Parker Compax3 Fluid T40

Series	Compax3
Power Supply Voltage	24 VDC
Output Current	40A
Protection Class	IP20
Communication	CANopen, RS232
Operating Temperature	0°C to +45°C
Relative Humidity	5 to 95 %, non-condensing
Storage Temperature	-25 to +70 °C

Operating instructions Compax3 Fluid T40: Cam

Hydraulics controller

This section describes the hydraulics controller for the Compax3 Fluid T40.

Introduction

Nonwarranty clause

Details regarding the non-warranty clause for the publication's contents.

Production site:

Information about the location where the product is manufactured.

Headquarters:

Contact information for the main headquarters.

1. Introduction

1.1 Device assignment Compax3 Fluid

Describes the device assignment for the Compax3 Fluid devices.

1.2 Safety Instructions

1.2.1 General hazards

Highlights general hazards associated with the device's operation.

1.2.2 Safety-conscious working

Provides guidelines for safe operation by qualified personnel.

1.3 Warranty conditions

1.4 Conditions of utilization for CE-conform operation

2. Positioning with IEC61131-3

Compax3 F: Electrohydraulic servo drive

Describes the Compax3F as an electrohydraulic servo drive.

3. Compax3 F device description

3.1 State of delivery

Information about the state of delivery for the Compax3F device.

3.2 Plug and connector assignment Compax3 Fluid

Details the plug and connector assignments for the Compax3 Fluid device.

3.2.4 Analog Input (plug X1)

3.2.5 Analog Output (plug X2)

3.2.6 Voltage supply (plug X3)

3.2.7 RS232 RS485 interface (plug X10)

3.2.8 Analog Encoder (plug X11)

3.2.9 Digital inputsoutputs (plug X12)

3.2.10 Feedback (connector X13)

3.2.11 Profibus connector X23 with Interface I20

3.2.12 CANopen connector X23 Interface I21

3.2.13 DeviceNet connector X23

3.2.14 Ethernet Powerlink (Option I30) EtherCAT (option I31) X23, X24

4. Setting up Compax3

4.1 Configuration

Details the configuration process for the Compax3 system.

4.1.3 Drive configuration

4.1.4 Configuring drive1

4.1.6 Sensors

4.1.7 Valve configuration

4.1.8 Defining the reference system

4.1.8.2 Machine Zero

Machine zero modes overview

Homing modes with home switch (on X1214)

With direction reversal switches

With motor reference point

Machine zero modes without home switch

MN-M 35: MN at the current position

Configures machine zero using the current position.

Machine zero only from motor reference

4.1.8.3 Travel Limit Settings

Hardware end limits

4.1.10 Limit and monitoring settings of force

4.1.11 Positioning window - Position reached

4.1.12 Following error limit

4.1.14 Encoder Simulation

4.1.16 Error response

4.2 Configuring the signal source

4.2.1 Physical Source

Details the physical sources for signal configuration.

4.3 Optimization

4.3.1 Optimization window

Describes the optimization window interface.

4.3.2 Scope

4.3.3 Control Loop Dynamics

Preparatory settings for the controller alignment

Settings required before controller alignment.

Controller optimization

4.3.3.2 Signal filtering with external command value

4.3.3.3 Controller structure of main axis

4.3.3.4 Controller strucutre auxiliary axis

4.3.3.5 Feedforward main axis (status controller)

4.3.3.7 Position controller main axis (status controller)

4.3.3.8 Position controller auxiliary axis (status controller)

4.3.3.9 Filter main axis

4.3.3.11 Analog Input

4.3.3.12 Force-Pressure Control main axis

4.3.3.13 Force-Pressure Control auxiliary axis

4.3.3.14 Output signal conditioning 0

4.3.3.15 Step-by-step optimization

Parameters for manual movementjogging mode and test movement.

Limit valve set value

Check sense of direction

Set valve offset

Direction dependent gain

Optimization of position controller

Set control parameters

Proportional factor KP

Optimization of pressureForce Controller

Activation of pressure force control

Details the activation process for pressure/force control.

4.3.4 Input simulation

Calling up the input simulation

Instructions on how to access the input simulation feature.

4.3.5 Setup mode

Activating the setup mode

Explains how to activate the setup mode for axis operation.

