Parker Compax3, Compax3 I11 T11, Compax3 S025 V2, Compax3 S038 V4, Compax3 S063 V2 Operating Instructions Manual

Electromechanical Automation

Operating instructions Compax3 I11 T11

Positioning via digital I/Os

I11 T11 192-120101 N6 - March 2004

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

We reserve the right to make technical changes. 10.03.04 09:06 I11 T11 192-120101 N6 - March 2004
The data correspond to the technical state at the time of printing.

Introduction

____________________________

Copyright © 2003 Parker Hannifin GmbH EME
All rights reserved.

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Windows NT®, Window 2000™, Window XP™ and MS-DOS™ are trademarks of
Microsoft Corporation.

EME - Electromechanical Automation Europe

Germany:

England:

Italy:

Parker Hannifin GmbH
Electromechanical Automation
Postfach: 77607-1720
Robert-Bosch-Str. 22
D-77656 Offenburg
Tel.: [phone]
Fax: [phone]

E-mail: [e-mail] mailto:[e-mail]
Internet: www.parker-eme.com http://www.parker-eme.com

Parker Hannifin plc
Electromechanical Automation
21 Balena Close
Poole, Dorset England, BH17 /DX UK
Tel.: [phone]
Fax: [phone]

E-mail: [e-mail] mailto:[e-mail]
Internet: www.parker-eme.com http://www.parker-eme.com

Parker Hannifin S. p. A
Electromechanical Automation
Via Gounod 1
I-20092 Cinisello Balsamo (MI), Italy
Tel.: [phone]
Fax: [phone]

E-mail: [e-mail] mailto:[e-mail]
Internet: www.parker-eme.com http://www.parker-eme.com

EMN - Electromechanical Automation North America

USA:

2 I11 T11 192-120101 N6 - March 2004

Parker Hannifin Corporation
Electromechanical Automation
5500 Business Park Drive
Rohnert Park, CA 94928
Phone #: [phone]
FAX #: [phone]

E-mail: [e-mail] mailto:[e-mail]
Internet: www.compumotor.com http://www.compumotor.com

Parker EME

Device assignment

New Compax3 functions

Contents

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

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

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

1.3 Release 1/2004 ......................................................................................... 9

1.3.1. New Compax3 functions ................................................................................... 9

1.3.1.1 Direct drives ............................................................................................ 9

1.3.1.2 Switching frequency of the power output stage can be set .................... 9

1.3.1.3 Predefined external setpoint value optimized via analogue input........... 9

1.3.1.4 UL certification ........................................................................................ 9

1.3.1.5 New machine zero modes .................................................................... 10

1.3.1.6 RS485 / RS232 interface ...................................................................... 10

1.3.2. New functions of the Compax3 software tools............................................. 10

1.3.2.1 C3 ServoManager: configuration, setup and optimization of

Compax3............................................................................................... 10

1.3.2.2 C3 MotorManager: configuration of almost any motors........................ 11

1.3.2.3 C3 IEC61131-3 - Debugger .................................................................. 11

1.3.2.4 CoDeSys - IEC61131-3 - development tool.......................................... 11

1.3.2.5 CamEditor: cam creation for C3 T40 .................................................... 11

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

1.4 Safety Instructions................................................................................. 12

1.4.1. General hazards ............................................................................................... 12

1.4.2. Safety-conscious working .............................................................................. 12

1.4.3. Special safety instructions ............................................................................. 13

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

1.6 Conditions of utilization ........................................................................ 14

1.6.1. Conditions of utilization for CE-conform operation..................................... 14

1.6.2. Conditions of utilization for UL permission.................................................. 16

2. Compax3 I11 T11: Positioning via digital I/Os.....................................17

3. Compax3 device description................................................................19

3.1 Plug and connector assignment Compax3.......................................... 20

3.1.1. Function of the LEDs on the front panel ....................................................... 21

3.1.2. Power supply plug X1 for 230VAC devices................................................... 21

3.1.3. Power supply plug X1 for 400 VAC devices.................................................. 22

3.1.4. Ballast resistor / high voltage supply plug X2 for 230VAC devices........... 22

3.1.5. Ballast resistor / high voltage supply plug X2 for 400VAC devices........... 23

3.1.6. Motor / Motor brake (plug X3)......................................................................... 24

3.1.7. Control voltage 24VDC / enable (plug X4) ..................................................... 25

3.1.8. RS232 / RS485 interface (plug X10) ............................................................... 26

I11 T11 192-120101 N6 - March 2004 3

Introduction

New Compax3 functions

3.1.9. Analog / Encoder (plug X11)........................................................................... 27

3.1.9.1 Wiring of the analog input ..................................................................... 27

3.1.9.2 Wiring of analog outputs ....................................................................... 27

3.1.10. Digital inputs/outputs (plug X12) ................................................................... 28

3.1.10.1 Input wiring of digital inputs................................................................... 28

3.1.10.2 Output wiring of digital outputs.............................................................. 29

3.1.11. Resolver / Feedback (connector X13)............................................................ 29

3.2 Installation and dimensions Compax3................................................. 31

3.2.1. Installation and dimensions of Compax3 S0xx V2....................................... 31

3.2.2. Installation and dimensions of Compax3 S038 and S075 V4...................... 32

3.2.3. Installation and dimensions of Compax3 S150 V4....................................... 33

3.2.4. Installation and dimensions of Compax3 S300 V4....................................... 34

4. Setting up Compax3..............................................................................35

4.1 Configuration ......................................................................................... 35

4.1.1. Motor selection ................................................................................................ 37

4.1.2. Optimize motor reference point and switching frequency of the

power output stage.......................................................................................... 38

4.1.3. Ballast resistor ................................................................................................. 39

4.1.4. General drive .................................................................................................... 40

4.1.5. Defining the reference system ....................................................................... 40

4.1.5.1 Measure reference................................................................................ 41

4.1.5.2 Machine reference modes (MN-Ms) ..................................................... 44

4.1.5.3 Adjusting the machine zero proximity switch ........................................ 48

4.1.5.4 Software end limits................................................................................ 49

4.1.6. Defining jerk / ramps ....................................................................................... 50

4.1.6.1 Ramp upon error / deenergize ............................................................. 51

4.1.7. Limit and monitoring settings ........................................................................ 52

4.1.7.1 Current Limit ......................................................................................... 52

4.1.7.2 Positioning window - Position reached ............................................... 52

4.1.7.3 Tracking error limit ................................................................................ 53

4.1.8. Encoder simulation ......................................................................................... 54

4.1.9. Positioning ....................................................................................................... 55

4.1.9.1 Operating modes .................................................................................. 56

4.1.9.2 Define positioning data records ............................................................ 59

4.1.9.3 Dynamic positioning.............................................................................. 62

4.1.10. RS485 setting values....................................................................................... 62

4.1.11. Configuration name / comments.................................................................... 63

4.2 Test commissioning Compax3 ............................................................. 64

4.3 Device status.......................................................................................... 66

4.4 Optimization ........................................................................................... 68

4.4.1. Control dynamics ............................................................................................ 68

4.4.1.1 Stiffness of the speed controller ........................................................... 69

4.4.1.2 Damping of the speed controller ........................................................... 70

4.4.1.3 Filter for speed value ............................................................................ 70

4.4.1.4 Advanced control parameters............................................................... 71

4.4.2. Commissioning mode ..................................................................................... 75

4.4.3. Turning the motor holding brake on and off................................................. 76

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Device assignment

New Compax3 functions

5. RS232 & RS485 – interface record .......................................................77

5.1 ASCII - record......................................................................................... 77

5.2 Binary record.......................................................................................... 79

6. Status values.........................................................................................82

6.1 Device ..................................................................................................... 83

6.2 Motor....................................................................................................... 83

6.3 Positions................................................................................................. 84

6.4 Speeds .................................................................................................... 85

6.5 Currents.................................................................................................. 87

6.6 Inputs ...................................................................................................... 88

6.7 CAM......................................................................................................... 89

6.8 IEC61131-3.............................................................................................. 90

6.9 Transmitter ............................................................................................. 91

7. Error .......................................................................................................92

7.1 Error list.................................................................................................. 92

8. Compax3 Accessories ........................................................................105

8.1 Order code for Compax3..................................................................... 105

8.2 Accessories order code ...................................................................... 106

8.3 Parker servo motors ............................................................................ 108

8.3.1. Direct drives ................................................................................................... 108

8.3.1.1 Transmitter systems for direct drives .................................................. 108

8.3.1.2 Linear motors ...................................................................................... 109

8.3.1.3 Torque motors..................................................................................... 109

8.3.2. Rotary servo motors...................................................................................... 110

8.3.2.1 Motor data table for standard motors.................................................. 113

8.3.2.2 Holding brake ...................................................................................... 114

8.3.2.3 Pulse encoder systems ....................................................................... 114

8.3.2.4 Dimensions of the SMH(A)-motors ..................................................... 115

8.3.2.5 Dimensions of the MH(A)105-motors ................................................. 116

8.3.2.6 Dimensions of the MH(A)145 and MH(A)205 motors ......................... 117

8.3.2.7 Order code for SMH/MH motors ......................................................... 118

8.4 Connections to the motor ................................................................... 119

8.4.1. Resolver cable................................................................................................ 119

8.4.2. SinCos cable .................................................................................................. 120

8.4.3. Overview of motor cables ............................................................................. 120

8.4.4. Motor cable with plug.................................................................................... 121

8.4.5. Motor cable for terminal box ........................................................................ 122

I11 T11 192-120101 N6 - March 2004 5

Introduction

New Compax3 functions

8.5 EMC measures ..................................................................................... 123

8.5.1. Mains filter ...................................................................................................... 123

8.5.1.1 Mains filter NFI01/01 ........................................................................... 123

8.5.1.2 Mains filter NFI01/02 ........................................................................... 124

8.5.1.3 Mains filter for NFI01/03...................................................................... 124

8.5.2. Motor output filter.......................................................................................... 125

8.5.2.1 Motor output filter MDR01/04.............................................................. 125

8.5.2.2 Motor output choke MDR01/01........................................................... 125

8.5.2.3 Motor output choke MDR01/02........................................................... 126

8.5.2.4 Wiring of the motor output filter........................................................... 126

8.6 External ballast resistors .................................................................... 127

8.6.1. BRM8/01 ballast resistors ............................................................................. 128

8.6.2. BRM5/01 ballast resistor ............................................................................... 128

8.6.3. Ballast resistor BRM6/02............................................................................... 128

8.6.4. Ballast resistor BRM4/0x............................................................................... 129

8.7 Operator control module BDM............................................................ 130

8.8 EAM06 terminal block for inputs and outputs................................... 131

8.9 ZBH plug set......................................................................................... 134

8.10 Interface cable...................................................................................... 135

8.10.1. RS232 cable.................................................................................................... 135

8.10.2. RS485 cable to Pop ....................................................................................... 136

8.10.3. I/O interface X12............................................................................................. 137

8.10.4. Ref X11............................................................................................................ 138

8.10.5. Encoder cable ................................................................................................ 139

9. Technical Data.....................................................................................140

10.Index.....................................................................................................147

6 I11 T11 192-120101 N6 - March 2004

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1. Introduction

In this chapter you can read about:

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

Type plate ........................................................................................................................................8

Release 1/2004 ................................................................................................................................9

Safety instructions ..........................................................................................................................12

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

Conditions of utilization...................................................................................................................14

1.1 Device assignment

This manual applies to the following devices:

Introduction

! 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 T11

I11 T11 192-120101 N6 - March 2004 7

Introduction

1.2 Type specification plate

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

Compax3 - Type

specification plate:

1

10

2

3

4

56

Explanation:

1 Type designation

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

C3S025V2

2

C3: Abbreviation for Compax3

S: Single axis device with direct AC mains power supply

025: Device current drain in 100mA (025=2.5A)

V2: 230VAC (single phase); V4: 400VAC (three phase)

3 Unique number of the particular device

4 Nominal power supply voltage of the device

5 Designation of the feedback system

F10: Resolver

F11: SinCos© / Single- or Multiturn

F12: Feedback module for direct drives

6 Device interface

I10: Analog, Step/Direction and Encoder Input

I11: Digital inputs/outputs

I20: Profibus DP

I21: CANopen

7 Corresponding fuse protection

8 Date of factory test

9 Options

10 Technology function

T10: Servo Controller

T11: Positioning

T30: Motion control programmable according to IEC61131-3

T40: Electronic cam control

9

8

7

8 I11 T11 192-120101 N6 - March 2004

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1.3 Release 1/2004

In this chapter you can read about:

New Compax3 functions...................................................................................................................9

New functions of the Compax3 software tools ................................................................................10

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

1.3.1. New Compax3 functions

In this chapter you can read about:

Direct drives .....................................................................................................................................9

Switching frequency of the power output stage can be set................................................................9

Optimization of the predefined external setpoint via the analog input................................................9

UL certification..................................................................................................................................9

New machine zero modes ..............................................................................................................10

RS485 / RS232 interface ................................................................................................................10

Introduction

1.3.1.1 Direct drives

The feedback module F12 supports the following feedback systems:

! Distance coding with 1VSS - Interface
! Distance coding with RS422 - Interface (Encoder)

1.3.1.2 Switching frequency of the power output stage can be set

The switching frequency of the power output stage (see on page 38) can be
increased if necessary. This helps mainly to reduce motor sounds.

Please note that power output stage losses increase with rising switching
frequency. Therefore the nominal device currents must be reduced.

