MC_MoveAbsoluteAbsolute positioning to a specified position.VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Starts the sequences of the module with positive edgePosition REAL Absolute target position of the movement to be executed

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

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

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

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

Jerk DINT Value of the acceleration - jerk (see on page 71) [Units/s³](always positive) <value range>7

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

VAR_OUTPUTVAR_OUTPUTDone BOOL Specified target position on the setpoint encoder output is

reachedCommandAborted BOOL Positioning abortedError BOOL Error while executing module Note: -

Execute : BOOLPosition : REAL

Done : BOOL

Error : BOOLAxis : INT (VAR_IN_OUT)

MC_MOVEABSOLUTE

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

3 Target position: .................................................................................. Min: -4000000 rev ................ Max: 4000000 rev4 Speed for positioning: .......................................................................... Min: 0.00001157 rev/s .......... Max: 2000 rev/s5 Acceleration for positioning .................................................................. Min: 0.24 rev/s² .................... Max: 100000 rev/s²6 Deceleration for positioning: ................................................................. Min: 0.24 rev/s² .................... Max: 1000000 rev/s²7 Acceleration jerk for positioning: ........................................................... Min: 30 rev/s³ ....................... Max: 125,000,000 rev/s³8 Deceleration jerk for positioning: .......................................................... Min: 30 rev/s³ ....................... Max: 125,000,000 rev/s³


70 I11 T30 192-120104 N4 - August 2003

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

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

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

Execute

Position

Done

Error

Axis

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Position

Done

Error

Axis

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test

1. InstanzFirst motion

2. InstanzSecond motion

100. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-

Aborted

Execute (Test)

Done

Velocity

absolute Position

absolute position2. Instanz

Second motion

Bewegungsablauf

Moving diagram

a b


I11 T30 192-120104 N4 - August 2003 71

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 has


72 I11 T30 192-120104 N4 - August 2003

5.2.6.2 Relative positioning (MC_MoveRelative)

FB name MC_MoveRelativeRelative positioning by a specified distance.VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeDistance REAL Relative distance of the movement to be executed

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

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





VAR_OUTPUTVAR_OUTPUTDone BOOL Specified target distance on the setpoint encoder output is

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

Execute : BOOLDistance : REAL

Done : BOOL


MC_MOVERELATIVE




I11 T30 192-120104 N4 - August 2003 73

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

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

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

Execute

Distance

Done

Error

Axis

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Distance

Done

Error

Axis

MC_MOVERELATIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test



40. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-Aborted

Execute (Test)

Done

Velocity

relative Positionrelative position



a b


74 I11 T30 192-120104 N4 - August 2003

5.2.6.3 Aditive positioning (MC_MoveAdditive)

FB name MC_MoveAdditiveAdds a relative distance to the target position of a positioning process in progress.VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeDistance REAL Relative Distance <Value range>15

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





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

Execute : BOOLDistance : REAL

Done : BOOL


MC_MOVEADDITIVE




I11 T30 192-120104 N4 - August 2003 75

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

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

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

Execute

Position

Done

Error

Axis

MC_MOVEABSOLUTE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

Execute

Distance

Done

Error

Axis

MC_MOVEADDITIVE

CommandAborted

Velocity

Acceleration

Deceleration

Jerk

JerkDecel

Axis

OR

Test



40. 0

200. 0

100

100

1000

1000

AXIS_REF_LocalAxis

60. 0

300. 0

100

100

1000

1000

AXIS_REF_LocalAxis

go


Execute (go)

Done

t

t

t

t

t

t

t

10

10

10

10

10

0

1000

200300

Command-Aborted

Execute (Test)

Done

Velocity

Position



a b

60


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5.2.6.4 Endless positioning (MC_MoveVelocity)

FB name MC_MoveVelocityEndless controlled positioning with adjustable speedVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxis

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

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

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

Direction INT Selection: positive direction, negative direction, currentdirection; see library constants

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

Execute : BOOL InVelocity : BOOL


MC_MOVEVELOCITY

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

21 Target speed in speed control operating mode: .................................... Min: -2000 rev/s ................... Max: 2000 rev/s22 Acceleration / deceleration in speed control operating mode: ............... Min: 0.24 rev/s² .................... Max: 1000000 rev/s²


I11 T30 192-120104 N4 - August 2003 77

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

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

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

Run InVelocity

Error

Axis

MC_MOVEVELOCITY

CommandAbortedVelocity

Acceleration

Direction

Axis

Run

Velocity

InVelocity

Error

Axis

MC_MOVEVELOCITY

CommandAborted

Acceleration

Direction

Axis

OR

Next



2000

100"MC_Direction_

Positive"

3000

100

"MC_Direction_Positive"

AXIS_REF_LocalAxis

go


Velocity

Next

t

t

t

t

t

t

10

10

10

10

10

0

2000

3000

Command Aborted

Test

Finish = InVelocity

Velocity


BewegungMotion

&

Test

Execute (go)

t

10

1

Finish

AXIS_REF_LocalAxis

a b


78 I11 T30 192-120104 N4 - August 2003

5.2.6.5 Current setting operation (C3_Current)

FB name C3_CurrentCurrent control. The speed and position controller are turned off.The system controls to the specified current.The current setting can be made with the module input or with an analog input.VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Starts the sequences of the module with positive edgeCurrent REAL Current to be set in [mA]Mode REAL 0 = The current read during Execute on the Current input is

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

VAR_OUTPUTVAR_OUTPUTDone BOOL Specified current setCommandAborted BOOL Command abortedError BOOL ErrorNote: The power suppoy current (optimization parameter) is set to 100% to operateC3_Current.

Execute : BOOLCurrent : INT

InCurrent : BOOL

Error : BOOL

C3_Current

CommandAborted : BOOLMode : INT

Axis :INT (VAR_IN_OUT)Axis : INT (VAR_IN_OUT)


I11 T30 192-120104 N4 - August 2003 79

5.2.6.6 Machine zero (MC_Home)

FB name MC_HomePredefined search for the machine reference pointVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Starts the sequences of the module with positive edgePosition REAL Position on the reference point (configured unit [units] ) =

machine zero offsetVAR_OUTPUTVAR_OUTPUTDone BOOL Referencing process completed

CommandAborted BOOL Referencing process abortedError BOOL Error while searching for machine reference point

Note:This module gives the command to search for the machine reference point; Thetype of search function (machine reference mode) can be adjusted with theconfiguration or with the object "HOMING_mode (see on page 117)" (Object1130.4).Objects that are connected with the machine reference point:! HOMING_speed (see on page 118)! HOMING_accel (see on page 117)! HOMING_mode (see on page 117)! HOMING_edge_sensor_distance (see on page 117)

Execute : BOOL Done : BOOL


MC_HOME

CommandAborted : BOOLPosition : REALAxis : INT (VAR_IN_OUT)


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5.2.7 Error handling

5.2.7.1 Acknowledging errors (MC_Reset)

FB name MC_Reset Acknowledges errors (transition from "Errorstop" status to "Standstill" status).VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Activates the module if there is a positive edgeVAR_OUTPUTVAR_OUTPUTDone BOOL Error successfully acknowledged, axis is in the "Standstill"

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

Execute : BOOLAxis : INT (VAR_IN_OUT)

Done : BOOL

ErrorID : WORD

MC_RESET

Error : BOOL



I11 T30 192-120104 N4 - August 2003 81

5.2.7.2 Reading axis errors (MC_ReadAxisError)

FB name MC_ReadAxisErrorThis function module displays axis errors.VAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTEnable BOOL Activates the moduleVAR_OUTPUTVAR_OUTPUTDone BOOL Output values availableError BOOL Compax3 in error stateErrorID WORD Current error descriptionNote: -


Done : BOOL

ErrorID : WORDAxis : INT (VAR_IN_OUT)

MC_READAXISERROR

Error : BOOL


82 I11 T30 192-120104 N4 - August 2003

5.2.7.3 Switching off error messages (C3_ERRORMASK)

FB name C3_ERRORMASKThis module is used to switch off error messagesVAR_INPUTVAR_INPUTExecute BOOL The selected error mask is activatedDisable_PLC BOOL TRUE is used to switch off error 0x6281.Disable_HEDA BOOL TRUE is used to switch off HEDA errors.Disable_Fieldbus BOOL TRUE is used to switch off the errors 0x8120 and

0x8121.Disable_MotorStalled BOOL TRUE is used to switch off error 0x7121.Disable_Tracking BOOL TRUE is used to switch off error 0x7320.Disable_IOShortCircut BOOL TRUE is used to switch off error 0x5380.Disable_IOAddSupply BOOL TRUE is used to switch off error 0x5117.Disable_BusVoltageLow BOOL TRUE is used to switch off error 0x3222.Error list (see on page 156)Notes: The setting of the error mask is made internally with a C3 object. If theobjects are saved permanently, the setting is memorised after Power off.

Execute : BOOLDisable_PLC : BOOL

C3_ERRORMASK

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


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5.2.8 Process image

5.2.8.1 Reading digital inputs (C3_INPUT)

FB name C3_INPUTUsed to generate a process image of the digital inputs.VAR_INPUTVAR_INPUTI0 ... I7 BOOL Displays the status of the respective input.Notes: the module should always be brought up at the beginning of the processingcycle.

I5: BOOLI6: BOOLI7: BOOL

C3_INPUT

I1: BOOLI2: BOOLI3: BOOL

I0: BOOL

I4: BOOL

5.2.8.2 Writing digital inputs (C3_INPUT)

FB name C3_INPUTUsed to generate a process image of the digital outputs.VAR_OUTPUTVAR_OUTPUTO0 ... O3 BOOL Displays the status of the respective output.Notes: the module should always be brought up at the end of the processing cycle.

C3_OUTPUT

O1: BOOLO2: BOOLO3: BOOL

O0: BOOL


84 I11 T30 192-120104 N4 - August 2003

5.2.8.3 Reading/writing optional inputs/outputs

C3_IOADDITION_0FB name C3_IOADDITION_0Is used to create a process image of the optional digital inputs/outputs.VAR_INPUTVAR_INPUTI0 ... I3 BOOL Displays the status of the respective input.O0 ... O3 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs (see onpage 149). You may only use either inputs or outputs exclusively.Notes: The module should always be brought up at the beginning (inputs) or end(outputs) of the processing cycle.

