Parker Compax3 Series User Manual

Parker EME
Index
192-120114 N5 C3I22T11 June 2008 411
Controller optimization of toothed belt drive • 232
Controller optimization standard • 231
Controlword /Statusword • 317
Correlation between the terms introduced • 201
Course of the automatic commutation function • 220
Cubical interpolation (o3925.1=-3) • 322
Current (Torque) Limit • 136
Current control • 266
Current jerk response • 224
Current jerk response with the activated saturation
characteristic line • 225
Current on the mains PE (leakage current) • 22
Cut-off frequency for the field weakening range • 189
D
D/A-Monitor • 338
Data formats of the bus objects • 334
Deadband following error • 225
Debouncing
Limit switch, machine zero and input 0 • 132
Defining jerk / ramps • 133
Defining the reference system • 107
Definition of the states of the programmable status bits
(PSBs): • 316
Demand behavior • 196
Depth filter 1 (O2150.3) / depth filter 2 (O2150.6) • 224
Description • 85
Description of jerk • 133
Detailed object list • 333
Determination of the commutation settings • 190
Device assignment • 10
DeviceNet • 309
DeviceNet application description • 337
DeviceNet Configuration • 309
DeviceNet connector X23 • 63
DeviceNet object classes • 326
DeviceNet Operating modes • 310
Devices with the • 79
Digital Inputs/Outputs • 68
Digital inputs/outputs (plug X12) • 67
Dimensions of the braking resistors • 373
Direct drives • 346
Dispaly of the measurement point at the cursor position •
278
Display of the commutation error in incremental feedback
systems • 219
Display of the measurement result • 277
Distinction between signals and systems • 279
Disturbance behavior • 196
Disturbance jerk response • 200
D-term • 202
D-term of the KD velocity controller • 203
Dynamic positioning • 154
Dynamic stiffness • 199
Dynamics of a control • 191
E
EAM06
Terminal block for inputs and outputs • 379
Effect of the notch filter • 223
Electronic gearbox (Gearing) • 151
Electronic simulation of a disturbance torque jerk with the
disturbance current jerk • 200
EMC feedforward • 216
EMC measures • 349
Emergency power-off and protective door monitoring
without safety switching devices • 97
Encoder A/B 5V, step/direction or SSI feedback as signal
source • 156
Encoder bypass with Feedback module F12 (for direct
drives) • 139
Encoder cable • 362
Encoder coupling of 2 Compax3 axes • 387
Encoder Simulation • 139
EnDat cable • 358
Energize and deenergize circuitry • 95
Error • 339
Error list • 339
Error reaction to a bus failure • 309
Error response • 152
ETHERNET-RS485 NetCOM 113 adapter • 293
Example
Electronic gearbox with position detection via encoder •
157
Setting the Oscilloscope • 167
Example 1
Reg comes after the reg restriction window • 146
Example 2
Reg within the reg restriction window • 147
Example 3
Reg is missing or comes after termination of the
RegSearch motion set • 148
Example 4
Reg comes before the reg restriction window • 149
Example 5
The registration mark comes after the reg restriction
window, registration mark can, however, not be
reached without direction reversal • 150
Examples are available as a movie in the help file • 284
Examples in the help file • 142
Excitation Signal • 261
Extended cascade (structure variant 1) • 212
Extended cascade structure (structure variant 2 with
disturbance variable observer) • 214
External braking resistors • 363
External Moment of Inertia • 186
External setpoint generation • 228
F
Feedback error compensation • 178
Feedback systems for direct drives • 347
Feedforward channels • 208
Ferrite • 32
Filter • 216
Fixed point format C4_3 • 335
Fixed point format E2_6 • 334
Flow chart controller optimization of a direct drive • 235
Following Error (Position Error) • 184
Following error limit • 137
Frequency filter 1 (O2150.1) / frequency filter 2 (O2150.4)
• 223
Frequency response of the notch filter. • 223
Frequency response of the P-TE component (value and
phase) • 195
Frequency settings • 270
Friction compensation • 226
Front connector • 40
Function description for fieldbus applications: • 96
Function of the Bus LEDs • 64
Function principle of the automatic commutation with
movement • 220
Functionality • 241
Functionality of the measurement • 255, 258
G
Gain alignment • 247
General Description • 87
General Drive • 107
General hazards • 13
General layout of the table • 315
H
Hardware end limits • 131
HEDA (motion bus) - Option M11 • 390
Homing modes with home switch (on X12/14) • 116
I
I/O Assignment • 140
I/O interface X12 / X22 • 385
I²t - monitoring of the motor • 180
Ignore zone (example) • 143
Important terms and explanations • 87
Increased following error • 178

Parker Compax3 Series Specifications

General

Enclosure Rating	IP20
Control Modes	Speed, Torque, Position
Communication Interfaces	CANopen, EtherCAT
Feedback Options	Incremental Encoder, Resolver
Protection Features	Overcurrent, Overvoltage, Undervoltage, Overtemperature, Short Circuit
Cooling Method	Forced Air, Natural Convection
Relative Humidity	5 to 85 %, non-condensing
Operating Temperature	0 to +45 °C (derating may apply above 40°C)