1.3.1.3 Predefined external setpoint value optimized via analogue input

Given an external discrete signal read in via the analog input (possible with I10 T10
and T40), signal steps can only be avoided by averaging.

1.3.1.4 UL certification

Compax3 now with UL certification. (see on page 16)

I11 T11 192-120101 N6 - March 2004 9

Introduction

1.3.1.5 New machine zero modes

! Several new machine zero modes with limit switch: MN-Mode 1,2 7-10, 11-14,

17,18, 23-26, 27-30

! New machine zero modes in connection with the feedback module F12 F12

(direct drives) and distance coded feedback system: MN-Mode 130 - 133

! Limit switch can be configured

1.3.1.6 RS485 / RS232 interface

Compax3 objects can be read in and written via RS232 and RS485 (see on page

77).

1.3.2. New functions of the Compax3 software tools

In this chapter you can read about:

C3 ServoManager: configuring Compax3, setup and optimization..................................................10

C3 MotorManager: configuration of almost any motors...................................................................11

C3 IEC61131-3 - Debugger............................................................................................................11

CoDeSys - IEC61131-3 – development tool .................................................................................11

CamEditor: Cam creation for C3 T40..............................................................................................11

1.3.2.1 C3 ServoManager: configuration, setup and optimization of Compax3

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

Firmware - Download

The Compax3 firmware can only be modified resp. updated with the aid of the C3
ServoManager.

For this you will need a so-called “firmware-package“ (File: .*.fwp).

Setup support

You can set up all Compax3 technology functions easily in the optimization
window.

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Parker EME

1.3.2.2 C3 MotorManager: configuration of almost any motors

New:

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

Changes

! Linear motors with brakes can be configured
! Calculation of the recommended number of poles was corrected
! Calibration of SinCos motors was corrected
! The minimum moment of inertia was reduced from 10kgmm
! Configuration of rotatory motors with analog hall sensors was completed

1.3.2.3 C3 IEC61131-3 - Debugger

2

to 1kgmm

Introduction

2

Forcing of the inputs for T30 and T40 is possible.

1.3.2.4 CoDeSys - IEC61131-3 - development tool

New CoDeSys version 2.3.2.6

1.3.2.5 CamEditor: cam creation for C3 T40

-

1.3.3. Complements / corrections in manual and online help

New structure of the manual:

! All technology functions are described in a help.
! Manuals (PDF files) have a new structure:

! I10 T10 manual
! I11 T11 manual
! I20 T11 manual
! I21 T11 manual
! A single manual for all devices programmable according to IEC

(I11 T30, I20 T30, T21 T30, I11 T40, I20 T40, I21 T40)
The assignment of the respective chapters is indicated.

I11 T11 192-120101 N6 - March 2004 11

Introduction

1.4 Safety Instructions

In this chapter you can read about:

General hazards.............................................................................................................................12

Working safely................................................................................................................................12

Special safety instructions ..............................................................................................................13

1.4.1. General hazards

General Hazards on Non-Compliance with the Safety Instructions

The device described in this manual is designed in accordance with the latest
technology and is safe in operation. Nevertheless, the device can entail certain
hazards if used improperly or for purposes other than those explicitly intended.

Electronic, moving and rotating components can

! constitute a hazard for body and life of the user, and
! cause material damage

Usage in accordance with intended purpose

The device is designed for operation in electric power drive systems (VDE0160).
Motion sequences can be automated with this device. Several motion sequences
can be can combined by interconnecting several of these devices. Mutual
interlocking functions must be incorporated for this purpose.

1.4.2. Safety-conscious working

This device may be operated only by qualified personnel.
Qualified personnel in the sense of these operating instructions consists of:

! Persons who, by virtue to their training, experience and instruction, and their

knowledge of pertinent norms, specifications, accident prevention regulations and
operational relationships, have been authorized by the officer responsible for the
safety of the system to perform the required task and in the process are capable
of recognizing potential hazards and avoiding them (definition of technical
personnel according to VDE105 or IEC364),

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

rescue 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 to
maintenance work.

This manual and the help information must be available close to the device during
the performance of all tasks.

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Parker EME

1.4.3. Special safety instructions

! Check the correct association of the device and its documentation.
! Never detach electrical connections while voltage is applied to them.

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

rotating parts.

! Make sure that the device is operated only when it is in perfect condition.
! Implement and activate the stipulated safety functions and devices.

! Operate the device only with the housing closed.
! Ensure that motors and any linear drives present are mounted securely.
! Check that all live terminals are secured against contact. Fatal voltage levels of to

750V occur.

1.5 Warranty conditions

! The device must not be opened.
! Do not make any modifications to the device, except for those described in the

manual.

! Make connections to the inputs, outputs and interfaces only in the manner

described in the manual.

! When installing the device, make sure the heat dissipater receives sufficient air.
! Attach the devices according to the mounting instructions, using the provided

fixing holes. We cannot provide any guarantee for any other mounting methods.

Introduction

Note on exchange of options

Compax3 options must be exchanged in the factory to ensure hardware and
software compatibility.

I11 T11 192-120101 N6 - March 2004 13

Introduction

r

1.6 Conditions of utilization

1.6.1. Conditions of utilization for CE-conform operation

- Industry and trade -

The EC guidelines for electromagnetic compatibility 89/336/EEC and for electrical
operating devices for utilization within certain voltage limits 73/23/EEC are fulfilled
when 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.

Mains filter:

Motor and resolve

cable:

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

Commercial and residential area (limit values of Class A in accordance with
EN 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 10m

S038, S075, S150 V4: NFI01/02 Only for motor lines longer than 10m

S300 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 power
filter.

Connection length: connection between mains filter and device:

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

Operation of the devices only with Parker motor and resolver cables (their

plugs contain a special full surface area screening).

The following cable lengths are permitted:

Motor cable

< 100 m (the cable should not be rolled up!)
A motor output filter is required for motor cables >20 m.

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

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Parker EME

Introduction

Screening connection of the motor cable

The motor cable should be fully screened and connected to the Compax3 housing.
We offer a special shield connecting terminal as accessory item (see on page

134).

Resolver cable

Motors:

Control:

Grounding:

Cable installation:

Accessories:

Warning:

< 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) to
the cabinet frame, making sure that the contact area is adequate and that the
connection has low resistance and low inductance.

Never mount the filter housing and the device on paint-coated surfaces!

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

transformers etc.).

Make sure to use only the accessories recommended by Parker

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

This is a product in the restricted sales distribution class according to EN

61800-3. In a domestic area this product can cause radio frequency

disturbance, in which case the user may be required to implement

appropriate remedial measures.

I11 T11 192-120101 N6 - March 2004 15

Introduction

1.6.2. Conditions of utilization for UL permission

UL certification

conform to UL:

Certified

! according to UL508C
! E-File_No.: E235 342

The UL certification is documented by a “UL” logo on the
device (type specification plate)

“UL“ logo

Conditions of utilization

! The devices are only to be installed in a degree of contamination 2 environment

(maximum).

! The devices must be appropriately protected (e.g. by a switching cabinet).
! The terminals are suitable for field wiring.
! Tightening torque of the field wiring terminals (green Phoenix plugs)

! C3SxxxV2 0.57-0.79Nm 5 - 7Lb.in
! C3SxxxV4 exept C3S300V4 0.57-0.79Nm 5 - 7Lb.in

! C3S300V4 1.25-1.7Nm 11 - 15Lb.in

! Temperature rating of field installed conductors shall be at least 60°C Use

copper conductors only
Please use the cables described in the accessories chapter ( see on page 105)
they do have a temperature rating of at least 60°C.

! Maximum ambient temperature: 45°C.
! Suitable for use on a circuit capable of delivering not more than 500 rms

symmetrical amperes, 400 volts maximum.

ATTENTION
Danger of electric shock.
Discharge time of the bus capacitator is 5 minutes.

! The drive provides internal motor overload protection.

This must be set so that 200% of the nominal motor current are not exceeded.

! Cable cross-sections

! Mains input: corresponding to the recommended fuses (see on page 140)
! Motor cable: ( see on page 121) corresponding to the nominal output

currents (see on page 140)

! Maximum cross-section limited by the terminals mm

! C3SxxxV2 2.5mm

! C3SxxxV4 exept C3S300V4 4.0mm
! C3S300V4 6.0mm

! Circuit protection

2

2

2

2

/ AWG

AWG 12

AWG 10
AWG 7

In addition to the branch circuit protection, the devices have to be protected with
the supplementary protector S 261 L, manufactured by ABB.

! C3S025V2: ABB, nom 400V 10A, 6kA
! C3S063V2: ABB, nom 400V, 16A, 6kA
! C3S038V4: ABB, nominal 400V, 10A, 6kA
! C3S075V4: ABB, nominal 400V, 16A, 6kA
! C3S150V4: ABB, nominal 400V, 20A, 6kA
! C3S300V4: ABB, nominal 400V, 25A, 6kA
! C3S300V4: ABB, nominal 400V, 25A, 6kA

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/

Compax3 I11 T11: Positioning via digital I/Os

2. Compax3 I11 T11: Positioning via
digital I/Os

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

Up to 31 motion profiles (target position, speed, acceleration, retardation, jerk) can
be programmed with the PC software. Positioning is triggered either via the parallel
interface (digital inputs) as single positioning or as positioning sequence. For the
positioning sequence the following motion profile is triggered by each START. The
number of repetitions can be specified for each motion profile.

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

Model / standards

auxiliary material

The structure and size of the device are of considerable importance. Powerful
electronics is an important feature which made it possible to manufacture the
Compax3 so small and compact. All connectors are located on the front of the
Compax3.

Internal mains filters permit connection of motor cables up to a certain length
without requiring additional measures. EMC compatibility is within the limits set by
EN 61800-3, Class A. The Compax3 is CE-conform.

The intuitive user interface familiar from many applications, together with the
oscilloscope function, wizards and online help, simplifies making and modifying
settings via the PC.

The optional Operator control module (BDM01/01 (see on page 130 )) for
Compax3 makes it possible to exchange devices quickly without the need for a PC.

I11 T11 192-120101 N6 - March 2004 17

Compax3 I11 T11: Positioning via digital I/Os

Operating modes

You can select between two operating modes:

! Absolute mode or
! Endless mode

Furthermore, you can activate the functions Manual+ and Manual- via a set-up
mode.

Configuration

Configuration is made on a PC using the Compax3 ServoManager.
Install the program on your PC and connect the PC to the Compax3 X 10 via the
RS232 port.

18 I11 T11 192-120101 N6 - March 2004

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Compax3 device description

3. Compax3 device description

In this chapter you can read about:

Plug and connector assignment Compax3......................................................................................20

Installation and dimensions Compax3.............................................................................................31

I11 T11 192-120101 N6 - March 2004 19

Compax3 device description

Conditions of utilization for UL permission

3.1 Plug and connector assignment Compax3

In this chapter you can read about:

Function of the LEDs on the front panel..........................................................................................21

Power supply plug X1 for 230VAC devices.....................................................................................21

Power supply plug X1 for 400VAC devices.....................................................................................22

Ballast resistor / High voltage supply plug X2 for 230VAC devices .................................................22

Ballast resistor / High voltage supply plug X2 for 400VAC devices .................................................23

Motor / Motor brake (plug X3).........................................................................................................24

Control voltage 24 VDC / enable (plug X4) .....................................................................................25

RS 232 / RS485 interface (plug X10)..............................................................................................26

Analog / Encoder (Plug X11) ..........................................................................................................27

Digital inputs/outputs (plug X12).....................................................................................................28

Resolver / Feedback (plug X13)......................................................................................................29

Connection assignment based on the example of Compax3 S025 V2:

X1 AC Versorgung
AC supply

X2
Ballast / DC LS
Ballast / DC HV

X3
Motor / Bremse
Motor / Brake

X4
24VDC / Freigabe
24 VDC / Enable

X10
RS232 / RS485

X11
Analog/Encoder
Analog/Encoder

X12
Ein-/Ausgänge
Inputs/Outputs

X13
Geber
Feedback

Always switch devices off before wiring them!

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

20 I11 T11 192-120101 N6 - March 2004

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Plug and connector assignment Compax3

Caution!

When the control voltage is missing there is no indication whether or
not high voltage supply is available.

3.1.1. Function of the LEDs on the front panel

State LED red LED green

Voltages missing off off

While booting alternately flashing

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

firmware.

! For F12: Hall signals invalid.

Axis without current excitation off Flashes slowly

Function of the LEDs on the front panel

flashing off

Power supplied to axis; commutation calibration

off Flashes quickly

running

Axis with current excitation off on

Axis in fault status / fault present on off

3.1.2. Power supply plug X1 for 230VAC devices

PIN Description

1L

2N

3PE

Mains connection: Compax3 S0xx V2

Controller type S025 V2 S063 V2

Mains voltage

Rated input current

Maximum fuse rating per device

Single phase 230VAC + 10%

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

6Aeff 16Aeff

10A (automatic circuit
breaker K)

16 A (automatic circuit
breaker K)

Always switch devices off before wiring them!

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

I11 T11 192-120101 N6 - March 2004 21

Compax3 device description

Power supply plug X1 for 400 VAC devices

3.1.3. Power supply plug X1 for 400 VAC devices

PIN Description

1L1

2L2

3L3

4PE

Mains connection Compax3 Sxxx V4

Controller type S038 V4 S075 V4 S150 V4 S300 V4

Mains voltage

Rated input current

Maximum fuse rating per
device

Three-phase 3*400VAC

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

6Aeff 10 Aeff 16Aeff 22Aeff

10A (automatic
circuit breaker
K)

16 A (automatic circuit
breaker K)

25A (automatic
circuit breaker
K)

Always switch devices off before wiring them!