OutputEnable : BOOL I0 : BOOL

C3_IOADDITION_0

O0 : BOOL I1 : BOOLI2 : BOOLI3 : BOOL

Error : BOOL

O1 : BOOLO2 : BOOLO3 : BOOL

C3_IOADDITION_1FB name C3_IOADDITION_1Is used to create a process image of the optional digital inputs/outputs.VAR_INPUTVAR_INPUTI4 ... I7 BOOL Displays the status of the respective input.O4 ... O7 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs (see onpage 149). You may only use either inputs or outputs exclusively.Notes: the module should always be brought up at the beginning of the processingcycle.


C3_IOADDITION_1


Error : BOOL



I11 T30 192-120104 N4 - August 2003 85

C3_IOADDITION_2FB name C3_IOADDITION_2Is used to create a process image of the optional digital inputs/outputs.VAR_INPUTVAR_INPUTI8 ... I11 BOOL Displays the status of the respective input.O8 ... O11 BOOL Displays the status of the respective output.Please note that the group of 4 may be assigned as inputs or outputs (see onpage 149). You may only use either inputs or outputs exclusively.Notes: the module should always be brought up at the beginning of the processingcycle.


C3_IOADDITION_2


Error : BOOL



86 I11 T30 192-120104 N4 - August 2003

5.2.8.4 Recording the axis position (MC_TouchProbe)

FB name MC_TouchProSave the axis position to the trigger eventVAR_IN_OUTVAR_IN_OUTAxis INT Axis ID; constant: AXIS_REF_LocalAxisVAR_INPUTVAR_INPUTExecute BOOL Activates the module if there is a positive edgeTriggerInput INT Selects the trigger input and optionally an enable input.

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

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

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

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

be ignoredVAR_OUTPUTVAR_OUTPUTDone BOOL Trigger event has occurred and position has been recordedRecordedPosition REAL The position at which the trigger event was detectedError BOOL Error while executing moduleNote:! Temporal precision of signal recording: < 1 µs! TriggerInput Trigger input:

The constants "TouchProbeInput0" ... "TouchProbeInput7" (X12/6 - X12/14) are used to select the trigger signal input.The constant "TouchProbeEnable0" ... "TouchProbeEnable7" (X12/6 - X12/14) are used to select the enable input. The constant "TouchProbeEnableNone" isused to enable the trigger input directly.Two constants must always be connected with "+":TouchProbeInputx + TouchProbeInputy, where x ≠ y.

Axis : INTExecute : BOOL

Done : BOOL

Error : BOOL

MC_TouchProbe

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


I11 T30 192-120104 N4 - August 2003 87

Execute : BOOLPosition : REAL

Done : BOOL


MC_MOVEABSOLUTE


Axis : INTExecute : BOOL

Done : BOOL

Error : BOOL

MC_TouchProbe

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

ADD 10100100100100

AXIS_REF_LocalAxis

1.0

AXIS_REF_LocalAxisinp.I1

TouchProbeInput7 + TouchProbeEnable65010

05

POSAProbe

Execute

Done

t

t

tFALSE

TRUE

FALSE

TRUE

FALSE

Triggerinput Signal

Axis Position

TRUE

t

ExpectedPosition + Tolerance

RecordedPosition

StopIgnore

ExpectedPosition - Tolerance

StartIgnore

Sampling Points

1


88 I11 T30 192-120104 N4 - August 2003

5.3 Application examples

1.1.1 Example in CFC: Using Compax3-specific function modulesand Compax3 objects

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

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

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


I11 T30 192-120104 N4 - August 2003 89

5.3.2 Example in CFC: Positioning 1

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

I1 has been activated


90 I11 T30 192-120104 N4 - August 2003

5.3.3 Example in CFC: Positioning 2

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

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


I11 T30 192-120104 N4 - August 2003 91

5.3.4 Example in CFC: Positioning with set selection

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

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


92 I11 T30 192-120104 N4 - August 2003

5.3.5 Example in CFC: Cycle mode

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

approached in alternation.! Input I6 stops cycle mode


I11 T30 192-120104 N4 - August 2003 93

5.3.6 Example in ST: Cycle mode with a Move module

Input I2 enables the power output stage.! Input I0 starts cycle mode. Two positions are approached alternately.! There is a pause of 1 second after the first position is reached.! There is a pause of 1.5 seconds after the second position is reached.! Input I1 stops cycle mode.


94 I11 T30 192-120104 N4 - August 2003

EMD HAUSER Compax3 - Objects

I11 T30 192-120104 N4 - August 2003 95

Compax3 objects are encapsuled in the C3 auxiliary module in theIEC61131-3 programming environment.

If you enter C3, you will find a complete object list.

Objects that are not described here are reserved objects!

Please note that certain objects are not valid (read by Compax3) immediately aftera change. This is described in the heading "Valid after".These objects are converted to internal vairables by Compax3 with the commandSet objects to valid (see on page 111).

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.The object "Save objects permanently (see on page 105)" can be used to saveobjects in a flash memory so they are retained even if the power fails.

6. Compax3 - Objects

Set objects to valid

Save objectspermanently

Compax3 - Objects

96 I11 T30 192-120104 N4 - August 2003

In this chapter you can read aboutObject overview sorted by object name ............................................................................. 97I11 T30 object: Setpoint for analog output 0....................................................................... 99I11 T30 object: Setpoint for analog output 1....................................................................... 99I11 T30 object: Bandwidth of the current controller ............................................................ 99I11 T30 object: Damping factor of the current controller..................................................... 99I11 T30 object: Damping (rotation speed controller)......................................................... 100I11 T30 object: Actual acceleration value filter ................................................................. 100I11 T30 object: Filter for speed value............................................................................... 100I11 T30 object: Moment of Inertia .................................................................................... 100I11 T30 object: D-component of the rotation speed controller .......................................... 101I11 T30 object: Stiffness (speed controller) ...................................................................... 101I11 T30 object: Input word of I/O option ........................................................................... 101I11 T30 object: Activate input/output option M10/M12...................................................... 101I11 T30 object: Error in I/O option.................................................................................... 102I11 T30 object: Output word for I/O option ....................................................................... 102I11 T30 object: Acceleration forward control .................................................................... 102I11 T30 object: Current forwards control .......................................................................... 102I11 T30 object: Jerk forward control................................................................................. 103I11 T30 object: Rotation speed forward control ................................................................ 103I11 T30 object: Maximum permissible negative current.................................................... 103I11 T30 object: Maximum permissible positive current ..................................................... 103I11 T30 object: Maximum permissible negative speed..................................................... 104I11 T30 object: Maximum permissible positive speed ...................................................... 104I11 T30 object: Negative end limit.................................................................................... 104I11 T30 object: Positive end limit ..................................................................................... 104I11 T30 object: Status of the Multiturn emulation ............................................................. 105I11 T30 object: Read objects from Flash.......................................................................... 105I11 T30 object: Save objects permanently ....................................................................... 105I11 T30 object: Tracking error time .................................................................................. 106I11 T30 object: Tracking error limit................................................................................... 106I11 T30 object: Position reached...................................................................................... 106I11 T30 object: Positioning window for position reached .................................................. 106I11 T30 object: Position window time............................................................................... 107I11 T30 object: Status of acceleration target value........................................................... 107I11 T30 object: Status of actual current value .................................................................. 107I11 T30 object: Status of device utilization ....................................................................... 107I11 T30 object: Status of motor utilisation ........................................................................ 108I11 T30 object: Short-term motor utilization...................................................................... 108I11 T30 object: Status of position actual value ................................................................. 108I11 T30 object: Status of position target value ................................................................. 108I11 T30 object: Status of tracking error ............................................................................ 109I11 T30 object: Status of actual speed value.................................................................... 109I11 T30 object: Status of target value............................................................................... 109I11 T30 object: Status of speed error ............................................................................... 109I11 T30 object: Status of motor temperature .................................................................... 110I11 T30 object: Status of power output stage temperature ............................................... 110I11 T30 object: Status of analog input 0........................................................................... 110I11 T30 object: Status of analog input 1........................................................................... 110I11 T30 object: Status of auxiliary voltage........................................................................ 111I11 T30 object: Status of power direct current.................................................................. 111I11 T30 object: Set objects to valid .................................................................................. 111I11 T30 object: Variable Column 1 Row 1........................................................................ 111I11 T30 object: Variable Column 2 Row 1........................................................................ 112I11 T30 object: Variable Column 3 Row 1........................................................................ 112I11 T30 object: Variable Column 4 Row 1........................................................................ 112I11 T30 object: Variable Column 5 Row 1........................................................................ 112I11 T30 object: Variable Column 6 Row 1........................................................................ 113I11 T30 object: Variable Column 7 Row 1........................................................................ 113I11 T30 object: Variable Column 8 Row 1........................................................................ 113I11 T30 object: Variable Column 9 Row 1........................................................................ 113I11 T30 object: Indirect table access Column 1................................................................ 114I11 T30 object: Indirect table access Column 2................................................................ 114I11 T30 object: Indirect table access Column 3................................................................ 114I11 T30 object: Indirect table access Column 4................................................................ 114I11 T30 object: Indirect table access Column 5................................................................ 115I11 T30 object: Indirect table access Column 6................................................................ 115I11 T30 object: Indirect table access Column 7................................................................ 115I11 T30 object: Indirect table access Column 8................................................................ 115I11 T30 object: Indirect table access Column 9................................................................ 116I11 T30 object: Pointer to table row ................................................................................. 116I11 T30 object: Current error (n) ...................................................................................... 116I11 T30 object: Acceleration and delay for machine reference run ................................... 117I11 T30 object: Initiator adjustment .................................................................................. 117I11 T30 object: Jerk for machine reference run................................................................ 117I11 T30 object: Adjusting the machine reference mode.................................................... 117I11 T30 object: Speed for machine reference run ............................................................ 118


