Parker Compax3

Parker EME
Introduction
192-120113 N08 C3I12T11 - December 2010
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3.9.2.3 With upper mounting, the housing design may be different ................. 73
3.9.3. Mounting and dimensions C3H ...................................................................... 74
3.9.3.1 Mounting distances, air currents Compax3H050V4 ............................. 75
3.9.3.2 Mounting distances, air currents Compax3H090V4 ............................. 75
3.9.3.3 Mounting distances, air currents Compax3H1xxV4 .............................. 76
3.10 Safety function - STO (=safe torque off) .............................................. 77
3.10.1. General Description ......................................................................................... 77
3.10.1.1 Important terms and explanations ........................................................ 77
3.10.1.2 Intended use ......................................................................................... 78
3.10.1.3 Advantages of using the "safe torque off" safety function. ................... 78
3.10.1.4 Devices with the STO (=safe torque off) safety function ...................... 79
3.10.2. STO (= safe torque off) with Compax3S ........................................................ 80
3.10.2.1 STO Principle (= Safe Torque Off) with Compax3S ............................. 80
3.10.2.2 Conditions of utilization STO (=safe torque off) Safety function ........... 82
3.10.2.3 Notes on the STO function.................................................................... 82
3.10.2.4 STO application example (= safe torque off) ........................................ 84
3.10.2.5 Technical Characteristics STO Compax3S .......................................... 87
3.10.3. STO (= safe torque off) with Compax3m (Option S1) ................................... 88
3.10.3.1 Safety switching circuits ........................................................................ 88
3.10.3.2 Safety notes for the STO function in the Compax3M ........................... 89
3.10.3.3 Conditions of utilization for the STO function with Compax3M............. 89
3.10.3.4 STO delay times ................................................................................... 90
3.10.3.5 Compax3M STO application description .............................................. 91
3.10.3.6 STO function test .................................................................................. 94
3.10.3.7 Technical details of the Compax3M S1 option ..................................... 96
4. Setting up Compax3 .............................................................................. 97
4.1 Configuration ......................................................................................... 97
4.1.1. Test commissioning of a Compax3 axis ....................................................... 99
4.1.2. Selection of the supply voltage used ............................................................ 99
4.1.3. Motor selection ................................................................................................ 99
4.1.4. Optimize motor reference point and switching frequency of the
motor current ................................................................................................. 100
4.1.5. Ballast resistor ............................................................................................... 103
4.1.6. General drive .................................................................................................. 103
4.1.7. Defining the reference system ..................................................................... 104
4.1.7.1 Measure reference .............................................................................. 104
4.1.7.2 Machine Zero ...................................................................................... 107
4.1.7.3 Travel Limit Settings ........................................................................... 124
4.1.7.4 Change assignment direction reversal / limit switches ....................... 127
4.1.7.5 Change initiator logic .......................................................................... 127
4.1.8. Defining jerk / ramps ..................................................................................... 128
4.1.8.1 Jerk limitation ...................................................................................... 128
4.1.8.2 Ramp upon error / deenergize ............................................................ 129
4.1.9. Limit and monitoring settings ...................................................................... 131
4.1.9.1 Current (Torque) Limit ......................................................................... 131
4.1.9.2 Positioning window - Position reached ............................................... 131
4.1.9.3 Following error limit ............................................................................. 133
4.1.9.4 Maximum operating speed.................................................................. 133
4.1.10. Operating mode / I/O assignment ................................................................ 134
4.1.10.1 I/O assignment for control via the Compax3 inputs/outputs ............... 134
4.1.10.2 I/O assignment, control word and status word with control via
COM port............................................................................................. 135