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Compax3 I10T10
Parker Compax3 I10T10 User Manual
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Setting
up Compax
3
C3I10T10
114
192
-
120100 N16 C3I10T10
-
Decem
ber 2010
4.3
Device status
Ke
y:
ļµ
I0, I1,
I3: Input
= 24VDC
ļµ
/I0, /I
1: Input =
0V
ļµ
ļ©
I2: p
ositiv
e edge on I
2
113
115
Table of Contents
Table of Contents
3
Introduction
9
Device Assignment
9
In this Chapter You Can Read About: Device Assignment
9
Scope of Delivery
10
Type Specification Plate
11
Packaging, Transport, Storage
12
Safety Instructions
14
General Hazards
14
Safety-Conscious Working
14
Special Safety Instructions
15
Warranty Conditions
16
Conditions of Utilization
17
Conditions of Utilization for CE-Conform Operation
17
Conditions of Utilization Mains Filter
17
Conditions of Utilization for Cables / Motor Filter
18
Additional Conditions of Utilization
19
Conditions of Utilization for UL Certification Compax3S
20
Conditions of Utilization for UL Certification Compax3M
21
Conditions of Utilization for UL Certification Compax3H
22
Current on the Mains PE (Leakage Current)
23
Supply Networks
23
Compax3 with Analogue and Step/Direction Input
24
Compax3 Device Description
26
Meaning of the Status Leds - Compax3 Axis Controller
26
In this Chapter You Can Read about
26
Meaning of the Status Leds - PSUP (Mains Module)
27
Connections of Compax3S
28
Compax3S Connectors
28
Connector and Pin Assignment C3S
29
Control Voltage 24VDC / Enable Connector X4 C3S
31
Motor / Motor Brake (C3S Connector X3)
32
Compax3Sxxx V2
33
Main Voltage Supply C3S Connector X1
33
Braking Resistor / High Voltage DC C3S Connector X2
34
Compax3Sxxx V4
36
Power Supply Connector X1 for 3AC 400VAC/480VAC-C3S Devices
36
Braking Resistor / High Voltage Supply Connector X2 for 3AC 400VAC/480VAC_C3S Devices
37
Connection of the Power Voltage of 2 C3S 3AC Devices
37
Installation Instructions Compax3M
38
Psup/Compax3M Connections
40
Front Connector
40
Connections on the Device Bottom
41
Connections of the Axis Combination
42
Control Voltage 24VDC PSUP (Mains Module)
43
Mains Supply PSUP (Mains Module) X41
44
Braking Resistor / Temperature Switch PSUP (Mains Module)
46
Temperature Switch PSUP (Mains Module)
48
Motor / Motor Brake Compax3M (Axis Controller)
48
Measurement of the Motor Temperature of Compax3M (Axis Controller)
49
Safety Technology Option for Compax3M (Axis Controller)
49
Connections of Compax3H
50
Compax3H Plugs/Connections
50
In this Chapter You Can Read About: Compax3H Plugs/Connections
50
Connection of the Power Voltage
51
Compax3H Connections Front Plate
53
Plug and Pin Assignment C3H
53
Motor / Motor Brake C3H
55
Control Voltage 24 VDC C3H
56
Mains Connection Compax3H
56
Braking Resistor / Supply Voltage C3H
57
Connect Braking Resistor C3H
57
Power Supply Voltage DC C3H
57
Connection of the Power Voltage of 2 C3H 3AC Devices
58
Communication Interfaces
59
RS232/RS485 Interface (Plug X10)
59
Communication Compax3M
60
PC - PSUP (Mains Module)
60
Communication in the Axis Combination (Connector X30, X31)
60
Adjusting the Basic Address
61
Setting the Axis Function
61
Signal Interfaces
62
Resolver / Feedback (Plug X13)
62
Analogue / Encoder (Plug X11)
63
Wiring of Analog Interfaces
63
Connections of the Encoder Interface
63
Digital Inputs/Outputs (Plug X12)
64
Connection of the Digital Outputs/Inputs
64
Logic Proximity Switch Types
65
Energize Motor X12/6="24VDC
65