I11 T30 192-120104 N4 - August 2003 97

6.1 Object overview sorted by object nameNo. Object name Object Format Valid from Access634.4 C3.AnalogOutput0_DemandValue Setpoint for analog output 0 INT immediately Read/write635.4 C3.AnalogOutput1_DemandValue Setpoint for analog output 1 INT immediately Read/write2100.8 C3.ControllerTuning_CurrentBandwidth Bandwidth of the current controller INT VP Read/write2100.9 C3.ControllerTuning_CurrentDamping Damping factor of the current controller INT VP Read/write2100.3 C3.ControllerTuning_Damping Damping (rotation speed controller) INT VP Read/write2100.6 C3.ControllerTuning_FilterAccel Actual acceleration value filter INT VP Read/write2100.5 C3.ControllerTuning_FilterSpeed Filter for speed value INT VP Read/write2100.4 C3.ControllerTuning_Inertia Moment of Inertia INT VP Read/write2100.7 C3.ControllerTuning_SpeedDFactor D-component of the rotation speed controller INT VP Read/write2100.2 C3.ControllerTuning_Stiffness Stiffness (speed controller) INT VP Read/write121.2 C3.DigitalInputAddition_Value Input word of I/O option WORD - Read only133.4 C3.DigitalOutputAddition_Enable Activate input/output option M10/M12 WORD immediately Read/write 133.2 C3.DigitalOutputAddition_Error Error in I/O option WORD - Read only133.3 C3.DigitalOutputAddition_Value Output word for I/O option WORD immediately Read/write2010.2 C3.FeedForward_Accel Acceleration forward control INT VP Read/write2010.4 C3.FeedForward_Current Current forwards control INT VP Read/write2010.5 C3.FeedForward_Jerk Jerk forward control INT VP Read/write2010.1 C3.FeedForward_Speed Rotation speed forward control INT VP Read/write402.4 C3.Limit_CurrentNegative Maximum permissible negative current INT VP Read/write402.3 C3.Limit_CurrentPositive Maximum permissible positive current INT VP Read/write402.2 C3.Limit_SpeedNegative Maximum permissible negative speed INT VP Read/write402.1 C3.Limit_SpeedPositive Maximum permissible positive speed INT VP Read/write410.3 C3.LimitPosition_Negative Negative end limit REAL immediately Read/write410.2 C3.LimitPosition_Positive Positive end limit REAL immediately Read/write3310.1 C3.Multiturnemulation_Status Status of the Multiturn emulation BOOL - Read only20.10 C3.ObjectDir_ReadObjects Read objects from Flash BOOL immediately Read/write20.11 C3.ObjectDir_WriteObjects Save objects permanently BOOL immediately Read/write420.3 C3.PositioningAccuracy_FollowingErrorTi

meoutTracking error time TIME immediately Read/write

420.2 C3.PositioningAccuracy_FollowingErrorWindow

Tracking error limit REAL immediately Read/write

420.6 C3.PositioningAccuracy_PositionReached Position reached BOOL - Read only420.1 C3.PositioningAccuracy_Window Positioning window for position reached REAL immediately Read/write420.7 C3.PositioningAccuracy_WindowTime Position window time TIME immediately Read/write682.4 C3.StatusAccel_DemandValue Status of acceleration target value DINT - Read only683.1 C3.StatusDevice_ActualCurrent Status of actual current value REAL - Read only683.2 C3.StatusDevice_ActualDeviceLoad Status of device utilization REAL - Read only 683.3 C3.StatusDevice_ActualMotorLoad Status of long-term motor load REAL - Read only683.4 C3.StatusDevice_DynamicMotorLoad Status of short-term motor load REAL - Read only680.5 C3.StatusPosition_Actual Status of position actual value REAL - Read only680.4 C3.StatusPosition_DemandValue Status of position target value REAL - Read only680.6 C3.StatusPosition_FollowingError Status of tracking error REAL - Read only681.5 C3.StatusSpeed_Actual Status of actual speed value REAL - Read only681.4 C3.StatusSpeed_DemandValue Status of target value REAL - Read only681.6 C3.StatusSpeed_Error Status of speed error REAL - Read only684.2 C3.StatusTemperature_Motor Status of motor temperature INT - Read only684.1 C3.StatusTemperature_PowerStage Status of power output stage temperature INT - Read only685.3 C3.StatusVoltage_AnalogInput0 Status of analog input 0 REAL - Read only 685.4 C3.StatusVoltage_AnalogInput1 Status of analog input 1 REAL - Read only685.1 C3.StatusVoltage_AuxiliaryVoltage Status of auxiliary voltage REAL - Read only685.2 C3.StatusVoltage_BusVoltage Status of power direct current REAL - Read only210.10 C3.ValidParameter_Global Set objects to valid BOOL immediately Read/write1901.1 C3Array.Col01_Row01 Variable Column 1 Row 1 REAL immediately Read/write1901.2 C3Array.Col01_Row02 Variable Column 1 Row 2 REAL immediately Read/write1901.3 C3Array.Col01_Row03 Variable Column 1 Row 3 REAL immediately Read/write1901.4 C3Array.Col01_Row04 Variable Column 1 Row 4 REAL immediately Read/write1901.5 C3Array.Col01_Row05 Variable Column 1 Row 5 REAL immediately Read/write1902.1 C3Array.Col02_Row01 Variable Column 2 Row 1 REAL immediately Read/write1902.2 C3Array.Col02_Row02 Variable Column 2 Row 2 REAL immediately Read/write1902.3 C3Array.Col02_Row03 Variable Column 2 Row 3 REAL immediately Read/write1902.4 C3Array.Col02_Row04 Variable Column 2 Row 4 REAL immediately Read/write1902.5 C3Array.Col02_Row05 Variable Column 2 Row 5 REAL immediately Read/write1903.1 C3Array.Col03_Row01 Variable Column 3 Row 1 INT immediately Read/write1903.2 C3Array.Col03_Row02 Variable Column 3 Row 2 INT immediately Read/write1903.3 C3Array.Col03_Row03 Variable Column 3 Row 3 INT immediately Read/write1903.4 C3Array.Col03_Row04 Variable Column 3 Row 4 INT immediately Read/write

Compax3 - Objects

98 I11 T30 192-120104 N4 - August 2003

No. Object name Object Format Valid from Access1903.5 C3Array.Col03_Row05 Variable Column 3 Row 5 INT immediately Read/write1904.1 C3Array.Col04_Row01 Variable Column 4 Row 1 INT immediately Read/write1904.2 C3Array.Col04_Row02 Variable Column 4 Row 2 INT immediately Read/write1904.3 C3Array.Col04_Row03 Variable Column 4 Row 3 INT immediately Read/write1904.4 C3Array.Col04_Row04 Variable Column 4 Row 4 INT immediately Read/write1904.5 C3Array.Col04_Row05 Variable Column 4 Row 5 INT immediately Read/write1905.1 C3Array.Col05_Row01 Variable Column 5 Row 1 INT immediately Read/write1905.2 C3Array.Col05_Row02 Variable Column 5 Row 2 INT immediately Read/write1905.3 C3Array.Col05_Row03 Variable Column 5 Row 3 INT immediately Read/write1905.4 C3Array.Col05_Row04 Variable Column 5 Row 4 INT immediately Read/write1905.5 C3Array.Col05_Row05 Variable Column 5 Row 5 INT immediately Read/write1906.1 C3Array.Col06_Row01 Variable Column 6 Row 1 DINT immediately Read/write1906.2 C3Array.Col06_Row02 Variable Column 6 Row 2 DINT immediately Read/write1906.3 C3Array.Col06_Row03 Variable Column 6 Row 3 DINT immediately Read/write1906.4 C3Array.Col06_Row04 Variable Column 6 Row 4 DINT immediately Read/write1906.5 C3Array.Col06_Row05 Variable Column 6 Row 5 DINT immediately Read/write1907.1 C3Array.Col07_Row01 Variable Column 7 Row 1 DINT immediately Read/write1907.2 C3Array.Col07_Row02 Variable Column 7 Row 2 DINT immediately Read/write1907.3 C3Array.Col07_Row03 Variable Column 7 Row 3 DINT immediately Read/write1907.4 C3Array.Col07_Row04 Variable Column 7 Row 4 DINT immediately Read/write1907.5 C3Array.Col07_Row05 Variable Column 7 Row 5 DINT immediately Read/write1908.1 C3Array.Col08_Row01 Variable Column 8 Row 1 DINT immediately Read/write1908.2 C3Array.Col08_Row02 Variable Column 8 Row 2 DINT immediately Read/write1908.3 C3Array.Col08_Row03 Variable Column 8 Row 3 DINT immediately Read/write1908.4 C3Array.Col08_Row04 Variable Column 8 Row 4 DINT immediately Read/write1908.5 C3Array.Col08_Row05 Variable Column 8 Row 5 DINT immediately Read/write1909.1 C3Array.Col09_Row01 Variable Column 9 Row 1 DINT immediately Read/write1909.2 C3Array.Col09_Row02 Variable Column 9 Row 2 DINT immediately Read/write1909.3 C3Array.Col09_Row03 Variable Column 9 Row 3 DINT immediately Read/write1909.4 C3Array.Col09_Row04 Variable Column 9 Row 4 DINT immediately Read/write1909.5 C3Array.Col09_Row05 Variable Column 9 Row 5 DINT immediately Read/write1910.1 C3Array.Indirect_Col01 Indirect table access Column 1 REAL immediately Read/write1910.2 C3Array.Indirect_Col02 Indirect table access Column 2 REAL immediately Read/write1910.3 C3Array.Indirect_Col03 Indirect table access Column 3 INT immediately Read/write1910.4 C3Array.Indirect_Col04 Indirect table access Column 4 INT immediately Read/write1910.5 C3Array.Indirect_Col05 Indirect table access Column 5 INT immediately Read/write1910.6 C3Array.Indirect_Col06 Indirect table access Column 6 DINT immediately Read/write1910.7 C3Array.Indirect_Col07 Indirect table access Column 7 DINT immediately Read/write1910.8 C3Array.Indirect_Col08 Indirect table access Column 8 DINT immediately Read/write1910.9 C3Array.Indirect_Col09 Indirect table access Column 9 DINT immediately Read/write1900.1 C3Array.Pointer_Row Pointer to table row INT immediately Read/write550.1 C3Plus.ErrorHistory_LastError Current error (n) INT - Read only1130.1 C3Plus.HOMING_accel Acceleration and delay for machine reference

runDINT immediately Read/write

1130.7 C3Plus.HOMING_edge_sensor_distance

Initiator adjustment REAL immediately Read/write

1130.2 C3Plus.HOMING_jerk Jerk for machine reference run DINT immediately Read/write1130.4 C3Plus.HOMING_mode Adjusting the machine reference mode INT immediately Read/write1130.3 C3Plus.HOMING_speed Speed for machine reference run REAL immediately Read/write

Following is the Compax3 object list sorted by object name


I11 T30 192-120104 N4 - August 2003 99

6.2 I11 T30 object: Setpoint for analog output 0Object No. 634.4Object name C3.AnalogOutput0_DemandValueC3.AnalogOutput0_Deman

dValueUnit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value 0 Maximum value --Remark: Setpoint for analog output 0 (DA0 - X11/4); can be used as a DA

monitor.This output must be previously activated to be able to access it. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.Convert the signal source to IEC61131.