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

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

devices

PIN Description

1 + Ballast resistor

2 - Ballast resistor

3PE

4 + DC high voltage supply

5 - DC high voltage supply

Caution! The connector assignment of X2 is changed!

Please note the screen printing on the front plate of the
device: this is valid

22 I11 T11 192-120101 N6 - March 2004

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Ballast resistor / high voltage supply plug X2 for 400VAC devices

Plug and connector assignment Compax3

Brake operation Compax3 Sxxx V2

Controller type S025 V2 S063 V2

Capacitance / storable energy

Minimum ballast - resistance

Recommended nominal power rating

Pulse power rating for 1s

560µF / 15Ws 1120µF /30Ws
100Ω 56Ω

20 ... 60W 60 ... 180W

1kW 2.5kW

Caution!

The power voltage DC of two Compax3 V2 devices (230V devices) must not
be connected.

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

devices

PIN Description

1 + Ballast resistor

2 - Ballast resistor

3PE

4 + DC high voltage supply

5 - DC high voltage supply

Caution! The connector assignment of X2 is changed!

Please note the screen printing on the front plate of the
device: this is valid

Compax3 Sxxx V4 brake operation

Controller type S038 V4 S075 V4 S150 V4 S300 V4

Capacitance / storable
energy

Minimum ballast ­resistance

Recommended nominal
power rating

Pulse power rating for 1s

235µF / 37Ws 470µF / 75Ws 690µF /

110Ws

100Ω 56Ω 22Ω 15Ω

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

2.5kW 5kW 10 kW 42kW

1100µF /

176Ws

I11 T11 192-120101 N6 - March 2004 23

Compax3 device description

Motor / Motor brake (plug X3)

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

In order to improve the conditions during brake operation, the DC power voltage of
2 devices may be connected.

The capacity as well as the storable energy are increased; furthermore the braking
energy of one device may be utilized by a second device, depending on the
application.

Please connect as follows:

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

Please note the following:

Caution! In case of non-compliance with the following instructions, the
device 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.

3.1.6. Motor / Motor brake (plug X3)

PIN Description

1 U (motor)

2 V (motor)

3 W (motor)

4 PE (motor)

5 BR+ Motor holding brake

6 BR- Motor holding brake

Screening connection of the motor cable

The motor cable should be fully screened and connected to the Compax3 housing.
We offer a special shield connecting terminal as accessory item (see on page

134).

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

Motor holding brake output

Controller type Compax3

Voltage range

Maximum output current (short circuit
proof)

Motor cable (see on page 121)

24 I11 T11 192-120101 N6 - March 2004

21 – 27VDC

1.6 A

Parker EME

3.1.7. Control voltage 24VDC / enable (plug X4)

PIN Description

1 +24 V

2 Gnd24 V

3 Enable_in

4 Enable_out_a

5 Enable_out_b

Control voltage 24 VDC

Controller type Compax3

Voltage range

Current drain of the device

Total current drain

Ripple

Requirement according to safe extra
low voltage (SELV)

21 - 27VDC

0.8 A

0.8 A + Total load of the digital outputs +
current for the motor holding brake

0.5Vpp

yes

Compax3 device description

Power stage enable: X4/3=24 VDC

Tolerance range: 18.0 V – 33.6 V / 720 Ω

The +24V supply can be taken, for example, from Pin 1.

Safe standstill (X4/3=0V)

For implementation of the "Safe standstill" safety feature in accordance with the
“protection against unexpected start-up“ described in EN1037. Please refer to the
respective chapter (in the paper version “Installation Manual Compax3) with the
respective circuitry examples!

The energy supply to the drive is reliably shut off, the motor has no torque.
A relay contact is located between X4/4 and X4/5 (normally closed contact)

Enable_out_a - Enable_out_b Power output

stage is

Contact opened activated

Contact closed deactivated

Series connection of these contacts permits certain determination of whether all
drives are de-energized.

Relay contact data:

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

I11 T11 192-120101 N6 - March 2004 25

Compax3 device description

3.1.8. RS232 / RS485 interface (plug X10)

Interface selectable by contact functions assignment of X10/1:
X10/1=0V RS232
X10/1=5V RS485

RS232

PIN
X10

1 (Enable RS232) 0V
2RxD
3TxD
4DTR
5GND
6DSR
7RTS
8CTS
9+5V

RS232 (Sub D)

RS485 2-wire

PIN
X10

1 Enable RS485 (+5V)
2res.
3TxD_RxD/
4res.
5GND
6res.
7TxD_RxD
8res.
9+5V

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

RS485 4-wire

PIN
X10

1 Enable RS485 (+5V)
2RxD
3TxD/
4res.
5GND
6res.
7TxD
8RxD/
9+5V

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

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3.1.9. Analog / Encoder (plug X11)

PIN X11 Reference

High Density Sub D

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

2 Reserved

3 D/A monitor channel 1 (±10V, 8-bit resolution)

4 D/A monitor channel 0 (±10V, 8-bit resolution)

5 +5V (output for encoder) max. 150mA

Compax3 device description

6

7

8

A/ (Encoder simulation)

A (Encoder simulation)

B (Encoder simulation)

9 Reserved

10 Reserved

11 Reserved

12

13

14

15 GND

B/ (Encoder simulation)

N/ (Encoder simulation)

N (Encoder simulation)

3.1.9.1 Wiring of the analog input

2.2K

Ω

10nF

10K

Ain+

Ain-

X11/9

X11/11

10K

2.2K

Ω
Ω

10nF

Ω

3.1.9.2 Wiring of analog outputs

332Ω

I11 T11 192-120101 N6 - March 2004 27

X11/4
X11/3

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

X11/15

Compax3 device description

3.1.10. Digital inputs/outputs (plug X12)

The assignment of X12 depends on the operating mode "Normal or Commissioning
Mode".

Only 4 motion profiles can be selected in commissioning mode. The inputs
"Manual+" and "Manual-" are available for this.

PIN

X12/

1 O +24VDC output (max. 400mA)

2 O0 No fault

3 O1 Position reached (max. 100 mA)

4 O2 No power output stage current (max. 100mA)

5 O3 Motor stationary with current, with setpoint 0 (max. 100mA)

6I0 No stop

7 I1 Start (edge)

Input/output I/O /X12

High density/Sub D

Normal mode Commissioning mode

8

I2="1": Quit (positive edge) / Energize the motor

The address of the current positioning data record is newly read
in.

I2="0": Motor deenergized with delay

9 I3 Address 0

10 I4 Address 1

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

12 I5 Address 2 Manual+

13 I6 Address 3 Manual-

14 I7 MN-Ini* / Address 4 MN-Ini*

15 O Gnd 24 V

*Machine home proximity switch only when the corresponding mode has been
selected. 15 motion profiles (address 0-3) and machine zero run are then possible.

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

3.1.10.1 Input wiring of digital inputs

SPS/PLC

X12/1

X12/6

X12/15

28 I11 T11 192-120101 N6 - March 2004

22K

F2

Ω

22K

Ω

22K

Ω

10K

100K

Ω

F1

X4/1

Ω

X4/2

24V

0V

Parker EME

The circuit example is valid for all digital inputs!
F1: Delayed action fuse

F2: Quick action electronic fuse; can be reset by switching the 24VDC supply off
and on again.

3.1.10.2 Output wiring of digital outputs

Compax3 device description

24V

0V

F1

X4/1

18.2K

X4/2

F2

X12/1

X12/11

X12/2

Ω

X12/15

The circuit example is valid for all digital outputs!
The outputs are short circuit proof; a short circuit generates an error.

F1: Delayed action fuse
F2: Quick action electronic fuse; can be reset by switching the 24VDC supply off

and on again.

3.1.11. Resolver / Feedback (connector X13)

PIN
X13

Feedback /X13

High Density /Sub D (dependent on the Feedback Module)

Resolver (F10) SinCos (F11) Direct drives (F12)

SPS/

PLC

1 res. res. Sense -

2 res. res. Sense +

3 GND GND Hall1

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

side) max. 200mA load

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

sensors)

6 CLKfbk CLKfbk Hall2

7 SIN- SIN- SIN- / A- (Encoder)

8 SIN+ SIN+ SIN+ / A+ (Encoder)

9 CLKfbk/ CLKfbk/ Hall3

10 Tmot Tmot Tmot

11 COS- COS- COS- / B- (Encoder)

12 COS+ COS+ COS+ / B+ (Encoder)

13 res. DATAfbk N+

14 res. DATAfbk/ N-

15 REFres- GND (Vcc) GND (Vcc)

I11 T11 192-120101 N6 - March 2004 29

Compax3 device description

Note on F12:

+5V (Pin 4) is measured and controlled directly at the end of the line via Sense –
and Sense +.

Maximum length of cable: 100m

Caution! Pin 4 and Pin 5 must under no circumstances be connected!
Resolver cable (see on page 119)
SinCos cable (see on page 120)

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Compax3 device description

3.2 Installation and dimensions Compax3

In this chapter you can read about:

Installation and dimensions Compax3 S0xx V2...............................................................................31

Installation and dimensions Compax3 S038 and S075 V4..............................................................32

Installation and dimensions Compax3 S150 V4..............................................................................33

Installation and dimensions Compax3 S300 V4..............................................................................34

3.2.1. Installation and dimensions of Compax3 S0xx V2

Mounting:

3 socket head screws M5

Mounting spacing:

Device separation 15 mm

I11 T11 192-120101 N6 - March 2004 31

Compax3 device description

3.2.2. Installation and dimensions of Compax3 S038 and S075 V4

Mounting:

3 socket head screws M5

Mounting spacing:

Device separation 15 mm

40

7

9

6

7

2

8
4
2

9
5
2

65

Compax3 S038 V4:

8

0

100

Compax3 S075 V4:

115

2

7,5

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Compax3 device description

3.2.3. Installation and dimensions of Compax3 S150 V4

Mounting:

4 socket head screws M5

Mounting spacing:

Device separation 15 mm

7

8
4

9
5
2

2

80

158

39

9

6

7

2

2

I11 T11 192-120101 N6 - March 2004 33

Compax3 device description

3.2.4. Installation and dimensions of Compax3 S300 V4

Mounting:

4 socket head screws M5

Mounting spacing:

Device separation 15 mm

1
9
3

0
8
3

80

175

0

2

0

1

4

4

6

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

dissipater!

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4. Setting up Compax3

In this chapter you can read about:

Configuration..................................................................................................................................35

Test setup Compax3.......................................................................................................................64

Device states..................................................................................................................................66

Optimization ...................................................................................................................................68

4.1 Configuration

In this chapter you can read about:

Motor selection ...............................................................................................................................37

Optimize motor reference point and switching frequency of the power output stage ......................38

Ballast resistor................................................................................................................................39

General drive..................................................................................................................................40

Define reference system.................................................................................................................40

Defining jerks and ramps ................................................................................................................50

Limit and monitoring settings ..........................................................................................................52

Encoder simulation.........................................................................................................................54

Positioning......................................................................................................................................55

RS485 setting values......................................................................................................................62

Designation of configuration /comments ......................................................................................... 63

Setting up Compax3

Caution!

De-energize the motor before downloading the configuration software.

N.B.!

Incorrect configuration settings entail danger when energizing the
motor. Therefore take special safety precautions to protect the travel
range of the system.

Mechanical limit values!

Observe the limit values of the mechanical components!

Ignoring the limit values can lead to destruction of the mechanical
components.

I11 T11 192-120101 N6 - March 2004 35

Setting up Compax3

Installation and dimensions of Compax3 S300 V4

Configuration sequence:

Installation of the C3

ServoManager

The Compax3 ServoManager can be installed directly from the Compax3 CD.
Click on the appropriate hyperlink or start the installation program

"C3Mgr_Setup_V.... .exe" and follow the instructions.

Minimum requirements

For successful installation, your PC must meet the following minimum
requirements:

! Windows 98, Windows Me, Windows NT 4.0 (Intel) with Service Pack 6, Windows

2000 or Windows XP.

! Administrator authorisation* on the system
! Microsoft Internet Explorer 4.01 (SP2) or higher
! Pentium-PC (300 MHz or faster is recommended)

! 64 MB RAM (128 MB recommended)
! Required HD capacity

! CD-Installation: 350 MB before installation, 200 MB after installation

! Super VGA-Monitor (with a resolution of at least 800 x 600, setting: small fonts)

Connection between

PC and Compax3

Device selection

Configuration

* you do not need administrator authorization for an update version!

Your PC is connected with the Compax3 via an RS232 cable (SSK1 (see on page
135 )) (COM 1/2 interface on the PC based on X10 Compax3).

Start the Compax3 ServoManager and make the setting for the selected interface
in the menu Options: Port (RS232) COM 1 or COM 2.

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

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

Input quantities will be described in the following chapters, in the same order

in which you are queried about them by the configuration wizard.

36 I11 T11 192-120101 N6 - March 2004

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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 deceleration
times. See also brake delay times (see on page 76).

Please note the following equivalence that applies regarding terms to linear

! Rotary motors / linear motors

! Revolutions ≡ Pitch
! Rotation speed ≡ Speed
! Torque ≡ Power
! Moment of inertia ≡ Load

Configuration

Motor selection

motors:

Notes on direct drives (see on page 143 ) (Linear and Torque - Motors)

I11 T11 192-120101 N6 - March 2004 37

Setting up Compax3

Optimize motor reference point and switching frequency of the power output stage

4.1.2. Optimize motor reference point and switching frequency of the

power output stage

Optimization of the

motor reference

point

The motor reference point is defined by the reference current and the reference
(rotational) speed.