Command Value Release X12/7="24VDC
66
Installation and Dimensions Compax3
67
Mounting and Dimensions Compax3S
67
Mounting and Dimensions Compax3S0Xxv2
67
Mounting and Dimensions Compax3S100V2 and S0Xxv4
68
Mounting and Dimensions Compax3S150V2 and S150V4
69
Mounting and Dimensions Compax3S300V4
70
Mounting and Dimensions PSUP/C3M
71
Mounting and Dimensions PSUP10/C3M050D6, C3M100D6, C3M150D6
71
Mounting and Dimensions PSUP20/PSUP30/C3M300D6
72
With Upper Mounting, the Housing Design May be Different
72
Mounting and Dimensions C3H
73
Mounting Distances, Air Currents Compax3H050V4
74
Mounting Distances, Air Currents Compax3H090V4
74
Mounting Distances, Air Currents Compax3H1Xxv4
75
Safety Function - STO (=Safe Torque Off)
76
General Description
76
Important Terms and Explanations
76
Intended Use
77
Advantages of Using the "Safe Torque Off" Safety Function
77
Devices with the STO (=Safe Torque Off) Safety Function
78
STO (= Safe Torque Off) with Compax3S
79
STO Principle (= Safe Torque Off) with Compax3S
79
Conditions of Utilization STO (=Safe Torque Off) Safety Function
81
Notes on the STO Function
81
STO Application Example (= Safe Torque Off)
83
Technical Characteristics STO Compax3S
86
STO (= Safe Torque Off) with Compax3M (Option S1)
87
Safety Switching Circuits
87
In this Chapter You Can Read About: Safety Switching Circuits
87
Safety Notes for the STO Function in the Compax3M
88
Conditions of Utilization for the STO Function with Compax3M
88
STO Delay Times
89
Compax3M STO Application Description
90
STO Function Test
93
Technical Details of the Compax3M S1 Option
95
Setting up Compax3
96
Configuration
96
Test Commissioning of a Compax3 Axis
98
Selection of the Supply Voltage Used
98
Motor Selection
98
In this Chapter You Can Read About: Test Commissioning of a Compax3 Axis
98
Optimize Motor Reference Point and Switching Frequency of the Motor Current
99
Ballast Resistor
102
General Drive
102
Command Interface
103
Analogue Speed Setpoint Commanding and Encoder Emulation
103
Step/Direction Input 24V
104
Step/Direction Input RS422
104
Step/Direction Input 24V
105
Encoder Input RS422
105
Encoder Input 24V
106
Analog Current Setpoint Commanding and Encoder Emulation
106
Setpoint Control
107
Limit and Monitoring Settings
108
Nominal Value Window
108
Current (Torque) Limit
109
Maximum Operating Speed
109
Debouncing Input I0
109
Error Response
109
Configuration Name / Comments
110
Test Commissioning: Compax3 S0Xx V2 I10
111
Analog Command Interface +/-10V with Encoder Simulation
112
Step/Direction Input RS422
112
Encoder Input RS422
112
Encoder Input 24V
113
Device Status
114
Optimization
116
Optimization Window
117
Scope
118
Monitor Information
118
User Interface
119
Example: Setting the Oscilloscope
124
Load Identification
126
Principle
126
Boundary Conditions
126
Process of the Automatic Determination of the Load Characteristic Value (Load Identification)
127
Tips
128
Control Loop Dynamics
129
Velocity Loop Stiffness
130
Velocity Loop Damping
131
Filter - Actual Velocity
131
Advanced Control Parameters
131
Input Simulation
139
Calling up the Input Simulation
139
Operating Principle
140
Setup Mode
141
Alignment of the Analog Inputs
142
Offset Alignment
142
Gain Alignment
142
Turning the Motor Holding Brake on and off
143
Communication
144
Compax3 Communication Variants
144
In this Chapter You Can Read about
144
PC <-> Compax3 (RS232)
145
PC <-> Compax3 (RS485)
147