6.3 I11 T30 object: Setpoint for analog output 1Object No. 635.4Object name C3.AnalogOutput1_DemandValueC3.AnalogOutput1_Deman

dValueUnit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value 0 Maximum value --Remark: Setpoint for analog output 1 (DA1 - X11/3); can be used as DA monitor.

This output must be previously activated to be able to access it. Youcan do this in the ServoManager in the optimization window in thepartial window at the bottom left under DA monitor.Convert the signal source to IEC61131.

6.4 I11 T30 object: Bandwidth of the current controllerObject No. 2100.8Object name C3.ControllerTuning_CurrentBandwidthC3.ControllerTuning

_CurrentBandwidthUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 10 % Maximum value 200 %Remark:

6.5 I11 T30 object: Damping factor of the current controllerObject No. 2100.9Object name C3.ControllerTuning_CurrentDampingC3.ControllerTuning_

CurrentDampingUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 500 %Remark:

Compax3 - Objects

100 I11 T30 192-120104 N4 - August 2003

6.6 I11 T30 object: Damping (rotation speed controller)Object No. 2100.3Object name C3.ControllerTuning_DampingC3.ControllerTuning_Dampin

gUnit % Access: Read/writeFormat: INT Valid after: VP Minimum value 0 % Maximum value 500 %Remark:

6.7 I11 T30 object: Actual acceleration value filterObject No. 2100.6Object name C3.ControllerTuning_FilterAccelC3.ControllerTuning_FilterA

ccelUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 550 %Remark:

6.8 I11 T30 object: Filter for speed valueObject No. 2100.5Object name C3.ControllerTuning_FilterSpeedC3.ControllerTuning_Filter

SpeedUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 Maximum value 550Remark:

6.9 I11 T30 object: Moment of InertiaObject No. 2100.4Object name C3.ControllerTuning_InertiaC3.ControllerTuning_InertiaUnit % Access: Read/writeFormat: INT Valid after: VP Minimum value 10 % Maximum value 500 %Remark:


I11 T30 192-120104 N4 - August 2003 101

6.10 I11 T30 object: D-component of the rotation speedcontroller

Object No. 2100.7Object name C3.ControllerTuning_SpeedDFactorC3.ControllerTuning_Sp

eedDFactorUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 2000000 %Remark: D-component of the rotation speed controller

6.11 I11 T30 object: Stiffness (speed controller)Object No. 2100.2Object name C3.ControllerTuning_StiffnessC3.ControllerTuning_Stiffnes

sUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 10 % Maximum value 100000 %Remark:

6.12 I11 T30 object: Input word of I/O optionObject No. 121.2Object name C3.DigitalInputAddition_ValueC3.DigitalInputAddition_ValueUnit Without Access: Read onlyFormat: WORD Valid after: -Minimum value 0 Maximum value --Remark: Input word for I/O option M10 or M12

6.13 I11 T30 object: Activate input/output option M10/M12Object No. 133.4Object name C3.DigitalOutputAddition_EnableC3.DigitalOutputAddition_

EnableUnit Without Access: Read/writeFormat: WORD Valid after: immediatelyMinimum value 0 Maximum value --Remark: Activation of output groups M10 and M12

Bit0=0 lower 4 bits inputs (plug X22/2 - /5)Bit0=1 lower 4 bits outputs (plug X22/2 - /5)Bit1=0 middle 4 bits inputs (plug X22/6 - /9)Bit1=1 middle 4 bits outputs (plug X22/6 - /9)Bit2=0 upper 4 bits inputs (plug X22/10, /12, /13, /14)Bit2=1 upper 4 bits outputs (plug X22/10, /12, /13, /14)

Compax3 - Objects

102 I11 T30 192-120104 N4 - August 2003

6.14 I11 T30 object: Error in I/O optionObject No. 133.2Object name C3.DigitalOutputAddition_ErrorC3.DigitalOutputAddition_Er

rorUnit Without Access: Read onlyFormat: WORD Valid after: -Minimum value 0 Maximum value --Remark: Error of I/O option M10 or M12:

Bit0=1 lower 4 bits error (plug X22/2 - /5)Bit1=1 middle 4 bits error (plug X22/6 - /9)Bit2=1 upper 4 bits error (plug X22/10, /12, /13, /14)Error means output overloadedBit3=1 24-V under-voltage

6.15 I11 T30 object: Output word for I/O optionObject No. 133.3Object name C3.DigitalOutputAddition_ValueC3.DigitalOutputAddition_V

alueUnit Without Access: Read/writeFormat: WORD Valid after: immediatelyMinimum value 0 Maximum value --Remark: Output word for I/O option M10 or M12

6.16 I11 T30 object: Acceleration forward controlObject No. 2010.2Object name C3.FeedForward_AccelC3.FeedForward_AccelUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 100%

6.17 I11 T30 object: Current forwards controlObject No. 2010.4Object name C3.FeedForward_CurrentC3.FeedForward_CurrentUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 Maximum value 500Remark: Default 0%


I11 T30 192-120104 N4 - August 2003 103

6.18 I11 T30 object: Jerk forward controlObject No. 2010.5Object name C3.FeedForward_JerkC3.FeedForward_JerkUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 0%

6.19 I11 T30 object: Rotation speed forward controlObject No. 2010.1Object name C3.FeedForward_SpeedC3.FeedForward_SpeedUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 % Maximum value 500 %Remark: Default 100%

6.20 I11 T30 object: Maximum permissible negative currentObject No. 402.4Object name C3.Limit_CurrentNegativeC3.Limit_CurrentNegativeUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 A Maximum value -500 ARemark: Negative current limit

100% correspond to the rated motor current

6.21 I11 T30 object: Maximum permissible positive currentObject No. 402.3Object name C3.Limit_CurrentPositiveC3.Limit_CurrentPositiveUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 A Maximum value 500 ARemark: Positive current limit

100% correspond to the rated motor current

Compax3 - Objects

104 I11 T30 192-120104 N4 - August 2003

6.22 I11 T30 object: Maximum permissible negative speedObject No. 402.2Object name C3.Limit_SpeedNegativeC3.Limit_SpeedNegativeUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 rev/s Maximum value -1000 rev/sRemark: Negative speed limit

100% correspond to the motor reference speed

6.23 I11 T30 object: Maximum permissible positive speedObject No. 402.1Object name C3.Limit_SpeedPositiveC3.Limit_SpeedPositiveUnit % Access: Read/writeFormat: INT Valid after: VPMinimum value 0 rev/s Maximum value 2000 rev/sRemark: Positive speed limit

100% correspond to the motor reference speed

6.24 I11 T30 object: Negative end limitObject No. 410.3Object name C3.LimitPosition_NegativeC3.LimitPosition_NegativeUnit Unit Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value -4000000 rev Maximum value 4000000 revRemark:

6.25 I11 T30 object: Positive end limitObject No. 410.2Object name C3.LimitPosition_PositiveC3.LimitPosition_PositiveUnit Unit Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value -4000000 rev Maximum value 4000000 revRemark:


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6.26 I11 T30 object: Status of the Multiturn emulationObject No. 3310.1Object name C3.Multiturnemulation_StatusC3.Multiturnemulation_StatusUnit Without Access: Read onlyFormat: BOOL Valid after: -Minimum value 0 Maximum value --Remark: 0: angle was within the window;

-1: angle was outside the window.The position will be restored at any rate, even if the angle was not withinthe window!If the window size is zero, there is no reconstruction of the absoluteposition, i.e. the status is not processed (value 0) the Multiturnemulation is switched off.

6.27 I11 T30 object: Read objects from FlashObject No. 20.10Object name C3.ObjectDir_ReadObjectsC3.ObjectDir_ReadObjectsUnit Without Access: Read/writeFormat: BOOL Valid after: immediatelyMinimum value 0 Maximum value --Remark: Read objects from Flash by writing a value <> 0 to this object

6.28 I11 T30 object: Save objects permanentlyObject No. 20.11Object name C3.ObjectDir_WriteObjectsC3.ObjectDir_WriteObjectsUnit Without Access: Read/writeFormat: BOOL Valid after: immediatelyMinimum value 0 Maximum value --Remark: Save objects permanently by writing a value <> 0 for this object.

Please note the following:- This command lasts about ca. 1.5s, which increases the cycle time ofthe control system briefly.- Perform this command only when needed. The write cycles of thememory module are limited (up to 100,000).

Compax3 - Objects

106 I11 T30 192-120104 N4 - August 2003

6.29 I11 T30 object: Tracking error timeObject No. 420.3Object name C3.PositioningAccuracy_FollowingErrorTimeoutC3.Position

ingAccuracy_FollowingErrorTimeoutUnit ms Access: Read/writeFormat: TIME 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.