Standard settings are:

! Reference current = nominal current

! Reference (rotational) speed = nominal (rotational) speed

These settings are suitable for most cases.

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

! By reducing the reference (rotational) speed, the reference current can be

increased. This results in more torque with a reduced speed.

! For applications where the reference current is only required cyclically with long

enough breaks in between,you may use a reference current higher than I
limit value is however reference current = max. 1,33*I

. The reference (rotational)

0

. The

0

speed must also be reduced.

The possible settings or limits result from the respective motor characteristics.

Caution!

Wrong reference values (too high) can cause the motor to switch off
during operation (because of too high temperature) or even cause
damage to the motor.

Optimizing the

switching frequency

of the power output

stage

The switching frequency of the power output stage is preset to optimize the
operation of most motors.

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

Caution!

By increasing the power output stage switching frequency, the nominal
current and the peak current are reduced.
This must already be observed in the planning stage of the plant!

The preset power output stage switching frequency depends on the performance
variant of the Compax3 device.

The respective Compax3 devices can be set as follows:

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

38 I11 T11 192-120101 N6 - March 2004

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Configuration

Ballast resistor

Compax3 S0xx V2 at 230VAV

Power output

S025 V2 S063 V2
stage switching
frequency

8kHz

pre-set

16kHz

I

nominal

I

(<5s)

peak

I

nominal

I

(<2,5s) 5.5A

peak

2.5A

5.5A

2.5A

Compax3 S0xx V4 at 3*400VAC

Power output
stage switching
frequency

4kHz

8kHz

16kHz

I

nominal

I

(<5s) - -

peak

I

nominal

I

(<2,5s) 9.0A

peak

I

nominal

I

(<2,5s) 5.0A

peak

S038 V4 S075 V4 S150 V4 S300 V4

--

3.8A

2.5A

Compax3 S0xx V4 at 3*480VAC

eff

eff

eff

eff

eff

eff

eff

eff

6.3A

12.6A

5.5A

12.6A

7.5A

15.0A

3.7A

10.0A

eff

eff

eff

eff

15A

eff

30A

eff

eff

eff

eff

eff

10.0A

20.0A

5.0A

10.0A

eff

eff

eff

eff

30A

60A

26A

52A

14A

28A

eff

eff

eff

eff

eff

eff

Power output
stage switching
frequency

4kHz

pre-set

8kHz

16kHz

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

4.1.3. Ballast resistor

If the regenerative brake output exceeds the amount of energy that can be
stored by the servo-controller (see on page 143), an error will be generated. To

ensure safe operation, it is then necessary to either

! reduce the accelerations resp. the decelerations,
! or an external ballast resistor (see on page 127) is required.

Please select the connected ballast resistor or enter the characteristic values of
your ballast resistor directly.

S038 V4 S075 V4 S150 V4 S300 V4

I

nominal

I

(<5s) - -

peak

I

nominal

I

(<2,5s)

peak

I

nominal

I

(<2,5s) 4.0A

peak

--

3.8A

eff

7.5A

eff

2.0A

eff

eff

6.5A

15.0A

2.7A

8.0A

13.9A

eff

30A

eff

eff

eff

eff

eff

8.0A

16.0A

3.5A

7.0A

eff

eff

eff

eff

30A

60A

21.5A

43A

10A

20A

eff

eff

eff

eff

eff

eff

Please note that with resistance values greater than specified, the power

output from the servo drive can no longer be dissipated in the ballast

resistor.

I11 T11 192-120101 N6 - March 2004 39

Setting up Compax3

General drive

4.1.4. General drive

External moment of inertia / load

The external moment of inertia is required for adjusting the servo controller. The
more accurately the moment of inertia of the system is known, the better is the
stability 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 best
possible behavior under varying load.

Minimum moment of inertia / minimum load

Maximum moment of inertia / maximum load

Enter minimum = maximum moment of inertia when the load does not vary.

4.1.5. Defining the reference system

The reference system for positioning is defined by:

! a unit,

! the travel distance per motor revolution,
! a machine zero point with true zero,
! positive and negative end limits.

40 I11 T11 192-120101 N6 - March 2004

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r

r

4.1.5.1 Measure reference

In this chapter you can read about:

You can select from among the following for the unit:

Unit

! mm,

! increments or
! angle degree.

The unit of measure is always [mm] for linear motors.

Configuration

Defining the reference system

Travel distance pe

motor revolution /

pitch

Input as numerato

and denominator

Example 1:

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 (numerator
divided by denominator). This is useful in the case of endless operation mode or in
reset mode if the value cannot be specified as a rational number. This makes it
possible to avoid long-term drifts.

Rotary table control

144°
7

M

70

4

Example 2:

Unit: degrees
gear transmission ratio 70:4 => 4 load revolutions = 70 motor revolutions
Travel distance per motor revolution = 4/70 * 360° = 20.571 428 5 ...° (number

cannot be represented exactly)
Instead of this number, you have the option of entering it exactly as a numerator

and denominator:
Travel distance per motor revolution = 144/7

This will not result in any drift in endless operation mode or in reset mode, even
with relatively long motion in one direction.

Conveyor belt

74

M

7

4

I11 T11 192-120101 N6 - March 2004 41

10mm

Setting up Compax3

Defining the reference system

Unit: mm
gear transmission ratio 7:4 => 4 load revolutions = 7 motor revolutions

Number of teeth for pinion: 12
Tooth spacing: 10 mm
Travel path per motor revolution = 4/7 * 12 * 10mm = 68.571 428 5 ... mm (this

number cannot be expressed exactly)
Instead of this number, you have the option of entering it exactly as a numerator

and denominator:
Travel distance per motor revolution = 480/7 mm
For "travel distance per motor revolution" that can be represented exactly, enter 1

as the denominator.

Travel distance per motor revolution / pitch

Counter

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

on the unit selected

Reset mode

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

Unit Division Standard value

Increments* 10 ... 1 000 000 1024

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

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

Denominator

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

Integer value

* The ”Increments” unit applies only to position values; speed, acceleration and jerk
are specified in this case in revolutions/s, revolutions/s
pitch/s, pitch/s

2

, pitch/s3).

2

and revolutions/s3 (or

Rotation direction reversal

Unit: - Range: no / yes Standard value: no

Reverse direction inverts the sense of rotation, i.e. the direction of movement of the motor
is reversed in the case of equal setpoint.

For applications in which the positioning range is repeated, reset mode is made
available. Examples include rotary table applications, conveyor belt, etc. .

After the reset path (which can be specified exactly as numerator and

denominator (see on page 41)) the position values in the Compax3 are reset to 0.

Example:

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

74

M

7

4

10mm

42 I11 T11 192-120101 N6 - March 2004

300 mm

Parker EME

Note:

Configuration

Defining the reference system

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

Reset mode is not possible for linear motors.

Please do use the reset function only in normal mode!
It is not appropriate to use the reset function in continuous mode.

Reset travel distance

Counter

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

on the unit selected

Unit Division Standard value

Increments 10 ... 1 000 000 0

mm 1 ... 2000 0

Degrees 1 ... 720 0

Denominator

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

Integer value

Turn off reset mode

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

I11 T11 192-120101 N6 - March 2004 43

Setting up Compax3

Defining the reference system

4.1.5.2 Machine reference modes (MN-Ms)

Position reference

point

Essentially, you can select between operation with or without machine reference.
However, when operating without machine zero, bear in mind that only operation in
continuous mode is possible.

31 position data records are possible for operation without machine zero, whereas
only 15 position data records are possible for operation with machine zero,
because the machine zero proximity switch is read in via the input I7 (X12/14) to
which address 4 was assigned previously.

The zero point for positionings in absolute mode is defined via the machine zero
and the machine zero offset.

Machine reference run

A machine reference run is required each time after turning on the system for
operation with machine reference. A START after "Power on" automatically
activates a machine zero run irrespective of the selected data record.

In a machine zero run the drive moves to the position value 0 immediately after
finding the machine zero proximity switch. The position value 0 is defined via the
machine zero offset.

Using a SinCos Multiturn absolute value encoder (Motor - Option A7) as feedback
system, the absolute position can read in when switching on the Compax3. A
machine zero run after switch-on is then not necessary.

In this case the reference only needs to be established once

! at initial commissioning time
! after an exchange of motor / feedback system
! after a mechanical modification and
! after replacing the device (Compax3)

by carrying out a machine zero run.
The machine zero run mode 35 "MN at the current position(see on page 47 )" is

appropriate for this, because it is therewith possible to operate without proximity
switch, but any other machine zero run mode is possible too – if the hardware
prerequisites are fulfilled.

When you have once re-established the reference, reset the machine zero run
mode to "without machine zero run".

Triggering of a machine zero run

A machine zero run is triggered with address 0 and START.
Note: When operating with machine zero, the address 0 is reserved for the

machine zero run.

44 I11 T11 192-120101 N6 - March 2004

Parker EME

Configuration

Defining the reference system

Machine reference modes (MN-M)

MN-M 3.4: MN-Initiator = 1 auf der positiven Seite

The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (left of the MN initiator) and one range with activated MN initiator (right
of the MN initiator).

When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the positive travel direction.

With motor zero

point, without

direction reversal

switches

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

MN-M 4: The first motor reference point is used as MN with MN initiator = „1“.

3

3

4

4

1

2

1: motor reference point
2: Initiator signal level of the home switch

I11 T11 192-120101 N6 - March 2004 45

Setting up Compax3

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

The MN initiator can be positioned at any location within the travel range. The
travel range is then divided into 2 contiguous ranges: one range with deactivated
MN initiator (positive part of the travel range) and one range with activated MN
initiator (negative part of the travel range).

When the MN initiator is inactive (signal = 0) the search for the machine reference
is in the negative travel direction.

With motor zero

point, without

direction reversal

switches

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

5

5

6

6

1

2

1: motor reference point
2: Initiator signal level of the home switch

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

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

Without machine

reference initiator

MN-M 33: For an MN trip, the next motor reference point in the negative travel

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

direction starting from the current position is used as the MN.

33

34

1

1: motor reference point

46 I11 T11 192-120101 N6 - March 2004

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Setting up Compax3

MN-M 35: MN at the current position

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

35

MN-M 128/129: Rising of current while moving to block

Without an MN initiator, an end of travel region (block) is used as an MN.

The increase in the current is evaluated for this purpose (adjustable up to 100% of
the 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 MN
run.

Please observe:

The machine zero offset must be set so that the zero point (reference point) for
positioning 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

Caution!

Wrong settings can cause hazard for man and machine.

It is therefore essential respect the following:

! Choose a low machine zero speed.
! Set the machine zero acceleration to a high value, so that the drive changes

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

! The mechanical limitation as well as the load drain must be set so that they can

absorb the resulting kinetic energy.

I11 T11 192-120101 N6 - March 2004 47

Setting up Compax3

4.1.5.3 Adjusting the machine zero proximity switch

This is helpful in some cases with machine reference modes that work with the MN
initiator and motor reference point.

If the motor reference point happens to coincide with the position of the MN
initiator, there is a possibility that small movements in the will cause the machine
reference point to shift by one motor revolution (to the next motor reference point).

1

2

-

+

1: motor reference point
2: Initiator level of the home switch

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

Initiator adjustment

Unit:
Motor angle in degrees

Move the machine reference initiator using software

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

Machine reference offset

1

1: machine reference offset.

The machine reference offset is used to determine the actual reference point for
positioning.

The rule for this is: Referene point = machine reference + machine reference offset
Note: if the machine reference initiator is located at the positive end of the travel

range, the machine reference offset must = 0 or be negative.

A change in the machine reference offset does not take effect until the next

0

machine reference run.

48 I11 T11 192-120101 N6 - March 2004

Parker EME

4.1.5.4 Software end limits

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

0

1 2

1: negative end limit
2: positive end limit

End limit in absolute operating mode

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

12

Setting up Compax3

Behavior after the

system is turned on

Note:

V

1: negative end limit
2: positive end limit

The reference is the position reference point that was defined with the machine
reference and the machine reference offset.

End limit in endless operating mode

Each single positioning is limited to the end limits; the drive continues only by the
value of the end limits, even if a greater target distance was specified.

The reference is the respective current position.

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

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

I11 T11 192-120101 N6 - March 2004 49

Setting up Compax3

4.1.6. Defining jerk / ramps

In this chapter you can read about:

Ramp upon error/deenergize ..........................................................................................................51

Jerk

You can use the jerk limit (= maximum change in acceleration) to limit the
maximum change in acceleration.

A motion process generally starts from a standstill, accelerates constantly at the
specified 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
been set in such a manner as to come to a complete stop at the target position. To
reach the set acceleration and deceleration, the drive must change the acceleration
(from 0 to the set value or from the set value to 0). This change in speed is limited
by the maximum jerk.

1

2

3

4

t

t

t

t

1: Position
2: Speed
3: Acceleration
4: Jerk

Changes in acceleration (jerks) often have negative effects on the mechanical
systems involved. There is a danger that mechanical resonance points will be
excited or that impacts will be caused by existing mechanical slack points.

You can reduce these problems to a minimum by specifying the maximum jerk.