4.3.5.1 Motion objects in Compax3

4.3.6 ProfileViewer for the optimization of the motion profile

5. Motion control

5.1 Programming based on IEC61131-3

Covers programming based on the IEC61131-3 standard.

5.1.2 CoDeSys Compax3 target system (Target Package)

5.1.4 Function range supported

5.1.7 Recipe table with 9 columns and 32 lines

5.1.10 Access to the Compax3 object directory

5.1.11 Compilation, debugging and downupload of IEC61131 programs

5.1.12 General rules timing

5.2 Status diagrams

5.2.1 Status diagram of Compax3 F main axis

Illustrates the status diagram for the main axis.

5.2.2 Status diagram of Compax3 F auxiliary axis

5.2.3 Status diagram of the virtual master

5.3 Control functions

5.3.1 Activation of the drive (MCPower)

Explains the activation of the drive using the MC_Power function.

5.3.2 Stop (MCStop)

5.3.3 C3 SetControlMode

5.4 Reading values

5.4.1 Reading the current position (MCReadActualPosition)

Describes how to read the current axis position.

5.4.2 Read access to the (C3 ReadArray) array

5.4.3 Reading the device status (MCReadStatus)

5.5 Determine valverange parameters (C3 GetSystemFingerPrint)

Important notes

Provides critical notes before using the C3_GetSystemFingerPrint.

5.5.2 Procedure when working with the C3 getSystemFingerPrint

5.6 Positioning functions (standard)

5.6.1 Value range for positioning parameters

Defines the value ranges for various positioning parameters.

5.6.2 Absolute positioning (MCMoveAbsolute)

5.6.2.1 Position mode in reset operation

5.6.2.2 Description of jerk

5.6.3 Relative positioning (MCMoveRelative)

5.6.4 Additive positioning (MCMoveAdditive)

5.6.5 Continuous positioning (MCMoveVelocity)

5.6.6 Manual operation (C3 Jog)

5.6.7 Homing (MCHome)

Machine reference run

Homing run for 2 axes

5.6.8 Electronic gearbox (MCGearIn)

Structure of the electronic cam function

5.7 Superimposed motion

5.7.1 Dynamic positioning

Explains dynamic positioning processes.

Superimposed positioning

5.7.3 Zero point shift caused by superimposed positioning (C3 ShiftPosition)

5.8 Adjust force pressure (C3 PressureForceAbsolute)

5.9 Dynamic switching: Position- on forcepressure - adjustment

Switching: from force to position mode (C3 pQ)

Details switching between force/pressure and position control modes.

5.10 Cam Control

5.10.1 Introduction: Electronic cam control

Function principle

Explains the fundamental function of electronic cam control.

5.10.2 Overview

T40 Functions: Cam

Overview of the functions available for T40 Cam control.

5.10.3 Basics

5.10.3.1 Cam types

Describes the two principal types of cam curves.

5.10.3.2 Cam parameters terms

Master clock distance (MT)

5.10.4 Generating cams

Introduction to the CamDesigner (example)

Introduction to the CamDesigner tool for curve generation.

5.10.4.1 Introduction to the CamDesigner (example)

Cam functions of the Compax3 ServoManager motion laws

5.10.5 Cam function structure

5.10.5.1 Function modules of the cam

Details the function modules involved in cam operations.

Master Position:

5.10.5.3 Cam reference systems

Relative master reference without offset

Describes relative master reference without an offset.

Relative master reference with 180 offset

Absolute master reference without offset

Absolute master reference with 180 offset

Relative slave reference

Relative slave reference example 1

Relative slave reference example 2

Absolute slave reference

5.10.6 Master signal source

5.10.6.1 Setting the position of the selected master source (C3 SetMaster)

Guides setting the master position for the source.

5.10.6.2 Recording the position of the selected master source (C3 MasterControl)

5.10.6.3 Control of the cam generator (C3 CamTableSelect)

5.10.6.4 C3 MasterConfig

5.10.6.5 Master signal phase shift (MCPhasing)

5.10.7 Alignment of the slave axis

5.10.7.1 Start cam coupling

Describes the process of starting a cam or coupling.

