Parker Compax3 Series User Manual

Index
C3I22T11
412 192-120114 N5 C3I22T11 June 2008
Influence of the feedforward measures • 208
Input simulation • 240
Input wiring of digital inputs • 390
Input/output option M12 • 389
Instable behavior • 178
Installation • 250
Installation and dimensions Compax3 • 69
Installation and dimensions Compax3MP20/M300 • 74
Installation enable of the ServoSignalAnalyzer • 250
Installation instructions Compax3M • 38
Integer formats • 334
Intended use • 88
Interface • 176
Interface Cables • 382
Internal setpoint generation • 227
Interpolated Position / Cyclic Synchronous Position Mode •
319
Interpolation method • 320
Introduction • 10, 170
Introduction observer • 216
J
Jerk for STOP, JOG and error • 135
Jerk limit for positioning • 133
Jerk response of a delay component • 193
Jerk response of the velocity loop depending on the
optimization paramter • 202
Jerk value • 133
L
Layout of the set table • 315
Layout: • 81
Leak effect and windowing • 256
LEDs • 26, 27
Level • 68
Limit and Monitoring Settings • 136, 187
Limitation behavior • 198
Limitation of hte setpoint velocity • 207
Limitation of the control voltage • 207
Limitation of the setpoint current • 207
Linear Interpolation (o3925.1 = 0 oder o3925.1 = -1) • 320
Linear motors • 348
Linear Systems (LTI System) • 280
Linear two mass system • 283
Linearized motor characteristic lien for different operating
points • 181
Load control • 216
Load identification • 226, 244
Luenberg observer • 216
M
Machine Zero • 111
Machine zero modes overview • 114
Machine zero modes without home switch • 123
Machine zero only from motor reference • 125
Machine zero speed and acceleration • 128
Main flow chart of the controller optimization • 229
Main voltage supply C3S connector X1 • 33
Mains connection Compax3H • 57
Mains filter • 349, 354
Mains filter for NFI01/03 • 351
Mains filter NFI01/01 • 350
Mains filter NFI01/02 • 350
Mains filter NFI02/0x • 351
Mains filter NFI03/01 & NFI03/03 • 352
Mains filter NFI03/02 • 352
Mains supply Compax3MP (mains module) • 45
Manufacturer-specific object class • 328
Mass inertia • 174
Maximum operating speed • 138
Meaning of the status LEDs - Compax3 axis controller • 26
Meaning of the status LEDs - Compax3MP (mains
module) • 27
Measure reference • 108
Measurement of frequency responses • 258
Measurement of frequency spectra • 255
Measurement of the motor temperature of Compax3M
(axis controller) • 49
Mechanical system • 267, 281
MN-M 1, 2
Limit switch as machine zero • 126
MN-M 11...14
With direction reversal switches on the negative side • 122
MN-M 128/129
Current threshold when moving to block • 123
MN-M 130, 131
Determine absolute position via distance coding • 125
MN-M 132, 133
Determine absolute position via distance coding with
direction reversal switches • 127
MN-M 17.18
Limit switch as machine zero • 124
MN-M 19.20
MN-Initiator = 1 on the positive side • 116
MN-M 21.22
MN initiator = 1 on the negative side • 117
MN-M 23...26
Direction reversal switches on the positive side • 118
MN-M 27...30
With direction reversal switches on the negative side • 119
MN-M 3.4
MN-Initiator = 1 on the positive side • 120
MN-M 33,34
MN at motor zero point • 125
MN-M 35
MN at the current position • 123
MN-M 5.6
MN initiator = 1 on the negative side • 121
MN-M 7...10
Direction reversal switches on the positive side • 122
Mode 1
Time and maximum values are deduced from Compax3
input values • 285
Mode 2
Compax3 input values are deduced from times and
maximum values • 286
Modem cable SSK31 • 388
Modem Westermo TD-36 485 • 295
Monitor information • 161
Monting and dimensions Compax3S100V2 and S0xxV4 •
70
Monting and dimensions Compax3S150V2 and S150V4 •
71
Motion cycle with feedforward measures • 209
Motion cycle without feedforward control • 209
Motion functions • 145
Motion objects in Compax3 • 243
Motion profile at jerk-controlled setpoint generation • 227
Motion set • 243
Motor / Motor brake (C3S connector X3) • 32
Motor / Motor brake C3H • 55
Motor / motor brake Compax3M (axis controller) • 48
Motor cable for terminal box • 360
Motor cable with plug • 359
Motor characteristic line of a synchronous servo motor
(torque via velocity) • 175
Motor Connection • 32
Motor continuous usage • 181
Motor holding brake • 32
Motor output filter • 353
Motor output filter MDR01/01 • 353
Motor output filter MDR01/02 • 354
Motor output filter MDR01/04 • 353
Motor parameters • 185, 216
Motor parameters relevant for the control • 174
Motor pulse usage • 182
Motor reference point • 186
Motor Selection • 102
Motor types supported • 185
Mounting and dimensions C3H • 75
Mounting and dimensions C3MP/C3M • 73
Mounting and dimensions Compax3MP10/M050-150 • 73
Mounting and dimensions Compax3S • 69
Mounting and dimensions Compax3S0xxV2 • 69

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)