Jerk

Unit: unit/s

50 I11 T11 192-120101 N6 - March 2004

3

Range: 0 ... 10 000 000 Standard value:

1 000 000

Parker EME

STOP delay

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

NO STOP: I0: no STOP
The STOP delay applies only when STOP with delay (see also page 58) has

been configured.
For STOP without discontinuation (see also page 58) the ramp of the current

position data record is used.

4.1.6.1 Ramp upon error / deenergize

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

Setting up Compax3

3 3

QUIT

3: Deceleration on “de-energize” and on “error”.
QUIT: I2: Quit (with positive edge)
START: I1: START (with positive edge)

The same delay is used for "Deenergizing" and when an error appears (errors
which do not deenergize immediately).

Manual acceleration/deceleration and speed control

You can set the motion profile for moving with Manual+ or Manual- here.

-

-

--

1: Manual acceleration / delay
2: Manual speed

I11 T11 192-120101 N6 - March 2004 51

Setting up Compax3

+: I5: HAND+ (only in commissioning mode)

-: I6: HAND- (only in commissioning mode)

Manual travel control is possible only in setup mode - this is activated in the
optimizing window with the Compax3 ServoManager.

4.1.7. Limit and monitoring settings

In this chapter you can read about:

Current limit....................................................................................................................................52

Positioning window – position reached ...........................................................................................52

Tracking error limit..........................................................................................................................53

4.1.7.1 Current Limit

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

4.1.7.2 Positioning window - Position reached

Position reached indicates that the target position is located within the position
window.

In addition to the position window, a position window time is supported. If the actual
position goes inside the position window, the position window time is started. If the
actual position is still inside the position window after the position window time,
"Position reached" is set.

If the actual position leaves the position window within the position window time,
the position window time is started again.

When the actual position leaves the position window with Position reached = “1",
Position is immediately reset to "0".

Position monitoring is active even if the position leaves the position window
because of measures taken externally.

POS

1: position window
2: position window time

POS: O1: Position reached

52 I11 T11 192-120101 N6 - March 2004

Parker EME

f

Setting up Compax3

No position monitoring takes place in status START (E1=24VDC).

Therefore reset the start signal to 0 after the START flank.

Behaviour o

"Position reached"

after Power On

Handshake with PLC

for small

positionings

O1 is set to "0" after Power On
O1 goes to "1" after the machine zero run (after position 0 has been reached)

START: I1: START Signal

POS: O1: Position reached

Sequence:

PLC Reaction Compax3

START of a positioning Position reached goes to "0"

From position reached = "0" follows:

START = 0

Positioning finished " Position reached =
"1"

From position reached = "1" follows:

Next START can take place

4.1.7.3 Tracking error limit

The tracking error is a dynamic error.

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

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

Disadvantages

caused by a tracking

error

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

Position reached goes to "0"

I11 T11 192-120101 N6 - March 2004 53

Setting up Compax3

Error message

Minimizing the

tracking error

If the tracking error exceeds the specified tracking error limit, the “tracking error
time“ then expires. If the tracking error is even greater than the tracking error limit
at 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 is
then started.

The tracking error can be minimised with the help of the extended (advanced)
controller parameters, in particular with the forward feed parameters (see on page

71) (forward feed of rotation speed, acceleration, current and jerk).

1: tracking error limit

2: tracking error time
NO ERROR: O0: no error
QUIT: I2: Quit (with positive edge)

4.1.8. Encoder simulation

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

Resolution of the encoder simulation

Unit: Increments per
rotation / pitch

Adjustable in powers of two (2n):

1, 2, 4, 8, 16, 32, 64, 128, 256, 512, 1024, 2048, 4096, 8192, 16384

Limit frequency: 620 kHz i. e.

Increments per revolution Max. speed

1024 36000 rpms

4096 9000 rpms

16384 2250 rpms

Range: 4 - 16384 Standard value: 1024

54 I11 T11 192-120101 N6 - March 2004

Parker EME

4.1.9. Positioning

Setting up Compax3

Function

Positioning takes place with 31 positioning data records (15 when operating with
machine zero) which are defined via address, mode (POSA,POSR), target position,
speed, acceleration, deceleration (delay) and number of repetitions.

The desired positioning data record is selected via the inputs (I3-I7) and started via
a START edge.

The positioning data record address is thereby read in with the START edge.

Condition START

Minimum pulse duration: 1ms

edge

Reaction time

Maximum 1.4ms (0.4 - 1.4ms)

4.1.9.1 Operating modes

Operating mode: absolute mode or endless mode

Absolute mode

A fixed measuring system is associated with the travel range: A fixed defined zero
point exists. All positions are referred to this zero point.

0

-100-200-300

+100 +200 +300

I11 T11 192-120101 N6 - March 2004 55

Setting up Compax3

r

Endless mode

Note

Sequential

positioning

The actual position is set to 0 before each positioning. Thus the travel range has no
fixed zero point. All positionings are relative - in relation to the actual position.

START START START

000

Since the positioning mode (relative or absolute) can be selected additionally for
each positioning data record, mixed operation is possible too.

Execution of the positioning data records: sequential / single
positioning

With a START edge (X12/7=24VDC) after

! Machine zero run or after the
! "Deenergized state"

the selected positioning data record is executed.

! On the next STARTedge the next positioning data record is executed

(irrespective of the set positioning data record address).
If the positioning data record address 0 is still present, the machine zero run is
executed.

! With a repetition number >1 this can be the same positioning data record.
! Subsequent STARTs execute the current positioning data record the number of

times corresponding to the repetition number.

! The next start thereafter switches to the next positioning data record.
! After the last positioning data record, the positioning data record 1 is executed

next.

! Number of repetitions (see on page 56 ) = 0 reads in the address new.

Behaviour afte

STOP

Example 1:

After a STOP with termination (see on page 58 ), the positioning address is read
in new.

After STOP without termination (see also on page 58 ) the sequential positioning
is interrupted; on the next START the sequential positioning is resumed with the
interrupted positioning data record.

0/1

12
x
x
x
x

x
x
x
x

--5--

1

2

3

4

5

1
1
1
2
1

E/I4
E/I5
E/I6

START

1

0/1 0/1

x
x
x
x

--4--

1E/I3
11
00
00

12345

home --3-- --4--

Column 1: Positioning data record address
Column 2: Repetition counter

Action Behaviour

START 1 after Power On Machine zero run (home)

Positioning data record address irrelevant

START 2 Positioning data record address is read in

Positioning data record 3 is executed

56 I11 T11 192-120101 N6 - March 2004

Parker EME

Setting up Compax3

START 3 Positioning data record address irrelevant

Positioning data record 4 is executed

START 4 Positioning data record address irrelevant

Positioning data record 4 is executed, because repetition
counter = 2

START 5 Positioning data record address irrelevant

Positioning data record 5 is executed

End of a sequential

positioning

procedure

Example 2:

A sequential position procedure can be terminated with a repetition number = 0.
For this purpose the repetition number 0 must stand for the data record following
after the last valid positioning data record.

When Compax3 encounters a data record with the repetition number 0, a new
positioning data record address is read in and the corresponding positioning data
record is executed immediately.

12

1

1

1

2

1

E/I3

E/I4

E/I5

E/I6

START

0/1 0/1

1

11

00

00

12345

home --3-- --4--

x

1

x

x

x

--4--

0/1

x

x

x

x

x

x

x

x

--5--

0/1

1

1

1

0

6

--7--

1

0/1

2

x

3

x

4

x

5

x

60

7

72

81

--7--

Column 1: Positioning data record address
Column 2: Repetition counter

START 1 to START 5 see Example 1

Action Behaviour

START 6

START 7 Positioning data record address irrelevant

Repetition counter = 0

⇒

Positioning data record address is read in
Positioning data record 7 is executed

Positioning data record 7 is executed, because repetition
counter = 2

Single positioning

On a START edge (X12/7=24VDC), the positioning data record addressed via the
inputs I3 to I6 (I7) is always executed.

Therefore the desired positioning data record must be addressed before each
START.

1E/I3

11

E/I4

E/I5

E/I6

START

Action Behaviour

START 1 Positioning data record address is read in

010

011

001

123

--1-- --7-- --13--

Positioning data record 1 is executed

I11 T11 192-120101 N6 - March 2004 57

Setting up Compax3

STOP with

termination

START 2 Positioning data record address is read in

Positioning data record 7 is executed

START 3 Positioning data record address is read in

Positioning data record 13 is executed

Defining the STOP function

The function of the input I0 "no STOP" (I0=0V = STOP) can be set.

STOP and terminate the current positioning

A new START does not continue the positioning at the interruption point.

Single positioning

Sequential

positioning

STOP without

termination

The positioning address is read in new and the positioning data record is executed
completely.

Single positioning example: The positioning data record address “Pos x+1” was
created before the new START.

NO STOP: I0: no STOP
START: I1: START-Signal (with edge)

! On STOP with termination, the sequentional positioning procedure is

discontinued.

! The positioning data record address is read in new.

STOP and interruption of the current positioning procedure.

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Overview:

Setting up Compax3

NO STOP: I0: no STOP
START: I1: START-Signal (with edge)

A new START resumes the positioning process at the position where it was
interrupted.

Relationship between the chosen STOP function and the positioning mode

A START flank after previous STOP produces:

- on condition that no STOP (E0=24V) is still present -

Single positioning Sequential positioning

STOP and termination of
the current positioning
procedure

(STOP with termination)

STOP and interruption of
the current positioning
procedure (STOP
without termination)

The positioning data record
address is read in and the
positioning data record is
executed.

Note: In continuous mode a

complete positioning, starting
from the current position, takes
place to the target position
contained in the data record.

The positioning procedure which was active before the STOP
is continued irrespective of the set positioning data record
address.

The positioning data
record address is read in
and a new sequential
positioning procedure is
started.

4.1.9.2 Define positioning data records

Positioning data

record:

1

2

3

4

5

t

t

t

t

I11 T11 192-120101 N6 - March 2004 59

Setting up Compax3

1: Target position

2: Travel speed

3. Maximum acceleration
4: Maximum deceleration
5: Maximum jerk (see on page 5) (the same for all positioning data records)

Input window:

A positioning data record has the following contents:

Address Mode Target

position

Posi-

tion

60 I11 T11 192-120101 N6 - March 2004

Accele-

ration

Decele-

ration
(delay)

Repetition

number

Parker EME

r

Setting up Compax3

Address:

Mode

Target position

Speed

Acceleration

Address of the positioning data record. The desired positioning data record is
selected via the inputs I3 to I6 (to I7 without machine zero proximity switch). The
address is given by the binary value of the inputs, whereby

0

= 1

I3 ≡ 2

1

I4 ≡ 2

= 2

2

I5 ≡ 2

= 4

3

I6 ≡ 2

= 8

4

I7 ≡ 2

= 16

POSA: absolute positioning. Inappropriate in continuous mode and in operation
without machine zero.

POSR: Relative positioning. You can carry out relative positionings in absolute
mode, too.

Target position in the chosen unit

Speed in length unit/s

Acceleration in Unit/s

2

Deceleration

(retardation)

Repetition numbe

Deceleration in Unit/s

2

Only relevant for sequential positioning (see also on page 56 ).

Specifies how many times execution of the particular positioning data record is
repeated.

Special feature

Repetition number = 0: End of a sequential positioning
The data record with repetition number 0 is invalid

The positioning data record address is read in new and
the new positioning data record is executed.

I11 T11 192-120101 N6 - March 2004 61

Setting up Compax3

4.1.9.3 Dynamic positioning

You can change the positioning data record during a positioning procedure.
Thereby the following conditions apply:

! Acceleration and deceleration remain constant irrespective of the values set in

the new positioning data record.

! The jerk, too, remains constant.
! The speed of the new positioning data record becomes active.
! The drive runs to the target position specified in the new positioning data record.

! The new positioning data record address must not be 0.

Example:

Pos 1

Pos 5

V 1

V 5

START

E/I3 - E/I6 -1- -5-

4.1.10. RS485 setting values

t

t

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

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

You can test this with the "PopDesigner" software.

"Master=General" makes all Compax3 settings possible.

Multicast address

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

Device address

Baud rate

Protocol

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.

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4.1.11. Configuration name / comments

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

Setting up Compax3

I11 T11 192-120101 N6 - March 2004 63

Setting up Compax3

r

4.2 Test commissioning Compax3

Required wiring:

X1: Mains supply

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

X10 to PC
RS232 / RS485

X3
Motor / Brake

X12 (see below)
Inputs/Outputs

X4: 24VDC

/3: enable with
24VDC

X13 to the moto
position transmitter

Operational enable of the servo controller:

Plug/Pin Assignment

X12/6 (no STOP) = 24V DC (jumper to X12/1)

X12/8 (Energize the motor) = 24V DC (jumper to X12/1)

X4/3 (Enable power output stage) = 24V DC (jumper to X4/1)

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Setting up Compax3

After you have configured the Compax3 according to your application with the help
of the Compax3 ServoManager, you can now carry out the first motor movements.

Travel via Manual+

and Manual-

Positioning

In the optimising window of the Compax3 ServoManager you can run the motor in
positive or negative movement direction.

In order to be able to position according to the specified positioning data records, it
is usually necessary to carry out a machine zero run after switching on (if machine
zero has been configured). This takes place automatically with the first START
after Power On. For this purpose the machine zero proximity switch must be
connected to X12/14.

When sequential positioning mode has been chosen the first positioning takes
place in response to a START signal (X12/7=24VDC).