6.30 I11 T30 object: Tracking error limitObject No. 420.2Object name C3.PositioningAccuracy_FollowingErrorWindowC3.Position

ingAccuracy_FollowingErrorWindowUnit Unit Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value 0 Maximum value 4000000Remark:

6.31 I11 T30 object: Position reachedObject No. 420.6Object name C3.PositioningAccuracy_PositionReachedC3.PositioningAc

curacy_PositionReachedUnit Without Access: Read onlyFormat: BOOL Valid after: -Minimum value 0 Maximum value --Remark: Position reached

"1" = Position has been within the Window positioning window at leastsince the time "Position window time"

6.32 I11 T30 object: Positioning window for position reachedObject No. 420.1Object name C3.PositioningAccuracy_WindowC3.PositioningAccuracy_

WindowUnit Unit Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value 0 rev Maximum value 4000000 revRemark:


I11 T30 192-120104 N4 - August 2003 107

6.33 I11 T30 object: Position window timeObject No. 420.7Object name C3.PositioningAccuracy_WindowTimeC3.PositioningAccura

cy_WindowTimeUnit Without Access: Read/writeFormat: TIME Valid after: immediatelyMinimum value 0 Maximum value --Remark: Time for position reached in 500µs;

1 = 500µs

6.34 I11 T30 object: Status of acceleration target valueObject No. 682.4Object name C3.StatusAccel_DemandValueC3.StatusAccel_DemandValu

eUnit Unit/s² Access: Read onlyFormat: DINT Valid after: -Minimum value 0 Maximum value --Remark: Target acceleration value for forward control

6.35 I11 T30 object: Status of actual current valueObject No. 683.1Object name C3.StatusDevice_ActualCurrentC3.StatusDevice_ActualCurr

entUnit % Access: Read onlyFormat: REAL Valid after: - Minimum value 0 Maximum value --Remark: Actual current value (actual torque value)

The reference is the rated motor current

6.36 I11 T30 object: Status of device utilizationObject No. 683.2Object name C3.StatusDevice_ActualDeviceLoadC3.StatusDevice_Actual

DeviceLoadUnit % Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Drive utilization

Compax3 - Objects

108 I11 T30 192-120104 N4 - August 2003

6.37 I11 T30 object: Status of motor utilisationObject No. 683.3Object name C3.StatusDevice_ActualMotorLoadC3.StatusDevice_Actual

MotorLoadUnit % Access: Read onlyFormat: REAL 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.

6.38 I11 T30 object: Short-term motor utilizationObject No. 683.4Object name C3.StatusDevice_DynamicMotorLoadC3.StatusDevice_Dyna

micMotorLoadUnit % Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Motor pulse load, the same value as under the status display of the

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

6.39 I11 T30 object: Status of position actual valueObject No. 680.5Object name C3.StatusPosition_ActualC3.StatusPosition_ActualUnit Unit Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Actual position value

6.40 I11 T30 object: Status of position target valueObject No. 680.4Object name C3.StatusPosition_DemandValueC3.StatusPosition_Deman

dValueUnit Unit Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Target position value of position controller (input)


I11 T30 192-120104 N4 - August 2003 109

6.41 I11 T30 object: Status of tracking errorObject No. 680.6Object name C3.StatusPosition_FollowingErrorC3.StatusPosition_Follow

ingErrorUnit Unit Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Tracking error (position controller)

6.42 I11 T30 object: Status of actual speed valueObject No. 681.5Object name C3.StatusSpeed_ActualC3.StatusSpeed_ActualUnit Unit/s Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Actual speed value

6.43 I11 T30 object: Status of target valueObject No. 681.4Object name C3.StatusSpeed_DemandValueC3.StatusSpeed_DemandVal

ueUnit Unit/s Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Target speed value for speed controller or forward control

6.44 I11 T30 object: Status of speed errorObject No. 681.6Object name C3.StatusSpeed_ErrorC3.StatusSpeed_ErrorUnit Unit/s Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Speed error

Compax3 - Objects

110 I11 T30 192-120104 N4 - August 2003

6.45 I11 T30 object: Status of motor temperatureObject No. 684.2Object name C3.StatusTemperature_MotorC3.StatusTemperature_MotorUnit C Access: Read onlyFormat: INT Valid after: -Minimum value 0 Maximum value --Remark: Measured by the sensor in the motor

6.46 I11 T30 object: Status of power output stage temperatureObject No. 684.1Object name C3.StatusTemperature_PowerStageC3.StatusTemperature_

PowerStageUnit C Access: Read onlyFormat: INT Valid after: -Minimum value 0 Maximum value --Remark: Measured by the sensor in the power output stage

6.47 I11 T30 object: Status of analog input 0Object No. 685.3Object name C3.StatusVoltage_AnalogInput0C3.StatusVoltage_AnalogIn

put0Unit V Access: Read onlyFormat: REAL Valid after: - Minimum value -10 V Maximum value 10 VRemark: Analog input on plug X11/9 and X11/11

6.48 I11 T30 object: Status of analog input 1Object No. 685.4Object name C3.StatusVoltage_AnalogInput1C3.StatusVoltage_AnalogIn

put1Unit V Access: Read onlyFormat: REAL Valid after: - Minimum value -10 V Maximum value 10 VRemark:


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6.49 I11 T30 object: Status of auxiliary voltageObject No. 685.1Object name C3.StatusVoltage_AuxiliaryVoltageC3.StatusVoltage_Auxilia

ryVoltageUnit V Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Auxiliary status from outside (24 VDC)

6.50 I11 T30 object: Status of power direct currentObject No. 685.2Object name C3.StatusVoltage_BusVoltageC3.StatusVoltage_BusVoltageUnit V Access: Read onlyFormat: REAL Valid after: -Minimum value 0 Maximum value --Remark: Output voltage after rectification

6.51 I11 T30 object: Set objects to validObject No. 210.10Object name C3.ValidParameter_GlobalC3.ValidParameter_GlobalUnit Without Access: Read/writeFormat: BOOL 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.

6.52 I11 T30 object: Variable Column 1 Row 1Object No. 1901.1Object name C3Array.Col01_Row01C3Array.Col01_Row01Unit Without Access: Read/writeFormat: REAL Valid after: immediately Minimum value 0 Maximum value --Remark: The column consists of 32 variables that are freely available.

In addition to access via IEC61131, they can also be written with the aidof the ServoManager in the configuration wizard.The rule for this is: Please note: Variable x = O1901.x; x = 1 ... 32scalable through object 201.1: NormFactorY4_Array_Col1

Compax3 - Objects

112 I11 T30 192-120104 N4 - August 2003

6.53 I11 T30 object: Variable Column 2 Row 1Object No. 1902.1Object name C3Array.Col02_Row01C3Array.Col02_Row01Unit Without Access: Read/writeFormat: REAL Valid after: immediately Minimum value 0 Maximum value --Remark: See object O1901.1

scalable through object 200.5: NormFactorY2_Array_Col2

6.54 I11 T30 object: Variable Column 3 Row 1Object No. 1903.1Object name C3Array.Col03_Row01C3Array.Col03_Row01Unit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value 0 Maximum value --Remark: See object O1901.1




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6.57 I11 T30 object: Variable Column 6 Row 1Object No. 1906.1Object name C3Array.Col06_Row01C3Array.Col06_Row01Unit Without Access: Read/writeFormat: DINT Valid after: immediately Minimum value 0 Maximum value --Remark: See object O1901.1




Compax3 - Objects

114 I11 T30 192-120104 N4 - August 2003

6.61 I11 T30 object: Indirect table access Column 1Object No. 1910.1Object name C3Array.Indirect_Col01C3Array.Indirect_Col01Unit Without Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value 0 Maximum value --Remark: Access to Column 1; row defined by C3_object "pointer to table row"

6.62 I11 T30 object: Indirect table access Column 2Object No. 1910.2Object name C3Array.Indirect_Col02C3Array.Indirect_Col02Unit Without Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value 0 Maximum value --Remark: Access to Column 2; row defined by C3_object "pointer to table row"

6.63 I11 T30 object: Indirect table access Column 3Object No. 1910.3Object name C3Array.Indirect_Col03C3Array.Indirect_Col03Unit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value 0 Maximum value --Remark: Access to Column 3; row defined by C3_object "pointer to table row"



I11 T30 192-120104 N4 - August 2003 115


6.66 I11 T30 object: Indirect table access Column 6Object No. 1910.6Object name C3Array.Indirect_Col06C3Array.Indirect_Col06Unit Without Access: Read/writeFormat: DINT Valid after: immediatelyMinimum value 0 Maximum value --Remark: Access to Column 6; row defined by C3_object "pointer to table row"



Compax3 - Objects

116 I11 T30 192-120104 N4 - August 2003


6.70 I11 T30 object: Pointer to table rowObject No. 1900.1Object name C3Array.Pointer_RowC3Array.Pointer_RowUnit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value 0 Maximum value --Remark:

6.71 I11 T30 object: Current error (n)Object No. 550.1Object name C3Plus.ErrorHistory_LastErrorC3Plus.ErrorHistory_LastErr

orUnit Without Access: Read onlyFormat: INT 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.

Additional assignment:Object 550.2: Error (n-1) next-to-last error in the error history.....Object 550.32: Error (n-31) in the error history.


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6.72 I11 T30 object: Acceleration and delay for machinereference run

Object No. 1130.1Object name C3Plus.HOMING_accelC3Plus.HOMING_accelUnit Unit/s² Access: Read/writeFormat: DINT Valid after: immediatelyMinimum value 0.24 rev/s² Maximum value 1000000 rev/s²Remark: If 0 is specified, the minimum value is used automatically.

6.73 I11 T30 object: Initiator adjustmentObject No. 1130.7Object name C3Plus.HOMING_edge_sensor_distanceC3Plus.HOMING_ed

ge_sensor_distanceUnit Degrees Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value -1000000 degrees Maximum value 1000000 degreesRemark: Virtual displacement of the initiator

6.74 I11 T30 object: Jerk for machine reference runObject No. 1130.2Object name C3Plus.HOMING_jerkC3Plus.HOMING_jerkUnit Unit/s³ Access: Read/writeFormat: DINT Valid after: immediately Minimum value 0 Maximum value --Remark: If 0 is specified, the minimum value is used automatically.

