Parker Compax3 User Manual

Parker EME
Introduction
192-120113 N08 C3I12T11 - December 2010
5
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

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