In single positioning mode the desired positioning data record is selected via the
digital inputs I3-I7(I6) (plug X12 (see on page 28 )) and activated via a START
signal (X12/7=24VDC)

I11 T11 192-120101 N6 - March 2004 65

Setting up Compax3

4.3 Device status

Positioning to selected positioning data record

I1

Motor energized-

/I2

Deceleration

ramp upon „Stop/

de-energize"

De-energize

motor with delay

/I0

/I2

/I2

O1

/I0

Motor energized /

Positioning data records

/I2

Motor de-energized

I1 & I0

disabled

I2

Energize motor

with delay

I2

I2

Quit

Error

with reaction 2

Deceleration

ramp upon

error

Key:

! I0, I1, I2: Input = 24VDC
! /I0, /I1: Input = 0V
! $I2: positive edge on I2
! O1: position reached

The device can be brought into various states via the inputs:

! I0: no Stop

! I1: Start

66 I11 T11 192-120101 N6 - March 2004

De-energize

motor with

delay

Error

with reaction 5

Error

Parker EME

Setting up Compax3

! I2: energize motor
! $%

%2: Quit

%%

The device is brought into various device states.
The transitions are implemented via various ramps and the defined switching of the

motor brake (see on page 76 ).

An error can occur in any device state. The reactions to the individual error causes
are described in the list of errors (see on page 92).

I11 T11 192-120101 N6 - March 2004 67

Setting up Compax3

4.4 Optimization

In this chapter you can read about:

Controller dynamic..........................................................................................................................68

Setup mode....................................................................................................................................75

Engaging and disengaging the motor holding brake .......................................................................76

The controller optimization of the Compax3 is carried out in 2 steps:

! Via the standard settings (stiffness, damping, rotation speed controller and

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

! With advanced settings for users familiar with control loops.

4.4.1. Control dynamics

In this chapter you can read about:

Stiffness of speed controller............................................................................................................69

Damping of speed controller...........................................................................................................70

Filter actual speed value.................................................................................................................70

Advanced controller parameters .....................................................................................................71

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4.4.1.1 Stiffness of the speed controller

The stiffness is proportional to the control loop speed.

Nominal value: 100%

On increasing stiffness:

Control action becomes faster. The control loop oscillates above a critical threshold
value. Set the stiffness with an adequate safety margin with respect to the
oscillation threshold value.

On decreasing stiffness:

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

3

>100%

1

3

3

Setting up Compax3

=100%

<100%

2

t

1: target value
2: actual value
3: stiffness

2100.2: Stiffness of the speed controller

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

The stiffness is proportional to the control loop speed.

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Setting up Compax3

4.4.1.2 Damping of the speed controller

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

Nominal value: 100%

On increasing the damping:

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

On decreasing the damping:

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

1: target value
2: actual value

3: damping

2100.3: Damping of the speed controller

Unit: % Range: 0 ... 500 Standard value: 100%

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

4.4.1.3 Filter for speed value

Can be used to improve (filter) the rotation speed signal. The greater the value, the
stronger becomes the filter effect. However, the rotation speed delay increases
with this value, so that the maximum possible control loop dynamic range becomes
smaller 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.

t

2100.5: Filter actual speed value

Unit: % Range: 0 ... 550 Standard value: 100%

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

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4.4.1.4 Advanced control parameters

Controller structure:

Setting up Compax3

Switching of the

user level

The status values are divided into 2 groups (unser levels):

standard: here you can find all important status values
advanced: advanced status values, require a better knowledge

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

2100.8: Current controller bandwidth

Unit: % Range: 10 ... 200 Standard value: 50%

2100.9: Damping current controller

Unit: % Range: 0 ... 500 Standard value: 100%

I11 T11 192-120101 N6 - March 2004 71

Setting up Compax3

2100.7: D component speed controller

Unit: % Range: 0 ... 4 000 000 Standard value: 0

2100.6: Actual acceleration value filter

Unit: % Range: 0 ... 550 Standard value: 100

2100.4: Moment of inertia

Unit: % Range: 10 ... 500 Standard value: 100%

Forward control measures

Advantages:

Principle:

Forward control of rotation speed, acceleration and current

! Minimizes tracking error

! Improves the transient response
! Gives greater dynamic range with lower maximum current

A positioning is calculated in the target value plate and specified as the target value
for the position controller. This provides the target value plate with the preliminary
information on changes in speed, acceleration and current required for positioning.
Switching this information to the controller then makes it possible to reduce
tracking errors to a minimum. The transient response of the controller is also
improved and the drive dynamics are increased.

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

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Setting up Compax3

Positioning without forward control:

1

2

t

4

3

t

2010.1: Forward speed control

Unit: % Range: 0 ... 500 Standard value: 100%

Effect of the rotation speed forward control

1

2

t

3

4

t

1: target speed value
2: actual speed value
3: motor current
4: tracking error

2010.2: Acceleration forward control

Unit: % Range: 0 ... 500 Standard value: 100%

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Setting up Compax3

Additional effect of forward acceleration control

2

1

t

3

4

t

1: target speed value
2: actual speed value
3: motor current
4: tracking error

2010.4: Current forwards control

Unit: % Range: 0 ... 500 Standard value: 0%

Additional effect of forward current control

2

1

t

3

4

t

1: target speed value
2: actual speed value
3: motor current
4: tracking error

2010.5: Jerk forward control

Unit: % Range: 0 ... 500 Standard value: 0%

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4.4.2. Commissioning mode

The functions Manual+/- are made available via the setup mode. Setup mode can
be activated in the ServoManager under the menu item "Optimization". The
following applies in setup mode:

Function Input PIN

Manual+ I5 X12/12

Manual- I6 X12/13

Thus only 3 positioning data records, which can be accessed via the address lines
0 and 1, are available in setup mode.

Setting up Compax3

I11 T11 192-120101 N6 - March 2004 75

Setting up Compax3

4.4.3. Turning the motor holding brake on and off

COMPAX controls the stationary state holding brake of the motor and the power
output 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) the
drive can be switched on and off in a manner such that no load movement takes
place. The drive thereby remains energized during the holding brake response
time. This is adjustable.

The power output stage current is de-energized by:

! Error or
! I2=X12/8="0V"

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 "brake
closing delay time".

1

2

3

4

5

t

t

1: Motor energized

2. Motor deenergized
3: Open brake
4: Apply brake
5: brake closing delay time

The power output stage is enabled by:

! Quit (after an error)
! I2=X12/8 = 24V

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

1

2

3

t

4

5

t

1: Motor energized

2. Motor deenergized
3: Open brake

4: Apply brake
5: Delay time for brake release

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RS232 & RS485 – interface record

5. RS232 & RS485 – interface
record

In this chapter you can read about:

ASCII protocol ................................................................................................................................77

Binary protocol ...............................................................................................................................79

You can communicate with Compax3 in order to read or write objects via plug X10
on the front plate either with RS232 or with RS485.

As a rule 2 records are possible:

! ASCII record: simple communication with Compax3
! Binary record: fast and secure communication with Compax3 by the aid of block

securing.

Switching between the ASCII and the binary record via automatic record

Wiring

RS232: SSK1 (see on page 135 )
RS485: as SSK27 (see on page 136) / RS485 is activated by +5V on X10/1.

5.1 ASCII - record

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

[Adr] command CR

Adr

Command

CR

detection.

RS232: no address

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

valid Compax3 command

End sign (carriage return)

Command

Answer strings

A command consists of the representable ASCII characters (0x21 .. 0x7E). Small
letters are converted automatically into capitals and blanks (0x20) are deleted, if
they are not placed between two quotation marks.

Separator between places before and after the decimal is the decimal point (0x2E).

A numeric value can be given in the Hex-format if it is preceded by the “$“ sign.
Values can be requested in the Hex-format if the CR is preceded additionally by
the “$“ sign.

All commands requesting a numeric value from Compax3 are acknowledged with
the respective numeric value in the ASCII format followed by a CR without
preceding command repetition and following statement of unit. The length of these
answer strings differs depending on the value.

I11 T11 192-120101 N6 - March 2004 77

RS232 & RS485 – interface record

Commands requesting an Info-string (e.g. software version), are only
acknowledged with the respective ASCII character sequence followed by a CR,
without preceding command repetition. The length of these anser strings is here
constant.

Commands transferring a value to Compaxe or triggering a function in Compax3
are acknowledged by:

>CR

if the value can be accepted resp. if the function can be executed at that point in
time.

If this is ot the case or if the command syntax was invalid, the command is

is acknowledged with !xxxxCR

The 4 digit error number xxxx is given in the HEX format; you will find the meaning
in the appendix (see on page 4.)

RS485 answer string

Read object

Write object

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

Compax3 commands

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

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

The optional "$" after the subindex stands for "hex-output" which means that an
object value can also be requested in hex;

e.g. "O $0192,2$":

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

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

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

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RS232 & RS485 – interface record

5.2 Binary record

The binary record with block securing is based on 5 different telegrams:

! 2 request telegrams which the control sends to Compax3 and
! 3 response telegrams which Compax3 returns to the control.

Telegram layout

Basic structure:

Start code Address Number of data bytes - 1 Data block securing

SZ O L D0 D1 ... Dn Crc(Hi) Crc(Lo)

The start code defines the frame type and is composed as follows:

Bit 7 6 5 4 3 2 1 0
Frame type Frame identification PLC Gateway Address

RdObj Read object 1 0 1 0 x 1 x x
WrObj Write object 1 1 0 0 x 1 x x

RspAnswer 0000010 1
Ack Positive command acknowledgement 0 0 0 0 0 1 1 0
Nak Negative command acknowledgement 0 0 0 0 0 1 1 1

Bits 7, 6, 5 and 4 of the start code form the telegram identification; Bit 2 is always
“1“.

Bits 3, 1 and 0 have different meanings for the request and response telegrams.

The address is only necessary for RS484.

Request telegrams

Response telegram

-> Compax3

! the address bit (Bit 0 = 1 ) shows if the start code is followed by an address (only

for RS485; for RS232 Bit 0 = 0)

! the gateway bit (Bit 1 = 1) shows if the message is to be passed on.

(Please set Bit 1 = 0, as this function is not yet available)

! the PLC bit (Bit 3 = 0 ) allows access to objects in the PLC format (U16, U32,

IEEE Floating Point). For information into which PLC format the objects are
converted, please refer to the object description.

Compax3 ->

! Bits 0 and 1 are used to identify the response

! Bit 3 is always 0

The maximum number of data bytes in the request telegram is 256, in the response
telegram 253.

The block securing (CRC16) is made via the CCITT table algorith for all characters.
After receiving the start code, the timeout monitoring is activated in order to avoid

that Compax3 waits in vain for further codes (e.g. connection interrupted) The
timeout period between 2 codes received is fixed to 5ms (5 times the code time at
9600Baud)

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RS232 & RS485 – interface record

Write object – WrObj telegram

SZ Adr L D0 D1 D2 D3 ... Dn Crc(Hi) Crc(Lo)

0xCX n Index(Hi) Index(Lo) Subindex value 0x.. 0x..

Describing an object by a value.

Positive acknowledgement – Ack-telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)

0x06 1 0 0 0x.. 0x..

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

Negative acknowledgement – Nak - telegram

SZ L D0 D1 Crc(Hi) Crc(Lo)

0x07 1 F-No.(Hi) F-No.(Lo) 0x.. 0x..

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

Read object – RdObj - telegram

SZ Adr L D0 D1 D2 D3 D4 D5 ... Dn Crc(Hi) Crc(Lo)

0xAX n Index1(Hi) Index1(Lo) Subindex1 Index2(Hi) Index2(Lo)Subindex2 ... ... 0x.. 0x..

Reading one or several objects

Answer – Rsp - telegram

SZ L D0 ... Dx-1 Dx ... Dy-1 Dy-D.. D ... D.. D ... Dn Crc(Hi) Crc(Lo)

0x05 n Value1 Value 2 Value 3 Value .. Value n 0x.. 0x..

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

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RS232 & RS485 – interface record

Block securing:

Function call:

Function

Checksum calculation for the CCITT table algorithm

The block securing for all codes is performed via the following function and the
corresponding table:

The “CRC16“ variable is set to “0“ before sending a telegram.

CRC16 = UpdateCRC16(CRC16, Character);

This function is called up for each Byte (Character) of the telegram.
The result forms the last two bytes of the telegram
Compax3 checks the CRC value on receipt and reports CRC error in the case of a

deviation.

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

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

unsigned int crc16;

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

return crc16;

}

Access to Compax3 objects

Via RS232 and RS485 you can access the status objects (see on page 82)

I11 T11 192-120101 N6 - March 2004 81

Status values

r

6. Status values

In this chapter you can read about:

Device............................................................................................................................................83

Motor..............................................................................................................................................83

Positions.........................................................................................................................................84

Speeds ...........................................................................................................................................85

Currents .........................................................................................................................................87

Inputs .............................................................................................................................................88

CAM...............................................................................................................................................89

IEC61131-3 ....................................................................................................................................90

Feedback system ...........................................................................................................................91

A list of the status values supports you in optimization and commissioning.
Open the optimization function in the C3 ServoManager (double-click on

optimization in the tree)
You will find the available status values in the lower right part of the window under

selection (TAB) “Status values“
You can pull them into the oscilloscope (upper part of the left side) or into the

status display (upper part of the right side) by the aid of the mouse (drag and drop).

Switching of the

user level

D/A-Monito

The status values are divided into 2 groups (unser levels):

standard: here you can find all important status values
advanced: advanced status values, require a better knowledge

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

A part of the status values can be output via the D/A monitor channel 0 (X11/4) and
channel 1 (X11/3).

