Parker Compax3 User Manual

Index
C3I12T11
392
192-120113 N08 C3I12T11 - December 2010
Emergency stop and protective door
monitoring without external safety switching
device. • 93
Encoder A/B 5V, step/direction or SSI
feedback as signal source • 154
Encoder bypass with Feedback module F12
(for direct drives) • 139
Encoder cable • 344
Encoder coupling of 2 Compax3 axes • 366
Encoder simulation • 139
EnDat cable • 342
Energizing the axis (example) • 294
Error • 322
Position difference between load mounted and
motor feedback too high • 161
Error history • 294
Error list • 322
Error response • 151
ETHERNET-RS485 NetCOM 113 adapter •
304
Example
Electronic gearbox with position detection via
encoder • 154
Setting the Oscilloscope • 171
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 •
148
Example 5
The registration mark comes after the reg
restriction window, registration mark can,
however, not be reached without direction
reversal • 149
Examples are available as a movie in the help
file • 284
Examples in the help file • 140
Examples include
Control via COM port • 294
Excitation Signal • 262
Extended cascade (structure variant 1) • 212
Extended cascade structure (structure variant
2 with disturbance variable observer) • 214
External braking resistors • 345
External Moment of Inertia • 188
external position correction • 158
External setpoint generation • 229
F
Feedback error compensation • 181
Feedforward channels • 209
Ferrite • 34
Filter • 216
Flow chart controller optimization of a direct
drive • 236
Following Error (Position Error) • 186
Following error limit • 133
Frequency filter 1 (O2150.1) / frequency filter 2
(O2150.4) • 224
Frequency response of the notch filter. • 224
Frequency response of the P-TE component
(value and phase) • 197
Frequency settings • 271
Friction compensation • 227
Front connector • 42
Function principle of the automatic
commutation with movement • 221
Functionality of the measurement • 256, 259
G
Gain alignment • 247
General Description • 77
General drive • 103
General hazards • 16
General layout of the table • 297
H
Hardware end limits • 126
HEDA (motion bus) - Option M11 • 369
Homing modes with home switch (on X12/14) •
112
I
I/O Assignment • 136, 290
I/O assignment for control via the Compax3
inputs/outputs • 134
I/O assignment, control word and status word
with control via COM port • 135, 290
I/O interface X12 / X22 • 365
I²t - monitoring of the motor • 182
Ignore zone (example) • 142, 294
Important terms and explanations • 77
Increased following error • 180
Influence of the feedforward measures • 209
Input simulation • 240
Input wiring of digital inputs • 369
Input/output option M12 • 368
Instable behavior • 181
Installation • 251
Installation and dimensions Compax3 • 68
Installation enable of the ServoSignalAnalyzer
• 251
Installation instructions Compax3M • 40
Intended use • 78
Interface • 179
Interface cable • 363
Internal setpoint generation • 227
Introduction • 11, 173
Introduction observer • 217
J
Jerk limitation • 128
Jerk value • 128
L
Layout of the set table • 297
Leak effect and windowing • 257

Parker Compax3 Specifications

General

Protection Class	IP20
Control Modes	Torque, Speed, Position
Feedback Options	Incremental encoder, Absolute encoder, Resolver
Communication Interfaces	CANopen, EtherCAT, Profinet
Safety Features	STO (Safe Torque Off), SS1 (Safe Stop 1), SOS (Safe Operating Stop)
Input Voltage	200-480 VAC
Relative Humidity	5% to 85% (non-condensing)
Shock Resistance	According to EN 60068-2-27
Operating Temperature	0°C to +40°C