6.75 I11 T30 object: Adjusting the machine reference modeObject No. 1130.4Object name C3Plus.HOMING_modeC3Plus.HOMING_modeUnit Without Access: Read/writeFormat: INT Valid after: immediatelyMinimum value -127 Maximum value 128Remark:

Compax3 - Objects

118 I11 T30 192-120104 N4 - August 2003

6.76 I11 T30 object: Speed for machine reference runObject No. 1130.3Object name C3Plus.HOMING_speedC3Plus.HOMING_speedUnit Unit/s Access: Read/writeFormat: REAL Valid after: immediatelyMinimum value 0 rev/s Maximum value 2000 rev/sRemark:

EMD HAUSER Compax3 accessories

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7.1 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!

7. Compax3 accessories

Compax3 accessories

120 I11 T30 192-120104 N4 - August 2003

7.2 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


I11 T30 192-120104 N4 - August 2003 121

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.

Compax3 accessories

122 I11 T30 192-120104 N4 - August 2003

7.3 Parker servo motors

7.3.1 Direct drives

7.3.1.1 Transmitter systems for direct drives

The Feedback option F12 makes it possible to operate linear motors as well astorque motors. Compax3 supports the following transmitter systems:Special encoder systems for directdrives Option F12! Analog hall sensors ! Sine - cosine signal (max. 5Vss23; typical

1Vss) 90° offsetU-V Signal (max. 5Vss24; typical 1Vss)

120° offset.

! Linear encoder ! Sine-cosine (max. 5Vss25; typical 1Vss)(max. 400kHz) or

TTL (RS422) (max. 5MHz)! with the following modes of commutation:! Auto-commutation (see on page 123)

orDigital hall sensors

23 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).24 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).25 Max. differential input between SIN- (X13/7) and SIN+ (X13/8).


I11 T30 192-120104 N4 - August 2003 123

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 assignedfor the linear motor/drive). The transmitter and the direction of the field of rotationin effect must match.

! The auto-commutating function must be adapted to fit the mechanics ifnecessary during commissioning.

7.3.1.2 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 requiredLinear motors of the LXR series: 315N / 1,000N Up to 3 mLinear motor module BLMA: 605N / 1,720N Up to 6m

7.3.1.3 Torque motors

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

Compax3 accessories

124 I11 T30 192-120104 N4 - August 2003

7.3.2 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:


I11 T30 192-120104 N4 - August 2003 125

SMH82:

SMH100:

MH105:

Compax3 accessories

126 I11 T30 192-120104 N4 - August 2003

MH145:

MH205:


I11 T30 192-120104 N4 - August 2003 127

7.3.3 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 a motor directly attached to a flange plate: Motor free mounted

and with flange platesize: up to 2Nm: 200*230*20; up to 35Nm 200*270*20; >35Nm: 310*320*25 inmm.

In addition, we offer an extensive range of rotary and linear direct drives!We will be happy to process tour request!

Compax3 accessories

128 I11 T30 192-120104 N4 - August 2003

7.3.4 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.

7.3.5 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


I11 T30 192-120104 N4 - August 2003 129

7.3.6 Dimensions of the SMH(A)-motors

LM / LB / LE / LBE

S

L

D

SF

IM

QF

CF

DF

Gt1

h

b

Ø D

V x Z

i

112

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

8 5.5 63 60 Ø40 74SMH 60 1.4 129.5 / 161.0 / 153.0* / ---.-* 7 70

5 6 759x2011x23

3x3x164x4x18

10.212.5

-----M4x10 70 Ø60

h6x2.590

8 6.5 100 82 Ø80 112SMH 82 03 163.5 / 206.5 / 183.5 / 226.5 10 81

5 9 11514x3019x40

5x5x256x6x30

1621.5

M5x12.5M6x16 100 Ø95

h6x3.5135

SMH 100 06 191.5 / 238.5 / 211.5 / 258.5 10 91 5 9 115 19x4024x50

6x6x308x7x40

21.527

M6x16M8x19 100 Ø95 h6x3.5 135

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

*Scale drawing SMH 60 with encoder

LM / LB / LE / LBE

S

L

D

SF

IM

QF

CF

DF

Gt1

hb

Ø D

V x Z

i

64,5

61,5

112

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

Compax3 accessories

130 I11 T30 192-120104 N4 - August 2003

7.3.7 Dimensions of the MH(A)105-motors

i

ICLM / LB / LE /LBE

D

S

L

QF C

F

DF

SF

Gt1

h

b

Ø D

V x Z

Motor Type LM / LB / LE / LBE SF IC Flange -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 105flange5/14

08 317 / 381 / 338 / 392

514

9.5M8 115 105 Ø95 h6x3.5 140

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

MH 105flange

6/908 317 / 381 / 338 / 392

10 90

69

97

130100

19x4024x50

6x6x308x7x40

21.527

M6x16M8x19

11696

Ø110Ø80

h6x3.5h6x3.5

155128

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


I11 T30 192-120104 N4 - August 2003 131

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

IM

LM / LB / LE / LBE

D

S

L

QF C

F

DF

SF

G

IC

t1h

b

Ø D

V x Z

i

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

10x8x7012x8x10

0

4145

M12x32M16x40 205 Ø180 h6x4 250

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

Compax3 accessories

132 I11 T30 192-120104 N4 - August 2003

7.3.9 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: shaft-driven fan-cooling 2)

SV: motorized fan 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© typeA6: Singleturn (SRS50) 6)

A7: Multiturn (SRM50) 6)

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

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

1) MHA56 not available.2) Thus longer motor: MH105 +34mm; MH145 +44mm; MH205 +54mm.3) Thus longer motor: MH105 +64mm; MH145 +97mm; MH205 +109mm

Power 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).


I11 T30 192-120104 N4 - August 2003 133

7.4 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:

7.4.1 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 (see on page 120).

Compax3 accessories

134 I11 T30 192-120104 N4 - August 2003

7.4.2 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 (see on page 120).

7.4.3 Overview of motor cables

Cross-section / max.permanent load

Motor connectorSMH motorsMH56, MH70, MH105

Motor terminal boxMH145, MH205

standard cable chaincompatible

standard cable chaincompatible

1.5 mm2 / up to 13.8 A MOK55 MOK54 MOK60 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


I11 T30 192-120104 N4 - August 2003 135

7.4.4 Motor cable with plug

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

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. 13.8A) 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. 18.9A) cable chain compatibleSame structure as MOK55, but with 4x2.5 + 2x1 mm2 and cable chain compatible.


Compax3 accessories

136 I11 T30 192-120104 N4 - August 2003

7.4.5 Motor cable for terminal box

MOK61/..: (max. 32.3 A) 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 .



I11 T30 192-120104 N4 - August 2003 137

7.5 EMC measures

7.5.1 Mains filter

For radio interference suppression or to maintain emission limit values for CE conform operation (see on page 13) we offer mains power filters:Observe the maximum permitted length of the connection between the mains filterand the device:! unshielded <0.5m;! shielded < 5m (fully shielded on ground e.g. ground of control cabinet)

7.5.1.1 Mains filter NFI01/01

Mains filter for Compax3 S025 V2 and Compax3 S063 V2

Dimensional drawing:

50,8±0,385,4116139

79,5

101

88,9

±0,4

55,5

Ø 4

5,2 x 4

LINE

LOAD

Compax3 accessories

138 I11 T30 192-120104 N4 - August 2003

7.5.1.2 Mains filter NFI01/02

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


65

6,6

177151

70±0,3

140

125

111

Ø 4

LINE

LOAD

7.5.1.3 Mains filter for NFI01/03

Mains filter for Compax3 S300


6,6

240217

115±0,3

159

145±

0,5

129

64

Ø 4

LINE

LOAD


I11 T30 192-120104 N4 - August 2003 139

7.5.2 Motor output choke

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

7.5.2.1 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

140 I11 T30 192-120104 N4 - August 2003


up to 30 A rated motor current


18076110

6136 57

195

U1 V1 W1 + - U2 V2 W2 + -

7.5.2.4 Wiring of the motor output choke

M

MotorMDRCompax3PEPEUVWBr+Br-

++- -

U1 U2V2V1

W1 W2


I11 T30 192-120104 N4 - August 2003 141

7.6 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)

7.6.1.1 BRM8/01 ballast resistors


6

7,5

40

20

240225

Compax3 accessories

142 I11 T30 192-120104 N4 - August 2003

7.6.1.2 BRM5/01 ballast resistor


222245

101

6,5

48

73

12

7.6.1.3 BRM6/01 ballast resistor


95 97

96 98

250

330

64

120

6,5

64

92

12

1

1: thermal current overload cut-off


I11 T30 192-120104 N4 - August 2003 143

7.6.1.4 Ballast resistor BRM4/0x


95 97

96 98

A

B

C

120

6,5

C

92

12

1

1: thermal current overload cut-offDimensions:Size: BRM4/01 BRM4/02 BRM4/03A 250 300 540B 330 380 620C 64 64 64

Compax3 accessories

144 I11 T30 192-120104 N4 - August 2003

7.7 Operator control module BDM

Flexible service and maintenance

Functions:! Mobile or stationary handling: can remain on the unit for display and diagnostic

purposes, or can be plugged into any unit.! 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.


I11 T30 192-120104 N4 - August 2003 145

7.8 Interface cable

7.8.1 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

146 I11 T30 192-120104 N4 - August 2003

7.8.2 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



I11 T30 192-120104 N4 - August 2003 147

7.8.3 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

148 I11 T30 192-120104 N4 - August 2003

7.8.4 Encoder cable

GBK23/..: Connection Encoder - 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




I11 T30 192-120104 N4 - August 2003 149

7.9 Input/output option M12

An optional input/output extension is available for Compax3. The option is referredto as M12 and makes 12 digital 24 V inputs/outputs (ports) available on X22.The use of the option as inputs or outputs is programmable in groups of 4 (with theobject "activate input/output option M10 / M12 (see on page 101)").The outputs are activated:by the object "Output word for I/O option"; only the ports defined as outputs arewritten to.Reading inputs:with the object "Input word for I/O option". All ports are read, even the outputs.