The reference for the output voltage can be entered individually in the reference
unit of the D/A monitor.

Note

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

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6.1 Device

Status values

Status of device utilization

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

%

not possible

Device utilization

User level

D/A monitor: measurement unit of
the reference value

Stated in % of the nominal device current

Status of power output stage temperature

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

C

not possible

Power output stage temperature

User level

D/A monitor: measurement unit of
the reference value

Status of auxiliary voltage

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

V

not possible

Control voltage

User level

D/A monitor: measurement unit of
the reference value

Object 683.2

T10, T11, T30, T40

standard

-

Object 684.1

T10, T11, T30, T40

standard

-

Object 685.1

T10, T11, T30, T40

standard

-

6.2 Motor

Status DC bus voltage

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

V

possible

unfiltered signal

User level

D/A monitor: measurement unit of
the reference value

Status of motor temperature

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

C

not possible

Motor temperature

User level

D/A monitor: measurement unit of
the reference value

measured via the sensor in the motor, correct display only with KTY84

Status of short-term motor utilization

Available in technology function:

Object 685.2

T10, T11, T30, T40

standard

V

Object 684.2

T10, T11, T30, T40

standard

-

Object 683.4

T10, T11, T30, T40

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Status values

Unit of
measurement
D/A monitor output

Remark:

%

not possible

Motor pulse utilization,

User level

D/A monitor: measurement unit of
the reference value

Stated in & of the motor pulse current.

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

Status of long-term motor utilization

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

%

not possible

Motor utilization,

Stated in & of the motor pulse current.

Effective motor utilization with reference to the nominal motor current
resp. if a motor reference point is selected, with reference to the motor
reference current. For the monitoring the thermal time constant Tau is
required. 1.05*I can be set permanently. Error object 500.1 Bit 13, Error
Code 2311

User level

D/A monitor: measurement unit of
the reference value

standard

-

Object 683.3

T10, T11, T30, T40

standard

-

6.3 Positions

Status target position

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

Stated in user units, reset position

Status actual position

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

Stated in user units, reset position

Status of tracking error

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

Stated in user units, difference between target and actual value of
position

User level

D/A monitor: measurement unit of
the reference value

User level

D/A monitor:
measurement unit of the
reference value

User level

D/A monitor: measurement unit of
the reference value

Object 680.4

T11, T30, T40

standard

Revolutions

Object 680.5

T11, T30, T40

standard

Revolutions

Object 680.6

T11, T30, T40

standard

Revolutions

Status target position without absolute reference

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Status values

6.4 Speeds

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

Stated in user units, continuous position

User level

D/A monitor: measurement unit of
the reference value

Status actual position without absolute reference

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

Stated in user units, continuous position

User level

D/A monitor: measurement unit of
the reference value

Status target speed of setpoint encoder

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s

possible

Target value according to the fine interpolator

User level

D/A monitor: measurement unit of
the reference value

T11, T30, T40

advanced

Revolutions

Object 680.13

T11, T30, T40

advanced

Revolutions

Object 681.4

T10, T11, T30, T40

standard

Rev/s

Status target speed controller input

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s

possible

Nominal speed

User level

D/A monitor: measurement unit of
the reference value

Target speed value on the controller input including feed forward

Status actual speed filtered

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s

possible

Actual speed filtered

User level

D/A monitor: measurement unit of
the reference value

Status actual speed unfiltered

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s

possible

User level

D/A monitor: measurement unit of
the reference value

Object 681.10

T10, T11, T30, T40

standard

Rev/s

Object 681.9

T10, T11, T30, T40

standard

Rev/s

Object 681.5

T10, T11, T30, T40

advanced

Rev/s

Status control deviation of speed

Available in technology function:

Unit of
measurement

Unit/s

I11 T11 192-120101 N6 - March 2004 85

User level

Object 681.6

T10, T11, T30, T40

standard

Status values

D/A monitor output

Remark:

possible

Difference between speed target value and filtered actual value

D/A monitor: measurement unit of
the reference value

Status target acceleration

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s²

not possible

Target acceleration of setpoint encoder

User level

D/A monitor:
measurement unit of the
reference value

Stated in user units

Output value of the fine interpolator

Status of speed and acceleration feed forward

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s

not possible

Speed and acceleration feed forward

User level

D/A monitor:
measurement unit of the
reference value

Rev/s

Object 682.4

T10, T11, T30, T40

advanced

-

Object 681.11

T11, T30, T40

advanced

-

Status of filtered actual acceleration

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s²

possible

Signal is smoothed by acceleration filter 1 and 2 resp. by the rotational

User level

D/A monitor:
measurement unit of the
reference value

speed monitor and acceleration filter 2.

Signal is the source of the D-component in the (rotational) speed
controller

Status of actual acceleration unfiltered

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s²

possible

Please note that this signal is often rather noisy.

User level

D/A monitor: measurement
unit of the reference value

Status of external influences monitored

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

%

possible

Load moment resp. load force detected by the (rotational) speed
monitor.

Unit is % of Mnominal resp. of Fnominal

(100% = Moment resp. force given the configured nominal resp.
reference current)

User level

D/A monitor: measurement
unit of the reference value

Object 682.6

T10, T11, T30, T40

advanced

Rev/s²

Object 682.5

T10, T11, T30, T40

advanced

Rev/s²

Object 683.5

T10, T11, T30, T40

advanced

%

86 I11 T11 192-120101 N6 - March 2004

Parker EME

6.5 Currents

Status values

Status of effective target current (torque forming)

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

mA

possible

Effective target current (torque forming)

User level

D/A monitor: measurement unit
of the reference value

Cross-flow target value including current and jerk feed forward

Status of effective actual current (torque forming)

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

mA

possible

Effective actual current (torque forming), actual value after filter

User level

D/A monitor: measurement unit
of the reference value

Status of control deviation of effective current

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

mA

possible

Control deviation of effective current (torque forming)

User level

D/A monitor: measurement unit
of the reference value

Object 688.1

T10, T11, T30, T40

standard

O

Object 688.2

T10, T11, T30, T40

standard

O

Object 688.8

T10, T11, T30, T40

advanced

O

Status of voltage control signal

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

Control signal of current controller (torque forming)

0.577 correspond to full range (Terminal voltage=DC bus voltage)

Status of current phase U

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

mA

not possible

Phase current U, Output as peak value

Actual value after oversampling

Status of current phase V

Available in technology function:

Unit of
measurement

mA

User level

D/A monitor: measurement unit
of the reference value

User level

D/A monitor: measurement unit
of the reference value

User level

Object 688.11

T10, T11, T30, T40

advanced

-

Object 688.9

T10, T11, T30, T40

advanced

-

Object 688.10

T10, T11, T30, T40

advanced

I11 T11 192-120101 N6 - March 2004 87

Status values

D/A monitor output

Remark:

not possible

Phase current V, Output as peak value

D/A monitor: measurement unit
of the reference value

Actual value after oversampling

Status of target jerk setpoint encoder

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit/s³

not possible

Target jerk of setpoint encoder

User level

D/A monitor: measurement unit
of the reference value

Stated in user units

Output value of the fine interpolator

Status of effective current and jerk forward feed

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

mA

not possible

Forward feed of effective current and jerk

Stated in amperes RMS

after filter

User level

D/A monitor: measurement unit
of the reference value

-

Object 688.13

T11, T30, T40

advanced

-

Object 688.14

T10, T11, T30, T40

advanced

-

6.6 Inputs

Status of analog input 0

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

V

possible

Analog input 0

Analog input on plug X11/9 and X11/11

Indication of the voltage measured on the input in volts

Status of analog input 1

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

V

possible

Analog input 1

Analog input on plug X11/10 and X11/2

Indication of the voltage measured on the input in volts

User level

D/A monitor: measurement unit
of the reference value

User level

D/A monitor: measurement unit
of the reference value

Object 685.3

T10, T11, T30, T40

standard

10V

Object 685.4

T10, T11, T30, T40

standard

10V

Status of encoder input 0 (5V)

Available in technology function:

88 I11 T11 192-120101 N6 - March 2004

Object 680.10

T10, T11, T30, T40

Parker EME

Status values

6.7 CAM

Unit of
measurement
D/A monitor output

Remark:

Revolutions

not possible

Encoder input 0 (5V), counter state in turns of the encoder

User level

D/A monitor:
measurement unit of the
reference value

Status of encoder input 0 (24V)

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Revolutions

not possible

Encoder input 1 (24V), counter state in turns of the encoder

User level

D/A monitor: measurement
unit of the reference value

Status of signal source of master position monitoring

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Revolutions

possible

User level

D/A monitor: measurement
unit of the reference value

standard

-

Object 680.11

T10, T11, T30, T40

standard

-

Object 3021.2

- T40

standard

Revolutions

Status of master position

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Munit

possible

reset

Status of slave position

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

Unit

possible

reset position after cam table [Units]

User level

D/A monitor: measurement
unit of the reference value

User level

D/A monitor: measurement
unit of the reference value

Object 3030.1

- T40

standard

Units

Object 3032.1

- T40

standard

Units

I11 T11 192-120101 N6 - March 2004 89

Status values

6.8 IEC61131-3

Status of cycle time of the control program

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

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

User level

D/A monitor:
measurement unit of the
reference value

Status of maximum cycle time

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

Maximum cycle time [unit : 1=500 µs]

User level

D/A monitor:
measurement unit of the
reference value

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

Setpoint for analog output 0

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

possible

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. You
can do this in the ServoManager in the optimization window in the
partial window at the bottom left under DA monitor.

Convert the signal source to IEC61131.

User level

D/A monitor:
measurement unit of the
reference value

Object 50.3

T10, T11, T30, T40

standard

-

Object 50.4

T10, T11, T30, T40

standard

-

Object 634.4

T11, T30, T40

advanced

-

Setpoint for analog output 1

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

possible

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. You
can do this in the ServoManager in the optimization window in the
partial window at the bottom left under DA monitor.

Convert the signal source to IEC61131.

90 I11 T11 192-120101 N6 - March 2004

User level

D/A monitor:
measurement unit of the
reference value

Object 635.4

T11, T30, T40

advanced

-

Parker EME

6.9 Transmitter

Status values

Status of sine in signal processing

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

Sinus trace resolver, für F10 devices

The value 1 corresponds to 2.5 Volts

The amplitude must be <1 and > 0.1 at the resolver; otherwise a level
error is reported.

Status of cosine in signal processing

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

Cosine trace of resolver, for F10 devices

The value 1 corresponds to 2.5 Volts

The amplitude must be <1 and > 0.1 at the resolver; otherwise a level
error is reported.

User level

D/A monitor:
measurement unit of the
reference value

User level

D/A monitor:
measurement unit of the
reference value

Object 692.1

T10, T11, T30, T40

advanced

-

Object 692.2

T10, T11, T30, T40

advanced

-

Status of analog input sine

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

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

Status of analog input cosine

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

n/a

not possible

Cosine trace of encoder, für F11 and F12 devices

Status of feedback level

Available in technology function:

Unit of
measurement
D/A monitor output

Remark:

V

not possible

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

(=sqrt(sin²+cos²))

User level

D/A monitor:
measurement unit of the
reference value

User level

D/A monitor:
measurement unit of the
reference value

User level

D/A monitor:
measurement unit of the
reference value

Object 692.3

T10, T11, T30, T40

advanced

-

Object 692.4

T10, T11, T30, T40

advanced

-

Object 692.5

T10, T11, T30, T40

advanced

-

I11 T11 192-120101 N6 - March 2004 91

Error

7. Error

All errors lead to error status.
Reaction 2: downramp with “deenergize ramp” then apply brake (see on page 76)

and deenergize.

Reaction 5: De-energize immediately (with no ramp), close brake.

Caution! A Z-axis may drop down due to the brake delay times

Most pending errors can be acknowledged with Quit!

The following errors must be acknowledged with Power on:

0x7381, 0x7382, 0x7391, 0x7392, 0x73A0

7.1 Error list

0x2311

0x2312

0x2320

The errors as well as the error history can be viewed in the C3 ServoManager
under optimization (at the top right of the optimization window).

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0x2311
Monitor (Effective Motor Current)
Reaction 2: downramp / apply brake / deenergize.

Adjustable monitoring (with motor parameter: thermal time constant and
reference current)
The current value can be read with the "Motor utilization" status display.
An error message is generated for a motor load of 105%.

0x2312
Device rms current monitoring
Reaction 2: downramp / apply brake / deenergize.

Adjustable monitoring (dependant on device parameters)
The current value can be read with object 683.2 or the "Device utilization"
status display.

0x2320
Overcurrent (Power output Stage)
Reaction 5: deenergize immediately (without ramps), apply brake.
Check motor cable
Origin is a hardware signal

0x3210

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0x3210
DC bus voltage too high
Reaction 5: deenergize immediately (without ramps), apply brake.

The voltage on the output bus has exceeded the maximum permissible
value

92 I11 T11 192-120101 N6 - March 2004

Parker EME

Error

0x3222

0x4210

0x4310

0x5111

0x5112

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0x3222
Voltage in DC bus too low (< 70V)
Reaction 2: downramp / apply brake / deenergize.

Measurement via PAP

0x4210
Temperature of power output stage / device
Reaction 2: downramp / apply brake / deenergize.

Measurement via PAP; source from power stage

0x4310
Motor temperature
Reaction 2: downramp / apply brake / deenergize.

