Parker Compax3, Compax3 S150 V4, Compax3 S300 V4, Compax3 S025 V2, Compax3 S063 V2 Installation Manual

DATASHEET

C3S025V2 F10 I20 T30 M00

PARKER HANNIFIN

OTHER SYMBOLS:

RGB ELEKTRONIKA AGACIAK CIACIEK

SPÓŁKA JAWNA

Jana Dlugosza 2-6 Street

51-162 Wrocław

Poland

[e-mail]

[phone]

www.rgbautomatyka.pl

www.rgbelektronika.pl

www.rgbelektronika.pl

www.rgbautomatyka.pl

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having several testing stands at their disposal, are a guarantee of the highest quality service.

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Compax3 Installation Manual

Single axis devices

Paper version

Electromechanical Automation

192-120102 N7 - February 2004

890-130001 Compax3

Unterlagen / Software

user guides / tools

manuels / tools:

! Compax3 - CD (english, deutsch, français)

+

! Compax3 Installations-Handbuch deutsch

! Compax3 Installation Manual english

! Manuel technique Compax3 français

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

We reserve the right to make technical changes. 10.02.04 08:50 192-120102 N7 - February 2004
The data contained correspond to the current status at the time of printing.

Notes on the Documents Supplied

____________________________

Copyright © 2003 Parker Hannifin GmbH EME
All rights reserved.

Microsoft Word, Microsoft Office, Windows®, Window 95™, Window 98™,
Windows NT®, Window 2000™, Window XP™ and MS-DOS™ are trademarks of
Microsoft Corporation.

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:

2 192-120102 N7 - February 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

r

Notes on the Documents Supplied

1. Notes on the Documents
Supplied

Compax3 –

Installtion manual

C3 ServoManage

Online help system

Manuals

Catalogs

The present manual contains the installation instructions for the associated
Compax3 device series (refer to Chapter “Device Assignment”).

Compax3 CD

The enclosed self-starting* CD contains the “C3 ServoManager” software tool for
configuring, optimizing etc. Compax3.

Please use always the latest C3 ServoManager version,

which can be found on the latest Compax3 CD enclosed.

The installation of ServoManager also copies an online help system to your PC that
can be started directly from ServoManager. You will find the complete description
of the selected device type in these online help files.

The CD also contains additional help files as well as manuals in PDF format that
can be printed to compile a complete hardcopy version of the respective manual.

Please note that the help files and the manuals are associated with defined device
and software versions.

The catalogs supplied provide an overview of and information on the Compax3
device series.

Adobe Acrobat

Reader®

The "Adobe Acrobat Reader®" is also included on the CD. It is free software that
lets you view and print "Adobe Portable Document Format" (PDF) files and it is
distributed and generally accepted throughout the world. You can also download it
directly from the Adobe website at: www.adobe.com/products/acrobat.

* If your PC has not been set up accordingly, start the "default.htm" file on the CD.

192-120102 N7 - February 2004 3

Notes on the Documents Supplied

1.1 C3 ServoManagers

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 authorization* 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 Compax3 over an RS232 cable (SSK1) (COM ½
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.

4 192-120102 N7 - February 2004

Parker EME

C3 ServoManagers

New Compax3 functions

Contents

1. Notes on the Documents Supplied ........................................................3

1.1 C3 ServoManagers................................................................................... 4

2. Introduction .............................................................................................7

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

2.2 Type specification plate .......................................................................... 8

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

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

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

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

2.3.1.3 Optimization of the predefined external setpoint via the analog

input ........................................................................................................ 9