7.9.1 Assignment of the X22 connector

PINX22/

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

1 n.c. Not assigned2 O0/I0 Output 0 / Input 0 - adjustable3 O1/I1 Output 1 / Input 1 - adjustable4 O2/I2 Output 2 / Input 2 - adjustable5 O3/I3 Output 3 / Input 3 - adjustable6 O4/I4 Output 4 / Input 4 - adjustable7 O5/I5 Output 5 / Input 5 - adjustable8 O6/I6 Output 6 / Input 6 - adjustable9 O7/I7 Output 7 / Input 7 - adjustable10 O8/I8 Output 8 / Input 8 - adjustable11 I 24 VDC power supply12 O9/I9 Output 9 / Input 9 - adjustable13 O10/I10 Output 10 / Input 10 - adjustable14 O11/I11 Output 11 / Input 11 - adjustable15 I Gnd 24 VAll inputs and outputs have 24V level.Maximum load on an output: 100mA

Maximum capacitive load: 50nF (max. 4 Compax3 inputs)

Caution! The 24VDC power supply (X22/11) must be supplied from anexternal source and must be protected by a 1.2A delayed fuse!

Compax3 accessories

150 I11 T30 192-120104 N4 - August 2003

7.9.1.1 Input wiring of digital inputs

100K Ω

X22/11

X22/6

10KΩ22KΩ

22KΩ

22KΩ

SPS/PLC

F1

X22/15

24VDC24VDC

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

7.9.1.2 Output wiring of digital outputs

X12/2

22KΩ

X22/15

X22/11SPS/PLC

F1

24VDC

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


I11 T30 192-120104 N4 - August 2003 151

7.10 EAM06: Terminal block for inputs and outputs

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

Via a supporting rail (Design: or ) the terminal block can be installed ona mounting rail in the control cabinet.EAM06/ is available in2 variants:! EAM06/01: Terminal block for X11, X12 without luminous indicator! EAM06/02: Terminal block for X12 with luminous indicatorCorresponding connecting cables EAM06 - Compax3 are available:! from X11 - EAM06/01: SSK23/..! from X12 - EAM06/xx: SSK24/..

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

Width: 67.5mm

EAM6/02: Terminal block with luminous indicator for X12

Compax3 accessories

152 I11 T30 192-120104 N4 - August 2003

Width: 67.5mm

Cable plan SSK23/..: X11 to 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


I11 T30 192-120104 N4 - August 2003 153

Cable plan SSK24/..: X12 to 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

154 I11 T30 192-120104 N4 - August 2003

7.11 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

I11 T30 192-120104 N4 - August 2003 155

8.1 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 torque High 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

8.2 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

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

Motor impulse utilization % Reference: 100% = maximum permissible motorimpulse loadshort-term - I2t monitoring of motor impulsecurrent and motor impulse 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

8. Appendix

Appendix

156 I11 T30 192-120104 N4 - August 2003

8.3 Error

All errors lead to error status.Reaction 2: Downramp with de-energise ramp then apply brake (see on page52) and then deenergise.

Reaction 5: switch-off of the current immediately (without ramp), application of thebrake.

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

I11 T30 192-120104 N4 - August 2003 157

8.3.1 Error list

Error code (hex): 0x2213Error: Runtime overflow 31.25usError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x2214Error: Runtime overflow 500usError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Runtime monitoring. Internal errorError code (hex): 0x2311Error: Monitor (Effective Motor Current)Error reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Adjustable monitoring (with motor parameters: 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: Response 2: Downramp / apply brake / de-energize.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: Response 5: switch-off of the current immediately (without ramp),

application of the brake.Measure: Check motor cableNote: Origin is a hardware signalError code (hex): 0x3210Error: DC bus voltage too highError reaction: Response 5: switch-off of the current immediately (without ramp),

application of the 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: Response 2: Downramp / apply brake / de-energize.Measure:Note: Measurement via PAPError code (hex): 0x4210Error: Temperature of power output stage / deviceError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Measurement via PAP; source from power stageError code (hex): 0x4310Error: Motor temperatureError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Source is motor temperature signalError code (hex): 0x5111Error: Auxiliary voltage 15V defectiveError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Measurement via PAPError code (hex): 0x5112Error: Overvoltage 24VError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Measurement via PAPError code (hex): 0x5116Error: Undervoltage 24VError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Measurement via PAP

0x2213

0x2214

0x2311

0x2312

0x2320

0x3210

0x3222

0x4210

0x4310

0x5111

0x5112

0x5116

Appendix

158 I11 T30 192-120104 N4 - August 2003

Error code (hex): 0x5117Error: Undervoltage optionsError 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: Response 2: Downramp / apply brake / de-energize.Measure:Note: Applies to the 4 on-board outputsError code (hex): 0x5420Error: Ballast resistor overload, pulse currentError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Setting via tool inputError code (hex): 0x5421Error: Braking Resistor overloaded (Continuous Current) Error reaction: Response 2: Downramp / apply brake / de-energize.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: Response 5: switch-off of the current immediately (without ramp),

application of the brake.Measure:Note: Hardware input (secure stop)Error code (hex): 0x6280Error: IEC61131-3 Division by zeroError reaction: Response 2: Downramp / apply brake / de-energize.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: Response 2: Downramp / apply brake / de-energize.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: Response 2: Downramp / apply brake / de-energize.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: Response 2: Downramp / apply brake / de-energize.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: Response 2: Downramp / apply brake / de-energize.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: Response 5: switch-off of the current immediately (without ramp),

application of the brake.

0x5117

0x5380

0x5420

0x5421

0x5480

0x5481

0x5491

0x6280

0x6281

0x6282

0x6283

0x6284

0x7121

EMD HAUSER Appendix

I11 T30 192-120104 N4 - August 2003 159

Error code (hex): 0x7121Measure:Note: Speed controller signal at limit for specific timeError code (hex): 0x7180Error: Motor pulse loadError reaction: Response 2: Downramp / apply brake / de-energize.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: Response 5: switch-off of the current immediately (without ramp),

application of the brake.Measure:Note: Rotation speed too highError code (hex): 0x7320Error: Tracking error Error reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Monitoring of tracking error window incl. timeError code (hex): 0x7381Error: Resolver level too highError reaction: Response 2: Downramp / apply brake / de-energize.Measure: Check encoder cable or encoder

Internal info: Encoder excitation or power supply voltage deactivated!Note: Level limit exceededError code (hex): 0x7382Error: Resolver level too lowError reaction: Response 2: Downramp / apply brake / de-energize.Measure: Check encoder cable or encoder

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

Internal info: Encoder excitation or power supply voltage deactivated!Note: SinCos encoder: Level of the Sine/Cosine track too high, can be

acknowledged only by new power on of the deviceError code (hex): 0x7392Error: Encoder level too lowError reaction: Response 2: Downramp / apply brake / de-energize.Measure: Check encoder cable (shield, abort, short-circuit) or encoder

Internal info: Encoder excitation or power supply voltage 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: Response 5: switch-off of the current immediately (without ramp),

application of the brake.Measure:Note:Error code (hex): 0x73a5Error: Automatic commutation: no standstill of drive on startError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x73a6Error: Automatic commutation: more than 60 el. movementError reaction: Response 2: Downramp / apply brake / de-energize.

0x7180

0x7310

0x7320

0x7381

0x7382

0x7390

0x7391

0x7392

0x7393

0x73a0

0x73a5

0x73a6

Appendix

160 I11 T30 192-120104 N4 - August 2003

Error code (hex): 0x73a6Measure:Note:Error code (hex): 0x73A7Error: Automatic commutation: more than 5 el. movement during phase 2Error reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note: Error code (hex): 0x73A8Error: Automatic commutation: No standstill during phase 3Error reaction: Response 2: Downramp / apply brake / de-energize. Measure:Note:Error code (hex): 0x73A9Error: Automatic commutation: Timeout during phase 3Error reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x73AAError: Automatic commutation: Too many trials during phase 3Error reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x73abError: Automatic commutation: TimeoutError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x73ACError: Automatic commutation: No motor connectedError reaction: Response 2: Downramp / apply brake / de-energize.Measure:Note:Error code (hex): 0x8120Error: CRC error or passive mode (CAN)Error reaction: NoneMeasure:Note: Field bus error: adjustable response (none, response 2)Error code (hex): 0x8121Error: Bus off (CAN)Error reaction: NoneMeasure:Note: CAN Bus inactive status

Field bus error: adjustable response (none, response 2)Error code (hex): 0x8130Error: FB TimeoutError reaction: NoneMeasure: Check connection and masterNote: Field bus communication failure

Field bus error: adjustable response (none, response 2)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: Response 2: Downramp / apply brake / de-energize.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): 0xFF05

0x73A7

0x73A8

0x73A9

0x73AA

0x73ab

0x73AC

0x8120

0x8121

0x8130

0x8181

0x8182

0xFF03

0xFF04

0xFF05

EMD HAUSER Appendix

I11 T30 192-120104 N4 - August 2003 161

Error code (hex): 0xFF05Error: Version conflict; object data not valid in flashError reaction: NoneMeasure:Note: Internal errorError 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): 0xFF23

0xFF06

0xFF07

0xFF08

0xFF10

0xFF11

0xFF12

0xFF13

0xFF14

0xFF15

0xFF16

0xFF20

0xFF21

0xFF22

0xFF23

Appendix

162 I11 T30 192-120104 N4 - August 2003

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

0xFF24

0xFF30

0xFF40

0xFF42

0xFF43

0xFF45

0xFF46

0xFF47

0xff91

0xFFA0

0xFFD0

0xFFD1

EMD HAUSER Appendix

I11 T30 192-120104 N4 - August 2003 163

Error code (hex): 0xFFD2Error: SinCos RX OverrrunError reaction: NoneMeasure:Note: Error from encoder via serial interfaceError 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)

0xFFD2

0xFFD3

0xFFD4

0xFFD5

0xFFD6

0xFFE0

Technical Data

164 I11 T30 192-120104 N4 - 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%

9. Technical Data

EMD HAUSER Technical Data

I11 T30 192-120104 N4 - August 2003 165

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: 16Bit (= 0.005°)

! Absolute accuracy ±0,167°For option F11: SinCos ! Position resolution: 19Bit (= 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-bit! For sine - cosine:

13-bit + log2 (strokes / pitch)! For TTL (RS422):

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

The accuracy depends on the accuracyof the encoders used.

