Parker Compax3 User Manual

Introduction
C3I12T11
6
192-120113 N08 C3I12T11 - December 2010
4.1.11. Encoder simulation ....................................................................................... 139
4.1.11.1 Encoder bypass with Feedback module F12 (for direct drives) .......... 139
4.1.12. Absolute- /continuous mode ........................................................................ 139
4.1.13. Position mode in reset operation ................................................................. 140
4.1.13.1 Examples in the help file ..................................................................... 140
4.1.14. Defining the STOP function .......................................................................... 140
4.1.15. Reg-related positioning / defining ignore zone .......................................... 142
4.1.16. Write into set table ......................................................................................... 143
4.1.16.1 Dynamic positioning ............................................................................ 143
4.1.16.2 Programmable status bits (PSBs) ....................................................... 144
4.1.16.3 Set selection ....................................................................................... 145
4.1.16.4 MoveAbs and MoveRel ....................................................................... 145
4.1.16.5 Reg-related positioning (RegSearch, RegMove) ................................ 146
4.1.16.6 Electronic gearbox (Gearing) .............................................................. 150
4.1.16.7 Speed specification (Velocity) ............................................................. 151
4.1.16.8 Stop command (Stop) ......................................................................... 151
4.1.17. Error response ............................................................................................... 151
4.1.18. Configuration name / comments .................................................................. 152
4.2 Configuring the signal Source ............................................................ 153
4.2.1. Signal source of the load feedback system ................................................ 153
4.2.2. Select signal source for Gearing ................................................................. 153
4.2.2.1 Signal source HEDA ........................................................................... 154
4.2.2.2 Encoder A/B 5V, step/direction or SSI feedback as signal source ..... 154
4.2.2.3 +/-10V analog speed setpoint value as signal source ........................ 156
4.3 Load control ......................................................................................... 158
4.3.1. Configuration of load control ....................................................................... 160
4.3.2. Error: Position difference between load mounted and motor
feedback too high .......................................................................................... 161
4.3.3. Load control signal image ............................................................................ 161
4.3.3.1 Object for the load control (overview) ................................................. 162
4.3.3.2 Objects for load control ....................................................................... 162
4.4 Optimization ......................................................................................... 163
4.4.1. Optimization window ..................................................................................... 164
4.4.2. Scope .............................................................................................................. 165
4.4.2.1 Monitor information ............................................................................. 165
4.4.2.2 User interface ...................................................................................... 166
4.4.2.3 Example: Setting the Oscilloscope ..................................................... 171
4.4.3. Controller optimization ................................................................................. 173
4.4.3.1 Introduction ......................................................................................... 173
4.4.3.2 Configuration ....................................................................................... 176
4.4.3.3 Automatic controller design................................................................. 193
4.4.3.4 Setup and optimization of the control ................................................. 205
4.4.4. Signal filtering with external command value ............................................ 238
4.4.4.1 Signal filtering for external setpoint specification and electronic
gearbox ............................................................................................... 238
4.4.4.2 Signal filtering for external setpoint specification and electronic
cam ..................................................................................................... 239
4.4.5. Input simulation ............................................................................................. 240
4.4.5.1 Calling up the input simulation ............................................................ 240
4.4.5.2 Operating Principle ............................................................................. 241
4.4.6. Setup mode .................................................................................................... 242
4.4.6.1 Motion objects in Compax3................................................................. 243

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