2.3.1.4 UL - certification ...................................................................................... 9

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

2.3.1.6 RS485 / RS232 - interface .................................................................... 10

2.3.2. New functions of the Compax3 - Software - tools........................................ 10

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

2.3.2.2 C3 MotorManager: configuration of almost any motor ........................ 11

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

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

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

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

2.4 Safety Instructions................................................................................. 12

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

2.4.2. Safety-conscious working .............................................................................. 12

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

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

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

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

2.6.2. Conditions of utilization for UL certification................................................. 16

2.7 Manufacturer's Declaration of Conformity........................................... 17

3. Compax3 device description................................................................18

3.1 State of delivery ..................................................................................... 18

3.2 Plug and connector assignment Compax3.......................................... 19

3.2.1. Function of the LEDs on the front panel ....................................................... 20

3.2.2. Power supply plug X1 for 230VAC devices................................................... 20

3.2.3. Power supply plug X1 for 400 VAC devices.................................................. 21

192-120102 N7 - February 2004 5

Notes on the Documents Supplied

New Compax3 functions

3.2.4. Ballast resistor / high voltage supply plug X2 for 230VAC devices........... 21

3.2.5. Ballast resistor / high voltage supply plug X2 for 400VAC devices........... 22

3.2.6. Motor / Motor brake (plug X3)......................................................................... 23

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

3.2.8. RS232 / RS485 interface (plug X10) ............................................................... 25

3.2.9. Analog / Encoder (plug X11)........................................................................... 26

3.2.9.1 Wiring of analog outputs ....................................................................... 26

3.2.9.2 Wiring of the analog input ..................................................................... 27

3.2.10. Digital inputs/outputs (plug X12) ................................................................... 27

3.2.10.1 Output wiring of digital outputs.............................................................. 28

3.2.10.2 Input wiring of digital inputs................................................................... 28

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

3.3 Installation and dimensions Compax3................................................. 30

3.3.1. Installation and dimensions of Compax3 S0xx V2....................................... 30

3.3.2. Installation and dimensions of Compax3 S038 and S075 V4...................... 31

3.3.3. Installation and dimensions of Compax3 S150 V4....................................... 32

3.3.4. Installation and dimensions of Compax3 S300 V4....................................... 33

3.4 Safety function – safe standstill - ......................................................... 34

3.4.1. Safety instructions for the “safe standstill” function .................................. 36

3.4.2. Application examples for “safe standstill” ................................................... 37

3.4.2.1 Sample circuit example of Compax3 devices without fieldbus

option .................................................................................................... 37

3.4.2.2 Sample circuit example of Compax3 devices with fieldbus option ....... 43

3.4.2.3 Sample circuit for C3 powerPLmC multi-axis application ..................... 46

4. Technical Data.......................................................................................51

5. Index.......................................................................................................57

6 192-120102 N7 - February 2004

Parker EME

2. Introduction

You can read about the following in this chapter:

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

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

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

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

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

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

Manufacturer’s declaration of conformity ........................................................................................17

2.1 Device assignment

Introduction

This manual applies to the following devices:

! Compax3 S025 V2 + supplement

! Compax3 S063 V2 + supplement

! Compax3 S038 V4 + supplement

! Compax3 S075 V4 + supplement

! Compax3 S150 V4 + supplement

! Compax3 S300 V4 + supplement

192-120102 N7 - February 2004 7

Introduction

2.2 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

8 192-120102 N7 - February 2004

Parker EME

2.3 Release 1/2004

You can read about the following in this chapter:

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

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

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

2.3.1. New Compax3 functions

You can read about the following in this chapter:

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

2.3.1.1 Direct drives

The feedback module F12 supports the following feedback systems:

! Distance coding with 1VSS - Interface

! Distance coding with RS422 - Interface (Encoder)

2.3.1.2 Switching frequency of the power output stage can be set

The switching frequency of the power output stage 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.

2.3.1.3 Optimization of the predefined external setpoint via the analog
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.

2.3.1.4 UL - certification

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

192-120102 N7 - February 2004 9

Introduction

2.3.1.5 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

2.3.1.6 RS485 / RS232 - interface

Compax3 objects can be read and written in via RS232 and RS485.

2.3.2. New functions of the Compax3 - Software - tools

You can read about the following in this chapter:

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

2.3.2.1 C3 ServoManager: configuring Compax3 , setup and
optimization

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.

10 192-120102 N7 - February 2004

Parker EME

2.3.2.2 C3 MotorManager: configuration of almost any motor

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

2.3.2.3 C3 IEC61131-3 - Debugger

2

to 1kgmm

Introduction

2

Forcing of the inputs for T30 and T40 is possible.

2.3.2.4 CoDeSys - IEC61131-3 – development tool

New CoDeSys version 2.3.2.6

2.3.2.5 CamEditor: cam creation for C3 T40

-

2.3.3. 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.

192-120102 N7 - February 2004 11

Introduction

2.4 Safety Instructions

You can read about the following in this chapter:

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

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

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

2.4.1. 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.

2.4.2. 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.

12 192-120102 N7 - February 2004

Parker EME

2.4.3. 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.

2.5 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.

192-120102 N7 - February 2004 13

Introduction

r

2.6 Conditions of utilization

2.6.1. 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)

14 192-120102 N7 - February 2004

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.

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.

192-120102 N7 - February 2004 15

Introduction

2.6.2. Conditions of utilization for UL certification

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; 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 51)

! Motor cables: corresponding to the nominal output currents (see on page 51)

! Maximum cross-section limited by the terminals mm

! C3SxxxV2 2.5mm

! C3SxxxV4 exept C3S300V4 4.0mm

! C3S300V4 6.0mm

! Circuit protection

2

/ AWG

2

2

2

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, nominal 400V 10A, 6kA

! C3S063V2: ABB, nominal 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

16 192-120102 N7 - February 2004