Control voltage 24 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

166 I11 T30 192-120104 N4 - August 2003

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

! Sinusoidal commutated synchronousmotors up to maximum rotation speed of9000 rpm.

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

Position encoder (Feedback) Option F10: 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.

Interfaces

Interface selection by external plug contact assignmentRS232 ! 115200 baud

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

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

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


I11 T30 192-120104 N4 - August 2003 167

FunctionsGeneral ! Programmable based on IEC61131-3

! Up to 1200 instructions! 150x16-bit variables! 100x32-bit variables! Recipe table with 288 variables! 3x16-bit retain-variable! 3x32-bit retain-variable

PLCOpen function modules ! Positioning: absolute, relative, additive,endless

! Locating the machine reference! Stop, energizing the power stage, Quit! Position, device status, reading axis error

IEC61131-3 standard modules ! Up to 8 timers (TON, TOF, TP)! Triggers (R_TRIG, F_TRIG)! Flip-flops (RS, SR)! Counters (CTU, CTD, CTUD)

Device-specific function modules ! InputStatus: generates an input processimage

! OutputStatus: generates an outputprocess image

! ReadArray: access to recipe tableInputs/Outputs ! 8 digital inputs (24V level)

! 4 digital outputs (24-V level)! Optional addition of 12 inputs/outputs

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

Technical Data

168 I11 T30 192-120104 N4 - August 2003

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)

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


I11 T30 192-120104 N4 - August 2003 169

General ambient conditions In accordance with EN 60 721-3-1 to 3-3Climate (temperature/humidity/barometricpressure): Class 3K3

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: Forced air ventilation withfan in the heat dissipater

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)

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

170 I11 T30 192-120104 N4 - August 2003

AAbsolute 70Access to the Compax3 object directory 59Accessories order code 121Acknowledging errors (MC_Reset) 81Aditive positioning (MC_MoveAdditive) 75Advanced control parameters 49Analog / Encoder (plug X11) 24Analog status output via D/A monitor 156Appendix 156Application examples 89Assignment of the X22 connector 150AWL commands supported 56

BBallast resistor 19, 33, 168Ballast resistor / power supply voltage plug X2

for 230VAC devices 19Ballast resistor / power supply voltage plug X2

for 400VAC devices 20Ballast resistor BRM4/0x 144Ballastwiderstand 168Brake delay times 53BRM5/01 ballast resistor 143BRM6/01 ballast resistor 143BRM8/01 ballast resistors 142

CC3_IOADDITION_0 85C3_IOADDITION_1 85C3_IOADDITION_2 86CoDeSys / Compax3 target system (Target

Package) 54Commissioning Compax3 31Compax3 - Objects 96Compax3 accessories 120Compax3 device description 17Conditions of utilization 13Configuration 31Configuration name / comments 46Connections to the motor 134Control dynamics 47Control functions 63Control voltage 24 VDC 21Control voltage 24VDC / enable (plug X4) 21Current Limit 43Cycle time 58

DDamping of the speed controller 48Data types supported 57Defining jerk / ramps 43Defining the reference system 34Device assignment 9

Digital inputs/outputs (plug X12) 25Dimensions of the MH(A)105-motors 131Dimensions of the MH(A)145 and MH(A)205

motors 132Dimensions of the SMH(A)-motors 130Direct drives 123

EEAM06 terminal block for inputs and outputs

152EMC measures 138Encoder cable 149Encoder simulation 44Endless positioning (MC_MoveVelocity) 77Energizing the power output stage

(MC_Power) 63Error 157Error handling 81Error list 158Example in CFC

positioning with set selection 92Example in CFC: Cycle mode 93Example in CFC: Positioning 1 90Example in CFC: Positioning 2 91Example in CFC: Using Compax3-specific

function modules and Compax3 objects 89Example in ST: Cycle mode with a Move

module 94External ballast resistors 142External moment of inertia / load 33

FFilter for speed value 48Forward control measures 50Function of the LEDs on the front panel 18

GGeneral 54General drive 33General hazards 11General rules / timing 62

HHolding brake 129

II/O interface X12 147I11 T30 object

Acceleration and deceleration of machine zerorun 118

Activating the input/output option M210/M12 102

Actual acceleration value filter 101Actual speed value filter 101Bandwidth current controller 100

10. Index

EMD HAUSER Index

I11 T30 192-120104 N4 - August 2003 171

Current error (n) 117Current forward control 103D component of the speed controller 102Damping (speed controller) 101Damping of the current controller 100Error of I/O option 103Forward external acceleration control 103Indirect table access column 1 115Indirect table access column 2 115Indirect table access column 3 115Indirect table access column 4 115Indirect table access column 5 116Indirect table access column 6 116Indirect table access column 7 116Indirect table access column 8 116Indirect table access column 9 117Initiator adjustment 118Input word of the I/O option 102Jerk for machine zero run 118Jerk forward control 104Maximum permissible negative current 104Maximum permissible negative speed 105Maximum permissible positive current 104Maximum permissible positive speed 105Moment of inertia 101Negative end limit 105Output word for I/O option 103Pointer to table row 117Position reached 107Position window time 108Positioning window for position reached 107Positive end limit 105Read objects from flash 106save objects permanently 106Set objects to valid 112Setpoint for analogue output 0 100Setpoint for analogue output 1 100setting the machine reference mode 118short-term motor utilization 109Speed forward control 104Speed of machine zero run 119Status of output direct voltage 112Status analogue input 0 111Status analogue input 1 111Status auxiliary voltage 112Status device utilisation 108Status motor temperature 111Status motor utilisation 109Status of acceleration target value 108Status of actual current value 108Status of the Multiturn emulation 106Status position actual value 109Status position target value 109Status power output stage temperature 111Status speed actual value 110Status speed error 110Status speed target value 110Status tracking error 110Stiffness (speed controller) 102Tracking error limit 107Variable column 1 row 1 112Variable column 2 row 1 113

Variable column 3 row 1 113Variable column 4 row 1 113Variable column 5 row 1 113Variable column 6 row 1 114Variable column 7 row 1 114Variable column 8 row 1 114Variable column 9 row 1 114

I11 T30 objectsTracking error time 107

IEC 61131 - Positioning with function modulesbased on PLCopen 15

Input wiring of digital inputs 25, 151Input/output option M12 150Installation and dimensions Compax3 27Installation and dimensions of Compax3 S038

and S075 V4 28Installation and dimensions of Compax3 S0xx

V2 27Installation and dimensions of Compax3 S150

V4 29Installation and dimensions of Compax3 S300

V4 30Interface cable 146Introduction 9

LLanguages supported 55Library constants 61Limit and monitoring settings 43Linear motors 124Locating the machine reference 37

MMachine reference modes (MN-Ms) 38Mains filter 138Mains filter for NFI01/03 139Mains filter NFI01/01 138Mains filter NFI01/02 139Maximum program size 58Measure reference 34MN-M 128/129

current increase while moving to block 41MN-M 3,4/19,20 MN on the positive edge of

the MN-initiator 39MN-M 33,34 MN on the motor zero point 41MN-M 35: MN at the current position 41MN-M 5,6/21,22: MN proximity switch = 1 on

the negative flank 40Motion control via function modules 60Motion functions 69Motor / Motor brake (plug X3) 21Motor cable for terminal box 137Motor cable with plug 136Motor Connection 21Motor data table for standard motors 128Motor holding brake 21Motor output choke 140Motor output choke MDR01/01 140Motor output choke MDR01/02 141Motor output choke MDR01/04 140Motor selection 32

Index

172 I11 T30 192-120104 N4 - August 2003

OObject overview sorted by object name 98Opening the brake (C3_OpenBrake) 65Operation with MultiTurn emulation 37Operation with SinCos Multiturn 37Operator control module BDM 145Optimization 47Order code for Compax3 120Order code for SMH/MH motors 133Output wiring of digital outputs 26, 151Overview of motor cables 135

PParker servo motors 123Plug and connector assignment Compax3 17Plug assignment Compax3S0xx V2 17, 18,

19, 21, 23, 26Power supply 17, 18Power supply plug X1 for 230VAC devices 18Power supply plug X1 for 400 VAC devices

19Preliminary installations 54Process image 84Program development and test 55Programming based on IEC61131-3 54Pulse encoder systems 129

RRamp upon error and de-energize 43Read access to the (C3_READARRAY) array

67Reading axis errors (MC_ReadAxisError) 82Reading digital inputs (C3_INPUT) 84Reading the current position

(MC_ReadActualPosition) 66Reading the device status (MC_ReadStatus)

68Reading values 66Reading/writing optional inputs/outputs 85Recipe management 55Recipe table 45Recipe table with 9 columns and 32 lines 57Recording the axis position (MC_TouchProbe)

87Ref X11 148Relative positioning (MC_MoveRelative) 73Resolver 26Resolver / Feedback (connector X13) 26Resolver cable 134Retain Variables 58RS232 / RS485 interface (plug X10) 23RS232 cable 146RS232 plug assignment 23RS485 plug assignment 23RS485 setting values 46

SSafety Instructions 11Safety-conscious working 11SinCos cable 135Special safety instructions 12

Standard function modules supported 58Status diagram based on PLCopen 60Status values 156Stiffness of the speed controller 47Stop (MC_Stop) 64Switching off error messages

(C3_ERRORMASK) 83

TTechnical Data 165Torque motors 124Translating and downloading/uploading

IEC61131 programs 59Transmitter systems for direct drives 123Turning the motor holding brake on and off

53Type specification plate 10

UUsage in accordance with intended purpose

11

WWarranty conditions 12Wiring of analog outputs 24Wiring of the analog input 24Wiring of the motor output choke 141Writing digital inputs (C3_INPUT) 84

ZZBH plug set 155

EMD HAUSER Index

I11 T30 192-120104 N4 - August 2003 173

positioning with function modules according to plcopen · 2006. 1. 19. · iec 61131 - positioning...

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