Starting a selected curve (MCCamIn)

Starting a selected curve with coupling movement (C3 CamIn)

Quadratic coupling (CouplingMode = 1)

Direct coupling (CouplingMode = 0)

Change-over (CouplingMode = 2)

5.10.7.2 Exiting the active curve with coupling movement (C3 CamOut)

Direct decoupling (CouplingMode = 0)

Quadratic decoupling (CouplingMode = 1)

Decoupling with change-over function (CouplingMode = 2)

5.10.8 10 Steps for cam generation

Step 1: C3 ServoManager

Step 1 involves installing the C3 ServoManager.

Step 4: RS232 connection & C3 ServoManager

Step 5: Set Compax3 device type

Step 6: Configuration

Step 7: Selecting Master signal source

Step 8: Generating the cam

Step 9: Create IEC program

5.10.9 Cam applications

Example 1: Single start of a closed cam

Demonstrates a single start of a closed cam application.

Example 2: Change between single start of an open cam and POSA

Example 3: Single Start for run through curve 5 times

Example 4: Composing curves

Example 5: Cyclic operation with event-triggered change of curve

Example 6: Operation with curve segments and standstill area

Example 7: Curve operation with slave reg synchronization

Example 8: Curve operation with master reg synchronization

Example case of damage

Application note: Drift

5.11 Cam switching mechanism

5.11.1 Cam switching mechanism function overview

Provides an overview of the cam switching mechanism.

5.11.2 Redirect the fast cams directly to the physical output (C3 OutputSelect)

5.11.3 Objects of the cam switching mechanism

5.11.4 Behavior of the switch-onswitch-off anticipation

5.11.4.1 Behavior depending on the travel direction

Describes switching behavior based on travel direction.

5.11.4.2 Switching behavior with reset operation

5.11.5 Hysteresis

5.11.6 CoDeSys-Project for the configuration of the cams

5.11.7 Example: Working with fast cams

5.12 Error handling

5.12.1 Acknowledging errors (MCReset)

Details how to acknowledge errors using MC_Reset.

5.12.2 Reading axis errors (MCReadAxisError)

5.12.3 Set error reaction (C3 SetErrorReaction)

5.13 Process image

5.13.1 Reading digital inputs (C3 Input)

Explains how to read digital inputs.

5.13.3 Readingwriting optional inputsoutputs

5.13.3.1 C3 IOAddition0

Details the C3_IOAddition_0 module for optional I/Os.

5.13.4 Memorizing the signals with the trigger event (C3 TouchProbe)

5.13.5 Integration of Parker IOs (PIOs)

5.13.5.1 Initializing the PIOs (PIOInit)

Describes the initialization process for PIOs.

5.13.5.2 Reading the PIO inputs 0-15 (PIOInputx...y)

5.13.5.3 Writing the PIO outputs 0-15 (PIOOutputx...y)

5.13.5.4 Example: Compax3 as CANopen Master with PIOs

5.14 Interface to C3 powerPLmC

Interface module PLmCInterface

Details the PLmC_Interface module for C3 powerPLmC communication.

5.14.2 Cyclic data channel for C3 T30 and C3 T40

5.14.3 Example: C3 powerPLmC Program & Compax3 Program

5.15 IEC examples

Example in CFC: Using Compax3-specific function modules and Compax3 objects

Demonstrates using Compax3 modules and objects in CFC.

Example in CFC: Positioning 1

Example in CFC: Positioning 2

Example in CFC: Positioning with set selection

Example in CFC: Cycle mode

Example in ST: Cycle mode with a Move module

5.16 Profibus: Emulating the ProfiDrive profile (C3 FProfiDriveStatemachine)

6. Communication

6.1 Compa3 communication variants

Details the various communication variants for Compax3.

6.1.1 PC - Compax3 (RS232)

6.1.2 PC - Compax3 (RS485)

6.1.3 PC - C3 M device combination (USB)

6.1.4 USB-RS485 Moxa Uport 1130 adapter

6.1.5 ETHERNET-RS485 NetCOM 113 adapter

6.1.6 Modem Westermo TD-36 485

6.1.7 C3 settings for RS485 two wire operation

6.1.8 C3 settings for RS485 four wire operation

6.2 COM port protocol

RS485 setting values

Configuration settings for RS485 communication.

6.2.2 ASCII - record

6.2.3 Binary record

6.3 Remote diagnosis via Modem

6.3.1 Structure

Describes the structure of the modem connection.