Source is motor temperature signal

0x5111
Auxiliary voltage 15V defective
Reaction 2: downramp / apply brake / deenergize.

Measurement via PAP

0x5112
Overvoltage 24V
Reaction 2: downramp / apply brake / deenergize.

Measurement via PAP

0x5116

0x5117

0x5380

0x5420

0x5421

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0x5116
Undervoltage 24V
Reaction 2: downramp / apply brake / deenergize.

Measurement via PAP

0x5117
Undervoltage options
None

Used for M expansion with I/O if the external power supply is missing

0x5380
Short circuit at digital output
Reaction 2: downramp / apply brake / deenergize.

Applies to the 4 on-board outputs

0x5420
Ballast resistor overload, pulse current
Reaction 2: downramp / apply brake / deenergize.

Setting via tool input

0x5421
Braking Resistor overloaded (Continuous Current)
Reaction 2: downramp / apply brake / deenergize.

Setting via tool input

0x5480

Error code (hex):
Error:
Error reaction:
Measure:

0x5480
Short Circuit - Motor Brake
None

I11 T11 192-120101 N6 - March 2004 93

Error

0x5481

0x5491

0x54A0

0x54A1

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Diagnostic lines from power stage interface

0x5481
Open Circuit - Motor Brake
None

Diagnostic lines from power stage interface

0x5491
Disable power output stage
Reaction 5: deenergize immediately (without ramps), apply brake.

Hardware input (safe standstill)

0x54A0
Limit switch E5 (X12/12) active
Reaction 2: downramp / apply brake / deenergize.
Move axis into the travel range. The error may occur if E5 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IEC­program.
Limit switch on input 5 is active. Is only set with rising edge.

0x54A1
Limit switch E6 (X12/13) active
Reaction 2: downramp / apply brake / deenergize.
Move axis into the tavel range. The error may occur if E6 is designed as a
freely assignable input and for example C3_ErrorMask is used in the IEC
program.
Limit switch on input 6 is active. Is only set with rising edge.

0x6011

0x6012

0x6280

0x6281

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

0x6011
Runtime overflow 31.25us
Reaction 2: downramp / apply brake / deenergize.

0x6012
Runtime overflow 500us
Reaction 2: downramp / apply brake / deenergize.

Runtime monitoring. Internal error

0x6280
IEC61131-3 Division by zero
Reaction 2: downramp / apply brake / deenergize.
Debug IEC program
Division by zero occurred in the IEC program. Execution is aborted at this
point and the cycle is restarted after the selected cycle time.

0x6281
IEC61131-3 cycle time exceeded
Reaction 2: downramp / apply brake / deenergize.
Optimize program (runtime), increase target cycle time, suppress time­intensive processes (for example saving objects in Flash)
Preset nominal cycle time could not be kept. Execution is aborted and the
cycle is restarted after the selected cycle time.

0x6282

0x6283

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:

0x6282
IEC61131-3 Program stack overflow
Reaction 2: downramp / apply brake / deenergize.
Reduce nesting depth in function and subprogram calls
Stack overflow in IEC runtime. Execution is aborted at this point and the
cycle is restarted after the selected cycle time.

0x6283
IEC61131-3 FB stack overflow

94 I11 T11 192-120101 N6 - March 2004

Parker EME

Error

0x6284

0x7121

0x7180

Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Reaction 2: downramp / apply brake / deenergize.
Reduce the number of or the nesting depth of function module instances
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 the
selected cycle time.

0x6284
IEC61131-3 Invalid command
Reaction 2: downramp / apply brake / deenergize.
Recompile the program / download and verify the compiler version
Invalid opcode in the IEC program Execution is aborted at this point and the
cycle is restarted after the selected cycle time.

0x7121
Motor stalled
Reaction 5: deenergize immediately (without ramps), apply brake.

Speed controller signal at limit for specific time

0x7180
Motor impulse current monitoring
Reaction 2: downramp / apply brake / deenergize.

Adjustable monitoring (with motor parameters: pulse current time and pulse
current)
The current value can be read with the "Motor impulse utilization" status
display.
An error message is generated for a motor impulse utilization of 115%.

0x7310

0x7320

0x7381

0x7382

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

0x7310
Rotation speed too high
Reaction 5: deenergize immediately (without ramps), apply brake.

Rotation speed too high

0x7320
Tracking error
Reaction 2: downramp / apply brake / deenergize.

Monitoring of tracking error window incl. time

0x7381
Resolver level too high
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable or feedback
Note: The feedback excitation voltage is deactivated for level errors!
Level limit exceeded, can only be reset by powering on the device again.

0x7382
Resolver level too low
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable or feedback
Note: The feedback excitation voltage is deactivated for level errors!
Level has fallen below limit, can only be reset by powering on the device
again.

0x7391

0x7392

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:

0x7391
Encoder level too high
Reaction 2: downramp / apply brake / deenergize.
Check feedback cable (shield, abort, short-circuit) or feedback
Note: The feedback power supply voltage is deactivated for F11!
SinCos feedback/encoder: Level of Sine/Cosine trace too high, can only be
reset by powering on the device again. The limit for Firmware >V2.x.x is at
the physical limit 2.5Vss.

0x7392
Encoder level too low

I11 T11 192-120101 N6 - March 2004 95

Error

A

0x73A0

0x73A5

0x73A6

Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Reaction 2: downramp / apply brake / deenergize.
Check feedback cable (shield, abort, short-circuit) or feedback
Note: The feedback power supply voltage is deactivated for F11!
SinCos feedback/encoder: Level of Sine/Cosine or A/B trace too low, can
only be reset by powering on the device again. The limit for Firmware
>V2.x.x is at 0.4Vss. With RS422 feedback one or both traces are missing.

0x73A0
Hall commutation: invalid combination of hall signals
Reaction 5: deenergize immediately (without ramps), apply brake.
Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.
A hall combination that is not permitted with correct wiring was recorded
during hall commutating. Can only be reset by PowerOn.

0x73A5
Automatic commutation: no standstill of the drive on start
Reaction 2: downramp / apply brake / deenergize.
Check the signal quality of the feedback (noise), bring the drive to a
standstill
(Filtered) speed of the motor within 10 s after the start of automatic
commutation not zero

0x73A6
Automatic commutation: more than 60 degrees of electrical movement
Reaction 2: downramp / apply brake / deenergize.
Malfunction (motion caused by external source) of the motor during
automatic commutation, starting current too great, incorrect parameter for
commutation direction (use MotorManager to determine the values). Check
feedback resolution and/or number of feedback or motor poles.
The motor has moved more than permitted during automatic commutation.

0x73A7

0x73A8

0x73A9

0x73A

Error code (hex):
Error:

Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

0x73A7
Automatic commutation: More than 5 degrees of electrical movement during
Phase 2
Reaction 2: downramp / apply brake / deenergize.
Eliminate external influence on the motor or device current is too small resp.
friction is too great.
Motor is not following controlled movement. In this case, the motor should
stand still.

0x73A8
Automatic commutation: no standstill during phase 3
Reaction 2: downramp / apply brake / deenergize.
Eliminate external influence on the motor. Check feedback.
The motor is not following controlled movement (in this case: motor does not
come to a standstill).

0x73A9
Auto commutation: Timeout during phase 3
Reaction 2: downramp / apply brake / deenergize.
Increase the starting current and eliminate very high direction dependence
or friction if any. Check feedback resolution and/or number of feedback or
motor poles.
The maximum time for automatic commutation has been exceeded.

0x73AA
Automatic commutation: too many trials during phase 3
Reaction 2: downramp / apply brake / deenergize.
Increase the starting current or eliminate external influence on the motor.
Check feedback resolution and/or number of feedback or motor poles.
The motor is not following assigned controlled movement.

0x73AB

Error code (hex):
Error:
Error reaction:

0x73AB
Automatic commutation: timeout
Reaction 2: downramp / apply brake / deenergize.

96 I11 T11 192-120101 N6 - March 2004

Parker EME

Error

0x73AC

0x73B0

0x8120

0x8121

Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Increase automatic commutation starting current, eliminate motor block,
check parameters for motor current (too small, device extremely under­dimensioned), current controller unstable.
It was not possible to successfully complete automatic commutation within
30 s.

0x73AC
Automatic commutation: mo motor connected
Reaction 2: downramp / apply brake / deenergize.
Connect motor resp. check wiring
Current controller setting full voltage without current flowing.

0x73B0
Distance coding: invalid position of reference mark
Reaction 2: downramp / apply brake / deenergize.

0x8120
CRC error or passive mode (CAN)
None

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

0x8121
Bus off (CAN)
None

CAN Bus inactive status
Field bus error: adjustable reaction (no, reaction 2)

0x8130

0x8181

0x8182

0x8183

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

0x8130
FB Timeout
None
Check connection and master
Field bus communication failure
Field bus error: adjustable reaction (none, reaction2)

0x8181
Invalid velocity
None
Reduce setpoint value
Preset speed ins too high (also externally); command was rejected

0x8182
Error CAM command
Reaction 2: downramp / apply brake / deenergize.

0x8183
Watchdog test movement
Reaction 2: downramp / apply brake / deenergize.
Acknowledge Error occurs for example if the response times of the PC are
too long for RS232 communication.
Error is triggered if o40.3=0. Watchdog cannot be deactivated via o40.3=-1.
Watchdog time=o40.3*100ms

0x8612

Error code (hex):
Error:
Error reaction:
Measure:

Note:

0x8612
Reference Limit
Reaction 2: downramp / apply brake / deenergize.
Reference position could not be accessed. One of the limit switches was
detected twice. There was no home switch or feedback zero pulse. Homing
was aborted
No reference point for machine zero detected within the travel range. The
homing sequence was aborted. Check reference point feedback.

I11 T11 192-120101 N6 - March 2004 97

Error

0xFF03

0xFF04

0xFF05

0xFF06

0xFF07

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0xFF03
Object is "read only"
None

No write access

0xFF04
Object cannot be read
None

No read access

0xFF05
Version conflict; object data not valid in flash
None

Internal error

0xFF06
No object for process data; object cannot be mapped
None

This object cannot be mapped on the cyclic data

0xFF07
Data not valid
None

No OPM text present

0xFF08

0xFF10

0xFF11

0xFF12

0xFF13

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0xFF08
No convert function
None

Internal error

0xFF10
Command syntax error
None

Syntax error

0xFF11
Value not valid
None

Argument incorrect

0xFF12
Checksum error
None

Checksum CRC incorrect

0xFF13
Timeout error
None

Active in binary protocol; 5 ms

0xFF14

Error code (hex):
Error:
Error reaction:

0xFF14
Overflow error
None

Measure:

98 I11 T11 192-120101 N6 - March 2004

Parker EME

Error

0xFF15

0xFF16

0xFF20

0xFF21

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Utype error

0xFF15
Parity error
None

Utype error

0xFF16
Frame error
None

Utype error

0xFF20
Flash sector delete failed
None

Error while deleting flash

0xFF21
Program flash cell failed
None

Error while programming flash

0xFF22

0xFF23

0xFF24

0xFF30

0xFF40

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0xFF22
Checksum error of prog. Flash area
None

Error for flash checksum

0xFF23
DOWN/UPLOAD activated
None

Download or upload is active

0xFF24
DOWN/UPLOAD not activated
None

Download or upload is inactive

0xFF30
EEPROM Delay Count Error
None

Internal error

0xFF40
Not enough memory for OSZI or AWL reserved
None

An attempt was made to reserve too much memory (IEC, osci)

0xFF42

0xFF43

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:

0xFF42
No objects available
None
Load application data into device (objects)
Application data error; no valid objects present
LED red flashing

0xFF43
No IEC61131 program

I11 T11 192-120101 N6 - March 2004 99

Error

0xFF45

0xFF46

0xFF47

Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

None
Load application data into device (IEC61131 program). Turn device off and
back on again.
Application data error; no IEC61131 program available
LED red flashing

0xFF45
No FBI
None
De-energize motor, then perform function
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.

0xFF46
Motor energized
None

An attempt was made to perform a device duplication even though the
source and target device are different (different order code)

0xFF47
Different device types
None

The hardware of the source is not compatible with the hardware of the target
for duplicating a device

0xFF90

0xFF91

0xFF92

0xFFA1

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:

Note:

Error code (hex):
Error:
Error reaction:
Measure:
Note:

0xFF90
Feedback system does not correspond with feedback option
None
„Replace“ or update firmware, use device required for feedback.
The connected feedback system cannot be used with the firmware currently
in use. (for example with commutation wizard F12 feedback for F10/F11
device and vice-versa).

0xFF91
Invalid combination of hall signals gross commutation
None
Check hall wiring and hall sensors for functionality. Eliminate any (EMC)
malfunctions in hall signals.
Invalid hall combinations “000“ or “111“ were detected during hall
commutation.

0xFF92
Compax3 must be started again.
None
Switch device off and on again or execute commands 9 and 10 one after the
other.
Only for F12 devices: Compax3 must be started again, as the commutation
resp. the configured motor was changed by means of a configuration
download. The error cannot be acknowledged.

0xFFA1
SinCos analog signals outside specification
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error

0xFFA2

0xFFA3

Error code (hex):
Error:
Error reaction:
Measure:
Note:

Error code (hex):
Error:
Error reaction:

0xFFA2
SinCos internal angle offset fault
Reaction 2: downramp / apply brake / deenergize.
Change feedback
Feedback reports error

0xFFA3
SinCos table was destroyed via data field partition
Reaction 2: downramp / apply brake / deenergize.

100 I11 T11 192-120101 N6 - March 2004