PC <-> C3M Device Combination (USB)
148
USB-RS485 Moxa Uport 1130 Adapter
149
ETHERNET-RS485 Netcom 113 Adapter
150
Modem MB-Connectline MDH 500 / MDH 504
151
C3 Settings for RS485 Two Wire Operation
152
C3 Settings for RS485 Four Wire Operation
153
COM Port Protocol
154
RS485 Settings Values
154
ASCII - Record
155
Binary Record
156
Remote Diagnosis Via Modem
159
Structure
160
Configuration of Local Modem 1
161
Configuration of Remote Modem 2
161
Recommendations for Preparing the Modem Operation
162
Status Values
163
D/A-Monitor
163
Error
164
Error List
164
Order Code
165
Order Code Device: Compax3
165
Order Code for Mains Module: PSUP
166
Order Code for Accessories
166
Compax3 Accessories
170
Parker Servo Motors
170
Direct Drives
170
Transmitter Systems for Direct Drives
171
Linear Motors
172
Torque Motors
172
Rotary Servo Motors
172
EMC Measures
173
Mains Filter
173
Mains Filter NFI01/01
174
Mains Filter NFI01/02
174
Mains Filter for NFI01/03
175
Mains Filter Nfi02/0X
175
Mains Filter NFI03/01& NFI03/03
176
Mains Filter NFI03/02
177
Motor Output Filter
178
Motor Output Filter MDR01/04
178
Motor Output Filter MDR01/01
178
Motor Output Filter MDR01/02
179
Wiring of the Motor Output Filter
179
Mains Filters
180
Mains Filter for PSUP30
180
Connections to the Motor
181
Resolver Cable
182
SincosĀ© Cable
183
Endat Cable
184
Motor Cable
184
Connection of Terminal Box MH145 & MH205
185
Encoder Cable
186
External Braking Resistors
187
Permissible Braking Pulse Powers of the Braking Resistors
188
Calculation of the BRM Cooling Time
189
Permissible Braking Pulse Power: BRM08/01 with C3S015V4 / C3S038V4
190
Permissible Braking Pulse Power: BRM08/01 with C3S025V2
190
Permissible Braking Pulse Power: BRM09/01 with C3S100V2
191
Permissible Braking Pulse Power: BRM10/01 with C3S150V4
191
Permissible Braking Pulse Power: BRM10/02 with C3S150V4
192
Permissible Braking Pulse Power: BRM05/01 with C3S063V2
192
Permissible Braking Pulse Power: BRM05/01 with C3S075V4
193
Permissible Braking Pulse Power: BRM05/02 with C3S075V4
193
Permissible Braking Pulse Power: BRM04/01 with C3S150V2
194
Permissible Braking Pulse Power: BRM04/01 with C3S300V4
194
Permissible Braking Pulse Power: BRM04/02 with C3S150V2
195
Permissible Braking Pulse Power: BRM04/02 with C3S300V4
195
Permissible Braking Pulse Power: BRM04/03 with C3S300V4
196
Permissible Braking Pulse Power: BRM11/01 with C3H0Xxv4
196
Permissible Braking Pulse Power: BRM12/01 with C3H1Xxv4
197
Permissible Braking Pulse Power: BRM13/01 with PSUP10D6
197
Permissible Braking Pulse Power: BRM14/01 with PSUP10D6
197
Dimensions of the Braking Resistors
198
Brm8/01Braking Resistors
198
BRM5/01 Braking Resistor
198
Braking Resistor BRM5/02, BRM9/01 & BRM10/01
198
Ballast Resistor Brm4/0X and BRM10/02
199
Braking Resistor BRM11/01 & BRM12/01
199
Ballast Resistor BRM13/01 & BRM14/01
200
Condenser Module C4
201
Operator Control Module BDM
202
EAM06: Terminal Block for Inputs and Outputs
203
Interface Cable
205
RS232 Cable
205
RS485 Cable to Pop
206
I/O Interface X12 / X22
207
Ref X11
207
Encoder Coupling of 2 Compax3 Axes
208
Modem Cable SSK31
209
10. Technical Characteristics
210
11. Index
227
4
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Parker Compax3 I10T10 Specifications
General
Rated Current
10 A
Protection Class
IP20
Supply Voltage
200-480 VAC
Control Interface
EtherCAT, CANopen
Feedback Options
Resolver
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