6.3.2 Configuration of local modem 1

6.3.3 Configuration of remote modem 2

6.3.4 Recommendations for preparing the modem operation

6.4 Profibus

6.4.1 Typical application with fieldbus and IEC61131

Typical application of IEC61131 control via Profibus.

6.4.2 Profibus configuration

6.4.4 Acyclic parameter channel

6.4.4.1 Parameter access with DPV0: Required data channel

Describes parameter access using the PKW mechanism.

6.4.5 Simatic S7 -300400 - modules

6.5 CANopen - Node Settings

6.5.1 CANopen - configuration

Configuration settings for CANopen nodes.

6.5.1.2 Error reaction to a bus failure

6.5.1.4 Possible PDO assignment

6.5.2 Supporting IEC modules

6.5.2.1 C3 CANopenState

Determines the status of the CANopen NMT status machine.

6.5.2.2 C3 CANopenGuardingState

6.5.2.3 C3 CANopenAddNode

6.5.2.4 C3 CANopenConfigNode

6.5.2.5 C3 CANopenNMT

6.5.2.6 Reading an object in another node (C3 CANopenSDORead4)

6.5.2.7 Writing an object in another node (C3 CANopenSDOWrite4)

6.5.3 CANopen communication profile

6.5.4 Acyclic parameter channel

6.5.4.1 Service Data Objects (SDO)

Details Service Data Objects (SDO) for parameter configuration.

6.6 DeviceNet

6.6.1 DeviceNet Configuration

Configuration settings for DeviceNet communication.

6.6.2 DeviceNet object classes

6.6.3 Data formats of the bus objects

6.7 Ethernet Powerlink

6.7.1 Configuring Ethernet Powerlink EtherCAT

Guides configuration for Ethernet Powerlink and EtherCAT.

6.7.1.1 CN Controlled Node (Slave)

6.8 HEDA Bus

HEDA standard mode

Details the HEDA standard mode of operation.

6.8.1 HEDA standard mode

6.8.1.2 HEDA-Master

6.8.1.3 HEDA-Slave

6.8.2 HEDA expansion (HEDA advanced)

The possibilities of the HEDA expansion

Explains the capabilities of the HEDA expansion.

6.8.2.2 Technical data of the HEDA interface overview

6.8.2.3 Definitions

6.8.2.5 Configuration of the HEDA communication

Data transfer Master - Slave and back

Example: Communication Master - Slave and back

Example 1: Communication Master - Slave and Slave - Slave.

6.8.3 Coupling objects

7. Compax3 - Objects

Objects for the process data channel

Lists objects related to the process data channel.

7.1 Objects for the process data channel

7.2 Object overview sorted by object name (T40)

7.3 Detailed object list

8. Status values

8.1 DA-Monitor

Details the D/A monitor for outputting status values.

9. Error:

10. Order code

10.1 Order code device: Compax3 Fluid

Provides the order code for the Compax3 Fluid device.

11. Compax3 Accessories

11.1 ZBH plug set

Details the ZBH plug set accessory.

11.2 Cable for path measurement systems

Information about cables for path measurement systems.

11.2.1 Encoder cable

11.2.2 Feedback cable (Balluff)

11.2.3 Feedback cable EnDat2.1

11.3 Operator control module BDM

11.4 EAM06: Terminal block for inputs and outputs

11.5 Interface Cables

RS232 cable

Details the RS232 cable specifications.

11.5.2 RS485 cable to Pop

11.5.3 IO interface X12 X22

11.5.4 Ref X11

11.5.5 Encoder coupling of 2 Compax3 axes

11.5.6 Modem cable SSK31

11.6 Options M1 x

11.6.1 Inputoutput option M12

Details the M12 input/output extension option.

11.6.2 HEDA (motion bus) - Option M11

11.6.3 Option M10 = HEDA (M11) & IOs (M12)

11.7 Profibus plug BUS0801

11.8 CAN - plug BUS1001

11.9 PIO: InputsOutputs

12. Specifications

Technical data

Provides technical specifications for motion control.

Inputs and outputs

COM ports

Supported valves and feedback systems

Environmental requirements Compax3 F

General ambient conditions

Details general ambient conditions for the Compax3F.

IEC6113-3 functions

General

General overview of IEC61131-3 programming features.

T40 Functions: Cam

Parker Compax3 Fluid T40

Table of Contents